WO2024021310A1 - Procédé et dispositif de réduction de déplacement pour vibreur de moteur, appareil terminal, et support de stockage - Google Patents

Procédé et dispositif de réduction de déplacement pour vibreur de moteur, appareil terminal, et support de stockage Download PDF

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Publication number
WO2024021310A1
WO2024021310A1 PCT/CN2022/124598 CN2022124598W WO2024021310A1 WO 2024021310 A1 WO2024021310 A1 WO 2024021310A1 CN 2022124598 W CN2022124598 W CN 2022124598W WO 2024021310 A1 WO2024021310 A1 WO 2024021310A1
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Prior art keywords
oscillator
motor
displacement
driving voltage
linear motor
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PCT/CN2022/124598
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English (en)
Chinese (zh)
Inventor
刘兵
杨鑫峰
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歌尔股份有限公司
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Publication of WO2024021310A1 publication Critical patent/WO2024021310A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions

Definitions

  • the invention belongs to the technical field of linear motors, and in particular relates to a displacement compression method, device, terminal equipment and computer-readable storage medium of a motor oscillator.
  • Linear Resonant Actuator has been widely used in various vibration situations of consumer electronics, especially games and AR (Augmented Reality)/ VR (Virtual Reality, virtual reality) products.
  • Linear motors mainly achieve very rich, realistic and strong vibration feedback by constructing diverse driving voltage waveforms.
  • game developers construct the driving voltage waveform, because they do not accurately know the specific physical characteristics and control algorithm of the motor, it is difficult to ensure that the oscillator displacement corresponding to the driving voltage is always within the maximum displacement range allowed by the motor hardware design, especially In some situations where large vibration induction is required, the vibration induction is generally improved by increasing the driving voltage amplitude.
  • large voltage amplitude increases the probability of the vibrator displacement exceeding the limit. In this way, once the displacement of the vibrator exceeds the allowable space range of the motor, the vibrator will mechanically collide with the motor housing, which may reduce the performance of the motor, generate vibration noise and affect the normal vibration output, or directly cause damage to the motor.
  • the main purpose of the present invention is to provide a displacement compression method, device, terminal equipment and computer-readable storage medium for a motor oscillator. It is designed to avoid problems such as motor performance degradation, abnormal vibration sensing, loud vibration noise, and motor damage caused by the collision of the vibrator of the linear motor with the motor housing during movement.
  • the present invention provides a displacement compression method of a motor oscillator.
  • the displacement compression method of a motor oscillator is applied to a terminal device equipped with a linear motor.
  • the displacement compression method of a motor oscillator includes:
  • the linear motor is driven according to the adjusted driving voltage to compress the displacement of the vibrator.
  • the step of predicting the maximum value of the vibrator energy of the vibrator of the linear motor based on the pre-driving voltage of the linear motor includes:
  • the maximum value of the oscillator energy of the oscillator is determined based on the single-frame oscillator displacement data and the oscillator speed.
  • the step of predicting the single-frame oscillator displacement data and oscillator speed of the oscillator of the linear motor based on the pre-driving voltage of the linear motor includes:
  • the derivation is performed for each single-frame oscillator displacement data to obtain the velocity of each oscillator.
  • the step of determining the maximum value of the oscillator energy of the oscillator based on the single-frame oscillator displacement data and the oscillator speed includes:
  • Calculation is performed by combining the single-frame oscillator displacement data, each oscillator speed and each configuration parameter of the linear motor to predict the energy value of each oscillator of the oscillator;
  • the maximum value of the oscillator energy of the oscillator is determined from each of the oscillator energy values.
  • the method also includes:
  • the preset maximum allowable energy of the vibrator is determined based on the preset maximum allowable displacement and each configuration parameter of the linear motor.
  • the step of adjusting the pre-driving voltage according to the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator to obtain an adjusted driving voltage includes:
  • the pre-driving voltage is multiplied by the voltage adjustment coefficient frame by frame to obtain the adjusted driving voltage frame by frame.
  • the step of driving the linear motor according to the adjusted driving voltage includes:
  • the smoothed and filtered driving voltage is power amplified to drive the linear motor.
  • the present invention also provides a displacement compression device of a motor oscillator, which is applied to terminal equipment equipped with a linear motor.
  • the displacement compression device of a motor oscillator of the present invention includes:
  • An energy prediction module configured to predict the maximum energy value of the oscillator of the oscillator of the linear motor based on the pre-driving voltage of the linear motor;
  • a voltage adjustment module configured to adjust the pre-driving voltage according to the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator to obtain an adjusted driving voltage
  • a displacement compression module is used to drive the linear motor according to the adjusted driving voltage to compress the displacement of the vibrator.
  • Each functional module of the displacement compression device of the motor vibrator of the present invention implements the steps of the control method for motion monitoring motion of the wireless earphone as described above when running.
  • the present invention also provides a terminal device, which includes: a memory, a processor, and a displacement compression program of a motor oscillator stored in the memory and executable on the processor, When the control program for motion monitoring of wireless earphones is executed by the processor, the steps of the control method for motion monitoring of wireless earphones as described above are implemented.
  • the present invention also provides a computer-readable storage medium.
  • the computer-readable storage medium stores a displacement compression program of the motor oscillator.
  • the displacement compression program of the motor oscillator is implemented when executed by the processor. The steps of the displacement compression method of the motor oscillator as described above.
  • the embodiments of the present invention propose a displacement compression method, device, terminal equipment and computer-readable storage medium for a motor oscillator.
  • the oscillator of the linear motor is predicted based on the pre-driving voltage of the linear motor.
  • the maximum value of the oscillator energy; then, the pre-driving voltage is further adjusted according to the maximum value of the oscillator energy and the preset maximum allowable energy of the oscillator to obtain the adjusted driving voltage; finally, the linear motor is driven according to the adjusted driving voltage To compress the displacement of the oscillator.
  • the embodiment of the present invention predicts the energy of the motor oscillator corresponding to the driving voltage frame by frame, and converts the maximum displacement allowed by the motor hardware into the maximum energy; when the predicted oscillator energy exceeds the maximum energy allowed by the motor hardware, the frame is immediately
  • the voltage is linearly compressed and adjusted to drive the motor according to the adjusted voltage. In this way, it can ensure that the motor vibrator will not collide with the motor casing during the movement of the voltage drive, thus effectively avoiding the resulting deterioration in motor performance. Problems such as falling, abnormal vibration, loud vibration and noise, motor damage, etc.
  • Figure 1 is a schematic diagram of the equipment structure of the terminal equipment hardware operating environment involved in the embodiment of the present invention
  • Figure 2 is a schematic flow chart of the steps of the first embodiment of the displacement compression method of the motor oscillator of the present invention
  • Figure 3 is a schematic diagram of the usage process involved in an embodiment of the displacement compression method of the motor oscillator of the present invention
  • Figure 4 is a schematic framework diagram of the hardware driving system involved in an embodiment of the displacement compression method of the motor oscillator of the present invention
  • Figure 5 is a schematic diagram of the waveform of the pre-driving voltage involved in an embodiment of the displacement compression method of the motor oscillator of the present invention
  • Figure 6 shows the displacement data of each single-frame vibrator involved in an embodiment of the displacement compression method of the motor vibrator of the present invention
  • Figure 7 shows the energy of the oscillator involved in an embodiment of the displacement compression method of the motor oscillator of the present invention
  • Figure 8 shows the voltage adjustment coefficient involved in an embodiment of the displacement compression method of the motor oscillator of the present invention
  • Figure 9 shows the adjusted driving voltage involved in an embodiment of the displacement compression method of the motor vibrator of the present invention.
  • Figure 10 shows the smoothed and filtered driving voltage involved in an embodiment of the displacement compression method of the motor vibrator of the present invention
  • Figure 11 shows the displacement of the motor vibrator after compression according to an embodiment of the displacement compression method of the motor vibrator of the present invention
  • Figure 12 is a functional module schematic diagram of an embodiment of the displacement compression device of the motor vibrator of the present invention.
  • FIG. 1 is a schematic structural diagram of a hardware operating environment of a terminal device involved in an embodiment of the present invention.
  • the terminal device is configured with a linear motor.
  • the terminal device may be an electronic terminal product such as a smartphone, a game device, or AR/VR.
  • the terminal device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005.
  • the communication bus 1002 is used to realize connection communication between these components.
  • the user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard).
  • the optional user interface 1003 may also include a standard wired interface and a wireless interface.
  • the network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).
  • the memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory.
  • the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.
  • the structure of the terminal device shown in Figure 1 does not constitute a limitation on the terminal device, and may include more or fewer components than shown, or combine certain components, or arrange different components.
  • a memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a displacement compression program of the motor oscillator.
  • the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server;
  • the user interface 1003 is mainly used to connect to the client and communicate with the client;
  • the processor 1001 can be used to Call the displacement compression program of the motor oscillator stored in the memory 1005, and perform the following operations:
  • the linear motor is driven according to the adjusted driving voltage to compress the displacement of the vibrator.
  • the processor 1001 can also be used to call the displacement compression program of the motor oscillator stored in the memory 1005, and perform the following operations:
  • the maximum value of the oscillator energy of the oscillator is determined based on the single-frame oscillator displacement data and the oscillator speed.
  • the processor 1001 can also be used to call the displacement compression program of the motor oscillator stored in the memory 1005, and perform the following operations:
  • the derivation is performed for each single-frame oscillator displacement data to obtain the velocity of each oscillator.
  • the processor 1001 can also be used to call the displacement compression program of the motor oscillator stored in the memory 1005, and perform the following operations:
  • Calculation is performed by combining the single-frame oscillator displacement data, each oscillator speed and each configuration parameter of the linear motor to predict the energy value of each oscillator of the oscillator;
  • the maximum value of the oscillator energy of the oscillator is determined from each of the oscillator energy values.
  • the processor 1001 can also be used to call the displacement compression program of the motor oscillator stored in the memory 1005, and perform the following operations:
  • the preset maximum allowable energy of the vibrator is determined based on the preset maximum allowable displacement and each configuration parameter of the linear motor.
  • the processor 1001 can also be used to call the displacement compression program of the motor oscillator stored in the memory 1005, and perform the following operations:
  • the pre-driving voltage is multiplied by the voltage adjustment coefficient frame by frame to obtain an adjusted driving voltage frame by frame.
  • the terminal device has a built-in or external server, and the server is connected to the mainboard.
  • the processor 1001 can also be used to call the displacement compression program of the motor oscillator stored in the memory 1005, and perform the following operations:
  • the smoothed and filtered driving voltage is power amplified to drive the linear motor.
  • FIG. 2 is a schematic flow chart of a first embodiment of a displacement compression method for a motor vibrator according to the present invention. It should be noted that although a logical sequence is shown in the flow chart, in some cases, the displacement compression method of the motor oscillator of the present invention can of course perform the steps shown or described in a sequence different from that here.
  • Step S10 Predict the maximum energy value of the oscillator of the oscillator of the linear motor according to the pre-driving voltage of the linear motor;
  • the terminal device predicts the displacement data and speed of the oscillator of the linear motor by applying the pre-driving voltage of the configured linear motor, and then calculates and determines the maximum oscillator energy of the oscillator based on the displacement data and speed.
  • the terminal device can specifically receive a broadband signal custom-designed by the designer and developer according to the game scenario to obtain the pre-driving voltage.
  • the designer and developer of the terminal device customizes the designed wide-band signal according to the game scene, and then inputs the wide-band signal into the terminal device.
  • the terminal device can analyze based on the wide-band signal to obtain a single frame. Or multi-frame pre-drive voltage for linear motors.
  • the terminal device can of course use other different methods to obtain the driving voltage for the linear motor. For example, designers and developers can also perform a series of operations on the sound effects actually output by the game application to obtain a wide-band signal, and the terminal device obtains the pre-drive voltage by receiving the wide-band signal.
  • step S10 may include:
  • Step S101 predict the single-frame oscillator displacement data and oscillator speed of the oscillator of the linear motor based on the pre-driving voltage of the linear motor;
  • the terminal device predicts the single-frame oscillator displacement data and oscillator speed of the oscillator of the linear motor one by one by using the single-frame pre-driving voltage of the configured linear motor.
  • step S101 may include:
  • the derivation is performed for each single-frame oscillator displacement data to obtain the velocity of each oscillator.
  • the terminal device after the terminal device obtains the pre-driving voltage of the linear motor through the above process, it first uses the single-frame pre-driving voltage to predict the oscillator displacement, thereby predicting frame by frame to obtain each unit of the oscillator of the linear motor. frame oscillator displacement data, and then perform derivation calculation based on the predicted single-frame oscillator displacement data to obtain the oscillator speed corresponding to each single-frame oscillator displacement data.
  • the terminal device can predict the single-frame vibrator under the action of the single-frame pre-driving voltage based on the transfer characteristics between the displacement of the vibrator of the linear motor and the driving voltage of the linear motor.
  • Displacement data That is: the terminal equipment determines the transfer characteristics between the displacement of the oscillator and the drive voltage of the linear motor based on each configuration parameter of the linear motor; and then calculates the oscillator of the linear motor based on the transfer characteristics and the single frame voltage data in the above pre-driving voltage. displacement to obtain the displacement data of each single-frame oscillator.
  • the configuration parameters of the linear motor configured in the terminal device may be the basic parameters of the motor.
  • the configuration parameters include but are not limited to: vibrator mass m, magnetic field strength Bl, spring stiffness coefficient k, Damping coefficient r, coil DC resistance Re, and the maximum displacement of the vibrator allowed by the motor hardware.
  • the designer and developer of the terminal device customizes the design of a wide-band signal according to the game scenario and inputs the wide-band signal for the terminal device to obtain the pre-driving voltage for the linear motor.
  • the design and development The personnel can also simultaneously configure the above-mentioned configuration parameters such as the vibrator mass m, magnetic field strength Bl, spring stiffness coefficient k, damping coefficient r, coil DC resistance Re, and the maximum displacement of the vibrator allowed by the motor hardware to generate a signal and input it to the terminal device.
  • the terminal device can obtain the pre-driving voltage and various configuration parameters of the linear motor at the same time.
  • the terminal device when the terminal device uses a single frame pre-driving voltage to predict the displacement of the motor oscillator, it first determines the displacement of the oscillator of the linear motor based on the obtained configuration parameters of the linear motor, and determines the displacement of the linear motor's drive. transfer characteristics between voltages.
  • the terminal device after the terminal device obtains the configuration parameters of the linear motor by receiving the signals generated by the design and developer configuration, it can determine the intermediate parameters as shown below through the configuration parameters:
  • the end device can then use each of the intermediate parameters to iterate the formula: To determine the transfer characteristics between the displacement of the oscillator of the linear motor and the drive voltage of the linear motor.
  • the terminal device can determine the transfer characteristics between the displacement of the oscillator of the linear motor and the driving voltage of the linear motor in advance based on each configuration parameter of the linear motor, thereby further constructing a specialized system based on the transfer characteristics.
  • Displacement prediction module for oscillator displacement prediction After that, the terminal device can successively input the single-frame pre-driving voltage to the displacement prediction module after obtaining the pre-driving voltage for the linear motor.
  • the displacement prediction model is based on the transfer characteristics between the above-mentioned oscillator displacement and the driving voltage. , calculate and determine the single-frame oscillator displacement data of the oscillator of the linear motor frame by frame.
  • the designer and developer of the terminal device custom-designs a wide-band signal according to the game scenario, and inputs the wide-band signal so that the terminal device can obtain the pre-driving voltage for the linear motor—u 1 (t) .
  • the terminal device can calculate the pre-built displacement prediction module based on the single frame data u 1 ( 1), u 1 (2),..., u 1 (n) of the pre-driving voltage u 1 (t).
  • the oscillator speed corresponding to each single-frame oscillator displacement data can be obtained.
  • Step S102 Determine the maximum value of the oscillator energy of the oscillator based on the single-frame oscillator displacement data and the oscillator speed.
  • the terminal device after the terminal device predicts the single-frame oscillator displacement data and the oscillator speed of the oscillator of the linear motor, it further uses the single-frame oscillator displacement data and the oscillator speed to perform energy conversion calculations to determine the oscillator of the oscillator. Energy maximum.
  • step S102 may include:
  • Calculation is performed by combining the single-frame oscillator displacement data, each oscillator speed and each configuration parameter of the linear motor to predict the energy value of each oscillator of the oscillator;
  • the maximum value of the oscillator energy of the oscillator is determined from each of the oscillator energy values.
  • the terminal device when determining the maximum value of the vibrator energy of the linear motor's vibrator, the terminal device first combines the predicted single-frame vibrator displacement data, the vibrator speed, and the various configuration parameters of the linear motor that have been obtained in advance. , to calculate and determine the energy value of each oscillator of the oscillator. After that, the terminal device compares the energy values of each vibrator by using a sequential comparison method to determine the maximum value of the vibrator energy of the vibrator.
  • the terminal device performs displacement prediction and speed prediction to respectively obtain the single-frame oscillator displacement data and the oscillator speed of the oscillator of the linear motor, it further begins to perform energy prediction and energy peak for the oscillator. predict.
  • the terminal equipment further processes the predicted single-frame data of the oscillator energy value E 1 (t) (the oscillator energy value corresponding to each single-frame oscillator displacement data) E 1 (1), E 1 (2), ..., E 1 (n) takes the absolute value to obtain
  • Step S20 adjust the pre-driving voltage according to the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator to obtain an adjusted driving voltage
  • the terminal device predicts the maximum value of the vibrator energy of the vibrator of the linear motor through the above process, it further obtains the value based on the maximum value of the vibrator energy and the preset maximum allowable energy of the vibrator of the linear motor.
  • the above-mentioned pre-driving voltage for the linear motor is adjusted to obtain the adjusted driving voltage for driving the linear motor.
  • the preset maximum allowable energy of the vibrator is determined in advance by the terminal device based on the preset maximum allowable displacement of the vibrator in each configuration parameter of the linear motor.
  • the preset maximum allowable displacement can specifically be the maximum displacement allowed by the oscillator at the hardware level of the linear motor configured in the terminal device.
  • the displacement compression method of the motor oscillator of the present invention may also include:
  • the preset maximum allowable energy of the vibrator is determined based on the preset maximum allowable displacement and each configuration parameter of the linear motor.
  • the terminal device determines the maximum value of the vibrator energy of the vibrator of the linear motor, or after obtaining each configuration parameter of the linear motor from the input signal generated by the configuration of the designer and developer, it can further based on the various configuration parameters of the linear motor.
  • the preset maximum allowable displacement of the oscillator of the linear motor in the configuration parameters and the spring stiffness coefficient in each configuration parameter are calculated to determine the preset maximum allowable energy of the oscillator.
  • the pre-driving voltage is adjusted according to the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator to obtain the adjusted driving voltage.
  • Step S201 determine the voltage adjustment coefficient according to the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator;
  • Step S202 Multiply the pre-driving voltage by the voltage adjustment coefficient frame by frame to obtain an adjusted driving voltage frame by frame.
  • the terminal device when the terminal device adjusts the pre-driving voltage based on the maximum energy value of the vibrator of the linear motor and the preset maximum allowable energy of the vibrator, it first adjusts the pre-driving voltage based on the maximum energy value of the vibrator and the preset maximum allowable energy. Perform calculations to determine the voltage adjustment factor. Then, the terminal device multiplies the pre-drive voltage for the linear motor obtained from the wide-band signal configured and input by the designer and developer, and multiplies the voltage adjustment coefficient frame by frame to obtain the adjusted drive frame by frame. Voltage.
  • the terminal device when the terminal device adjusts the driving voltage for the pre-driving voltage, it first uses the above-mentioned maximum oscillator energy E 1max and the above-mentioned preset maximum allowable energy E h max of the oscillator of the linear motor to calculate Voltage adjustment coefficient k u , the specific calculation formula is as follows:
  • the pre-driving voltage u 1 (t) is multiplied by the adjustment coefficient k u to obtain the adjusted driving voltage u 2 (t).
  • Step S30 drive the linear motor according to the adjusted driving voltage to compress the displacement of the vibrator.
  • the terminal device after the terminal device adjusts the above-mentioned pre-driving voltage to obtain the adjusted driving voltage, it further drives its configured linear motor according to the adjusted driving voltage to drive the motor to generate vibration feedback.
  • the displacement of the oscillator of the linear motor is compressed.
  • step S30 may include:
  • Step S301 perform a smoothing filtering process on the adjusted driving voltage to obtain a smoothing and filtered driving voltage
  • the terminal device when the terminal device drives the linear motor according to the adjusted driving voltage, it first uses a low-pass filter to smooth the adjusted driving voltage to obtain a smoothed and filtered driving voltage.
  • step S301 may include:
  • the adjusted driving voltage is smoothed and filtered according to the cutoff frequency through the preset low-pass filter to obtain a smoothed and filtered driving voltage.
  • the terminal device before the terminal device performs smoothing filtering on the adjusted driving voltage, it can first determine the cutoff frequency of the preset low-pass filter based on the frequency sweep characteristics of the configured linear motor, so that it can be used later.
  • the low-pass filter performs smoothing filtering on the adjusted driving voltage according to the cutoff frequency to obtain a smoothed and filtered driving voltage.
  • the frequency sweep characteristics of the linear motor can be specifically obtained by the terminal device receiving the signal configured and input by the designer and developer in advance.
  • the designer and developer of the end device customizes the design of a wide-band signal according to the game scenario and inputs the wide-band signal for the end device to obtain the pre-driving voltage for the linear motor.
  • the design development Personnel can also synchronously configure the bandwidth signal of the frequency domain response characteristics of the acceleration amplitude under unit driving voltage, that is, [f aL , f aH ], and input the bandwidth signal to the terminal equipment. In this way, the terminal equipment can obtain the predetermined While driving the voltage, the frequency sweep characteristics of the linear motor are also obtained.
  • Step S302 Power amplify the smoothed and filtered driving voltage to drive the linear motor.
  • the terminal device uses a low-pass filter to smooth and filter the adjusted driving voltage, it further performs power amplification processing on the smoothed and filtered driving voltage, thereby using the power amplified driving voltage. Voltage is used to drive the linear motor to produce vibration feedback.
  • the maximum value of the oscillator energy can represent the maximum displacement of the oscillator, and through the current maximum value of the oscillator energy, the maximum displacement that the oscillator can reach in the future can be estimated. In other words, there is a certain amount of advance in predicting the maximum displacement through the maximum energy.
  • the displacement compression method of the motor oscillator uses the terminal device to predict the displacement data and speed of the oscillator of the linear motor through the pre-driving voltage of the configured linear motor, and then based on the displacement data and speed Calculate and determine the maximum oscillator energy of this oscillator. Afterwards, the terminal device further adjusts the obtained pre-driving voltage for the linear motor based on the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator of the linear motor, thereby obtaining the adjusted pre-driving voltage for the linear motor. Driving voltage for driving. Finally, the terminal device drives its configured linear motor according to the adjusted driving voltage to drive the motor to generate vibration feedback, thereby compressing the displacement of the oscillator of the linear motor.
  • the embodiment of the present invention predicts the energy of the motor oscillator corresponding to the driving voltage frame by frame, and converts the maximum displacement allowed by the motor hardware into the maximum energy; when the predicted oscillator energy exceeds the maximum energy allowed by the motor hardware, the frame is immediately
  • the voltage is linearly compressed and adjusted to drive the motor according to the adjusted voltage. In this way, it can ensure that the motor vibrator will not collide with the motor casing during the movement of the voltage drive, thus effectively avoiding the resulting deterioration in motor performance. Problems such as falling, abnormal vibration, loud vibration and noise, motor damage, etc.
  • the displacement compression method of the motor oscillator of the present invention when applied in any hardware drive system, it can be implemented through the following five process steps: input signal, algorithm processing, drive signal, power amplification, and motor. .
  • the input signal 1 is divided into 3 parts;
  • This pre-driving voltage waveform can be a wide-band signal customized and designed according to the game scene, or it can be a wide-band signal obtained by performing a series of calculations on the sound effects actually output by the game application;
  • the basic parameters of the motor include the vibrator mass m, magnetic field strength Bl, spring stiffness coefficient k, damping coefficient r, coil DC resistance Re, and the maximum displacement of the vibrator x h max allowed by the motor hardware.
  • Algorithm processing 2 can use a specific algorithm processing module to perform the above-mentioned input signal processing as summarized in the first embodiment above and all the formula calculations involved in step S10 to step S30 to obtain the adjusted driving voltage for driving the linear motor. .
  • the driving signal 3 is the adjusted driving voltage obtained after the input signal is processed by the algorithm processing module.
  • Power amplifier 4 is an amplifier selected by the system to power match the input signal (for example, common Class A, Class B, Class AB, or Class D drivers.
  • the input signal can be an analog signal or a customized digital signal.
  • Motor 5 is specifically a linear motor configured in the above-mentioned terminal equipment.
  • This motor is a broadband linear motor (Linear Resonant Actuator), and its frequency sweep characteristics (frequency response characteristics of acceleration amplitude under unit driving voltage) have certain broadband characteristics.
  • Figure 5 specifically shows the waveform of the pre-driving voltage obtained by the terminal equipment involved in the process described in step S10;
  • FIG. 9 is a waveform of the driving voltage after adjusting the pre-driving voltage involved in the process described in step S20. As shown in Figure 9 and Figure 5, compared with the waveform of the pre-driving voltage, the amplitude of u 2 is significantly reduced during the period when the predicted displacement x 1 and the predicted energy E 1 exceed 1FS, thereby preventing the driven oscillator displacement from exceeding the maximum displacement limit;
  • FIG. 10 is a waveform of the driving voltage after smoothing and filtering the adjusted driving voltage involved in the process of step S30 .
  • the terminal equipment uses a low-pass filter to smooth the adjusted driving voltage, which specifically smoothes the voltage waveform jump problem caused by the jump of the voltage adjustment coefficient.
  • the voltage waveform avoids jump points and burrs, and avoids the generation of vibration noise;
  • embodiments of the present invention also provide a displacement compression device of a motor oscillator.
  • the displacement compression device of a motor oscillator of the present invention is applied to terminal equipment equipped with a linear motor.
  • Figure 12 is a functional module schematic diagram of an embodiment of the displacement compression device of the motor vibrator of the present invention. As shown in Figure 12, the displacement compression device of the motor vibrator of the present invention includes:
  • the energy prediction module 10 is used to predict the maximum energy value of the oscillator of the oscillator of the linear motor according to the pre-driving voltage of the linear motor;
  • the voltage adjustment module 20 is configured to adjust the pre-driving voltage according to the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator to obtain an adjusted driving voltage;
  • the displacement compression module 30 is used to drive the linear motor according to the adjusted driving voltage to compress the displacement of the vibrator.
  • the energy prediction module 10 includes:
  • a prediction unit configured to predict the single-frame oscillator displacement data and oscillator speed of the oscillator of the linear motor based on the pre-driving voltage of the linear motor;
  • a calculation unit configured to determine the maximum value of the oscillator energy of the oscillator based on the single-frame oscillator displacement data and the oscillator speed.
  • the prediction unit is also used to obtain the pre-driving voltage of the linear motor; predict the displacement of the oscillator of the linear motor frame by frame according to the pre-driving voltage to obtain the oscillator displacement data of each single frame; and, for each single frame The oscillator displacement data are derived to obtain the oscillator speed.
  • the calculation unit is also configured to perform calculations in combination with the single-frame oscillator displacement data, each oscillator speed and each configuration parameter of the linear motor to predict each oscillator energy value of the oscillator; and, The maximum value of the oscillator energy of the oscillator is determined from each of the oscillator energy values.
  • the displacement compression device of the motor vibrator of the present invention also includes:
  • a maximum energy calculation module configured to obtain the preset maximum allowable displacement of the vibrator of the linear motor; and, based on the preset maximum allowable displacement and each configuration parameter of the linear motor, determine the preset maximum allowable displacement of the vibrator. energy.
  • the voltage adjustment module 20 includes:
  • a determination unit configured to determine the voltage adjustment coefficient according to the maximum energy value of the vibrator and the preset maximum allowable energy of the vibrator
  • An adjustment unit configured to multiply the pre-driving voltage by the voltage adjustment coefficient frame by frame to obtain an adjusted driving voltage frame by frame.
  • the displacement compression module 30 includes:
  • a smoothing filter unit configured to perform smoothing filtering on the adjusted driving voltage to obtain a smoothed and filtered driving voltage
  • a driving unit is used to power amplify the smoothed and filtered driving voltage to drive the linear motor.
  • each functional module of the displacement compression device of the motor oscillator of the present invention during operation are basically the same as the above-mentioned embodiments of the displacement compression method of the motor oscillator of the present invention, and will not be described again here.
  • the present invention also provides a computer storage medium, which stores a displacement compression program of the motor oscillator.
  • the displacement compression program of the motor oscillator is executed by the processor, the displacement compression program of the motor oscillator as described in any of the above embodiments is realized. Steps of the displacement compression procedure method.
  • the present invention also provides a computer program product.
  • the computer program product includes a computer program.
  • the steps of the displacement compression method of the motor oscillator of the present invention as described in any of the above embodiments are implemented. No further details will be given here.
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present invention can be embodied in the form of a software product that is essentially or contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM) as mentioned above. , magnetic disk, optical disk), including several instructions to cause a terminal device (which can be a TWS headset, etc.) to execute the methods described in various embodiments of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention concerne un procédé et dispositif de réduction de déplacement pour un vibreur de moteur, un appareil terminal, et un support de stockage lisible par ordinateur. Le procédé comporte les étapes consistant: au moyen d'un appareil terminal muni d'un moteur linéaire, à prédire la valeur maximale d'énergie de vibreur d'un vibreur du moteur linéaire d'après une tension de pré-excitation du moteur linéaire; en fonction de la valeur maximale d'énergie de vibreur et d'une énergie maximale admissible prédéfinie du vibreur, à ajuster la tension de pré-excitation pour obtenir la tension d'excitation ajustée; et, d'après la tension d'excitation ajustée, à exciter le moteur linéaire de façon à réduire le déplacement du vibreur. La solution technique de la présente invention garantit que le vibreur de moteur ne peut pas heurter un carter de moteur au cours d'un mouvement sous excitation en tension, ce qui a pour effet en pratique d'éviter des problèmes tels qu'une réduction des performances du moteur, des sensations de vibrations anormales, un fort bruit de vibrations et l'endommagement du moteur qui en découle.
PCT/CN2022/124598 2022-07-29 2022-10-11 Procédé et dispositif de réduction de déplacement pour vibreur de moteur, appareil terminal, et support de stockage WO2024021310A1 (fr)

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CN202210907312.5A CN115333432A (zh) 2022-07-29 2022-07-29 马达振子的位移压缩方法、装置、终端设备及存储介质

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CN110112984A (zh) * 2019-05-29 2019-08-09 维沃移动通信有限公司 一种线性马达的振动控制方法和移动终端
CN111551848A (zh) * 2019-12-30 2020-08-18 瑞声科技(新加坡)有限公司 马达体验失真指标的测试方法、电子设备及存储介质
CN112712302A (zh) * 2021-03-16 2021-04-27 西南交通大学 一种路基压实参数调节方法、装置、设备及可读存储介质
CN114070135A (zh) * 2020-07-27 2022-02-18 双叶电子工业株式会社 伺服马达装置、控制方法
WO2022041346A1 (fr) * 2020-08-28 2022-03-03 瑞声声学科技(深圳)有限公司 Procédé de détermination de quantité de vibration pour appareil de commande tactile de moteur linéaire, et dispositif associé
CN114221596A (zh) * 2021-12-22 2022-03-22 歌尔股份有限公司 基于马达的振感调整方法、设备和计算机可读存储介质

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110112984A (zh) * 2019-05-29 2019-08-09 维沃移动通信有限公司 一种线性马达的振动控制方法和移动终端
CN111551848A (zh) * 2019-12-30 2020-08-18 瑞声科技(新加坡)有限公司 马达体验失真指标的测试方法、电子设备及存储介质
CN114070135A (zh) * 2020-07-27 2022-02-18 双叶电子工业株式会社 伺服马达装置、控制方法
WO2022041346A1 (fr) * 2020-08-28 2022-03-03 瑞声声学科技(深圳)有限公司 Procédé de détermination de quantité de vibration pour appareil de commande tactile de moteur linéaire, et dispositif associé
CN112712302A (zh) * 2021-03-16 2021-04-27 西南交通大学 一种路基压实参数调节方法、装置、设备及可读存储介质
CN114221596A (zh) * 2021-12-22 2022-03-22 歌尔股份有限公司 基于马达的振感调整方法、设备和计算机可读存储介质

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