WO2024103372A1 - 生成触觉反馈方案的优化方法、装置、介质及电子设备 - Google Patents

生成触觉反馈方案的优化方法、装置、介质及电子设备 Download PDF

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WO2024103372A1
WO2024103372A1 PCT/CN2022/132761 CN2022132761W WO2024103372A1 WO 2024103372 A1 WO2024103372 A1 WO 2024103372A1 CN 2022132761 W CN2022132761 W CN 2022132761W WO 2024103372 A1 WO2024103372 A1 WO 2024103372A1
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Prior art keywords
motor
tested
vibration
motors
target device
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PCT/CN2022/132761
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English (en)
French (fr)
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许恒
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广州视源电子科技股份有限公司
广州视源人工智能创新研究院有限公司
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Priority to PCT/CN2022/132761 priority Critical patent/WO2024103372A1/zh
Publication of WO2024103372A1 publication Critical patent/WO2024103372A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Definitions

  • the present application relates to the field of computer technology, and in particular to an optimization method, device, medium and electronic device for generating a tactile feedback solution.
  • Linear motors are widely used in various electronic devices to provide tactile feedback for electronic devices and enhance the human-computer interaction experience.
  • Typical application scenarios include various handheld interactive devices such as mobile phones and game controllers, and various non-handheld interactive devices such as car central control touch screens and computer touchpads.
  • the embodiments of the present application provide an optimization method, device, medium and electronic device for generating a tactile feedback solution, which can quickly provide a tactile feedback design solution that meets the design requirements for the device during the device development stage.
  • the technical solution is as follows:
  • an embodiment of the present application provides an optimization method for generating a tactile feedback solution, the method comprising:
  • the vibration amount of the motor to be tested determining the actual number M of the motors to be tested that meet the preset conditions, wherein the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to a preset vibration amount and the vibration frequency of the motor to be tested is within a preset frequency range;
  • a tactile feedback design scheme corresponding to when the motor to be tested is applied to the target device is generated based on the actual number M of the motor to be tested, the motor parameters, and the installation method of the motor to be tested on the target device.
  • an embodiment of the present application provides a device for generating a tactile feedback solution, the device comprising:
  • a first parameter acquisition module used to acquire the mass of the target device, the installation method of the motor to be tested on the target device, and the motor parameters of the motor to be tested;
  • a vibration amount calculation module used to determine the vibration amounts of the N motors to be tested at different vibration frequencies according to the mass of the target device and the motor parameters;
  • a motor quantity determination module configured to determine, according to the vibration amount of the motor to be tested, an actual quantity M of the motor to be tested that satisfies a preset condition, wherein the preset condition includes that the vibration amount of the motor to be tested is greater than or equal to a preset vibration amount and the vibration frequency of the motor to be tested is within a preset frequency range;
  • a solution generation module is used to generate a corresponding tactile feedback design solution when the motor to be tested is applied to the target device based on the actual number M, the motor parameters, and the installation method of the motor to be tested on the target device.
  • an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the above-mentioned method steps.
  • an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.
  • the vibration amount of N motors to be tested at different vibration frequencies is determined, and then according to the vibration amount of the motor to be tested, the actual number M of motors to be tested that meet the preset conditions is determined, and the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is within the preset frequency range, and finally based on the actual number M of motors to be tested, the motor parameters, and the installation method of the motor to be tested on the target device, the corresponding tactile feedback design scheme when the motor to be tested is applied to the target device is generated.
  • FIG1 is a schematic flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application
  • FIG2 is a flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application
  • FIG3 is a schematic flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application
  • FIG4 is a schematic diagram showing an example of a tactile feedback design solution provided in an embodiment of the present application.
  • FIG5 is a schematic flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application
  • FIG6 is a flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application.
  • FIG7 is a schematic diagram showing an example of a tactile feedback design solution provided in an embodiment of the present application.
  • FIG8 is a schematic diagram of the structure of a device for generating a tactile feedback solution provided in an embodiment of the present application.
  • FIG9 is a schematic diagram of the structure of a device for generating a tactile feedback solution provided in an embodiment of the present application.
  • FIG. 10 shows a structural block diagram of an electronic device provided by an exemplary embodiment of the present application.
  • Haptics refers to the technology of transmitting information through skin sensory feedback such as force and vibration.
  • the main manifestation of tactile feedback on the terminal is "vibration".
  • a typical tactile technology system is a combination of several sub-modules, namely: a tactile interface with a capacitive button, a processor, a drive circuit and an actuator.
  • the input of the tactile technology system can be touching or pressing the touch screen.
  • the sensor in the device senses the change in the applied force and the change in the input angle and sends the information to the processor.
  • the information is further processed to generate a waveform that can be an analog or digital waveform as the input of the drive circuit, and specific instructions are provided to the actuator to generate a vibration mode.
  • the feedback from the actuator is returned to the touch screen device as feedback, so the user virtually feels this feedback.
  • tactile feedback is more helpful to improve the sense of interaction and allow users to have an immersive experience
  • non-handheld products such as the central control system of the car
  • the traditional physical buttons in the cockpit are gradually replaced by touch screens and smart surfaces.
  • Tactile feedback technology can improve driving safety and experience and prevent misoperation.
  • Linear motors are common tactile vibration actuators, which are mainly a spring system consisting of a spring, a mass block, and a coil.
  • the spring suspends the coil inside the linear motor.
  • the coil When current flows through the coil, the coil generates a magnetic field.
  • the coil is connected to a magnetic mass block.
  • the mass block When the current flowing through the coil changes, the direction and strength of the magnetic field will also change.
  • the mass block will move up and down in the changing magnetic field. This movement is perceived by people and produces a tactile effect.
  • the linear motor has a fast response speed, high vibration intensity, delicate vibration experience, low power consumption, and low acoustic noise.
  • the above process requires at least a 4-month development cycle and up to hundreds of thousands of RMB in R&D costs; and in the design of tactile feedback schemes in related technologies, it does not correspond to specific products, nor does it take into account the equivalent stiffness and damping factors of the human hand for handheld products, and the equivalent stiffness and damping of the mounting base of non-handheld products.
  • the embodiment of the present application proposes an optimization method for generating a tactile feedback solution, by obtaining the mass of the target device, the installation method of the motor to be tested on the target device and the motor parameters of the motor to be tested, and according to the mass of the target device and the motor parameters, determining the vibration amount of N motors to be tested at different vibration frequencies, and then determining the actual number M of motors to be tested that meet preset conditions according to the vibration amount of the motor to be tested, the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is within a preset frequency range, and finally generating a corresponding tactile feedback design solution when the motor to be tested is applied to the target device based on the actual number M of motors to be tested, the motor parameters and the installation method of the motor to be tested on the target device, thereby realizing a tactile feedback design solution that meets the design requirements can be quickly provided to the device during the equipment development stage.
  • FIG1 is a flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application.
  • the optimization method for generating a tactile feedback solution can be applied to a device for generating a tactile feedback solution or an electronic device equipped with a device for generating a tactile feedback solution.
  • the process shown in FIG1 will be described in detail below.
  • the optimization method for generating a tactile feedback solution can specifically include the following steps:
  • the target device is the electronic device on which the motor is to be installed.
  • the target device can be any electronic device that needs to add tactile feedback, including but not limited to various handheld interactive devices such as mobile phones, smart watches, interactive tablets, game controllers, and various non-handheld interactive devices such as car central control touch screens and computer touchpads.
  • the motor to be tested is a motor to be installed in a target device and capable of providing tactile feedback to a user, including but not limited to a linear motor, a rotor motor, etc.
  • the motor parameters may be inherent parameter attributes of the motor to be tested, including but not limited to the motor vibrator mass, motor stator mass, motor spring stiffness coefficient, motor spring damping coefficient, motor force coefficient, etc. of the motor to be tested.
  • the motor parameters may also include parameters such as resistance, inductance, and motor drive voltage of the motor to be tested, which are not limited in the embodiments of the present application.
  • the installation method of the motor to be tested on the target device may also be different.
  • the target device is a handheld device, considering that the handheld device is in direct contact with the palm of the user, the user has a better vibration perception of the handheld device, and the handheld device is small in size, the vibration transmission effect of the motor is better, therefore, the motor to be tested can be installed on the handheld device using a fixed connection installation method.
  • the target device is a non-handheld device, that is, the non-handheld device does not directly contact the user's palm, the user only relies on the touch of the fingers on the non-handheld device to perceive the tactile feedback of the motor, and the perception of the vibration of the motor is weak. Therefore, the motor to be tested can be installed on the non-handheld device by a spring-supported installation method, and the vibration conduction effect of the motor on the non-handheld device is increased by the spring support structure.
  • the motor parameters include one or more of the motor vibrator mass, motor stator mass, motor spring stiffness coefficient, motor spring damping coefficient, and motor force coefficient of the motor to be tested.
  • the vibration amounts of N motors to be tested at different vibration frequencies are simulated and calculated.
  • N is the number of motors to be tested. It is understandable that when designing a tactile feedback design for a target device, the vibration generated by one motor to be tested installed on the target device may not meet the vibration requirement of the target device. Therefore, it is necessary to simultaneously install multiple motors to be tested to meet the vibration requirement of the target device.
  • the motor vibrator displacements of the N motors to be tested at different vibration frequencies can be first calculated based on the mass of the target device and the motor parameter simulation, and then the vibration amounts of the N motors to be tested at different vibration frequencies can be determined based on the motor vibrator displacements of the N motors to be tested at different vibration frequencies.
  • N can be one or more.
  • the vibration amounts of N motors to be tested at different vibration frequencies are determined according to the mass of the target device and the motor parameters, including: calculating the unit motor vibrator displacements of the N motors to be tested at different vibration frequencies under a unit driving voltage by simulation according to the mass of the target device and the motor parameters; determining the unit vibration amounts of the N motors to be tested at different vibration frequencies under a unit driving voltage based on the unit motor vibrator displacement; and calculating the vibration amounts of the N motors to be tested at different vibration frequencies under a preset driving voltage based on the motor vibrator safety displacement of the motor to be tested, the unit motor vibrator displacement and the unit vibration amount and the preset driving voltage of the motor to be tested.
  • the preset driving voltage is a driving voltage that the target device can provide for the motor to be tested.
  • the vibrator safety displacements corresponding to different models of motors under test are not the same. Due to the limitation of the vibrator safety displacement, under the same preset driving voltage, the displacements generated by the motor vibrators in different models of motors under test may be different. Directly using the preset driving voltage to simulate and calculate the vibration amounts of N motors under test at different vibration frequencies will result in inaccurate simulation results.
  • the preset vibration amount is a required vibration amount determined according to the design requirements of the target device.
  • the preset vibration amount can be determined based on human body's perception of the vibration amount and can be obtained through experiments.
  • the preset frequency range is a vibration frequency range determined according to the design requirements of the target device. It can be understood that the preset frequency range is a vibration frequency range in which the human body can perceive the best vibration amount.
  • the actual number M of motors to be tested used can be determined based on the obtained vibration amounts when the vibration amount is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is within the preset frequency range.
  • the actual number M is the number N when the vibration amount is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is within the preset frequency range.
  • the vibration amounts of the motors to be tested at different vibration frequencies first determine whether the vibration amounts of the motors to be tested at different frequencies are greater than or equal to the preset vibration amounts and whether the corresponding frequency interval when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency interval; if the vibration amount of the motor to be tested is less than the preset vibration amount or the corresponding frequency interval when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is not within the preset frequency interval, adjust the test quantity N of the motor to be tested, and perform the step of determining the vibration amount of the motor to be tested after adjusting the quantity at different vibration frequencies according to the quality and motor parameters of the target device; if the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency interval, determine that the actual number M of the motor
  • S108 Generate a tactile feedback design scheme corresponding to when the motor to be tested is applied to the target device based on the actual number M of the motor to be tested, the motor parameters, and the installation method of the motor to be tested on the target device.
  • a corresponding tactile feedback design scheme is generated when the motor to be tested is applied to the target device based on the actual number M of motors to be tested, the motor parameters of the motor to be tested, and the fixed connection and installation method when the vibration amount of the motor to be tested is greater than or equal to a preset vibration amount and the corresponding vibration frequency is within a preset frequency range when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount.
  • a corresponding tactile feedback design scheme is generated when the motor to be tested is applied to the target device based on the actual number M of motors to be tested, the motor parameters of the motor to be tested, and the spring support installation method when the vibration amount of the motor to be tested is greater than or equal to a preset vibration amount and the corresponding vibration frequency is within a preset frequency range when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount.
  • tactile feedback design schemes are generated for the different models of motors to be tested when they are applied to the target device.
  • the user can conduct a comprehensive evaluation of the tactile feedback design schemes corresponding to the different models of motors to be tested based on factors such as the price and external dimensions of the different models of motors to be tested, and select the tactile feedback design scheme with the highest cost-effectiveness.
  • the vibration amounts of N motors to be tested at different vibration frequencies are determined. Then, according to the vibration amounts of the motors to be tested, the actual number M of motors to be tested that meet preset conditions is determined.
  • the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is greater than or equal to the preset vibration amount within a preset frequency range.
  • the installation method of the motor under test on the target device is a fixed connection installation method.
  • the gripping effect of a human hand on the target device should also be considered.
  • Figure 2 is a flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application.
  • the optimization method for generating a tactile feedback solution may include the following steps:
  • step S102 in another embodiment for step S202, which will not be described in detail here.
  • the target device is a handheld device
  • additional mass will be generated on the handheld device
  • the equivalent stiffness coefficient, equivalent damping coefficient and equivalent additional mass of the human hand skin to the target device are obtained when the human hand holds the target device.
  • the motor vibrator displacements of N motors to be tested at different vibration frequencies are simulated and calculated according to the mass, motor parameters, equivalent stiffness coefficient, equivalent damping coefficient and equivalent added mass of the target device, and then the vibration amounts of the N motors to be tested at different vibration frequencies are determined based on the motor vibrator displacements of the N motors to be tested at different vibration frequencies.
  • the motor vibrator displacements of the N motors to be tested at different vibration frequencies when the N motors to be tested are installed in the target device are simulated and calculated, and the vibration amount of the motor to be tested is calculated based on the motor vibrator displacement, so as to obtain a relationship curve between the vibration amount and the vibration frequency of the motor to be tested.
  • step S206 may include the following steps S2061 to S2063:
  • the simulation calculation can be performed according to the following formula:
  • m1 is the mass of the motor vibrator
  • m2 is the mass of the target device
  • m3 is the mass of the motor stator
  • m4 is the equivalent additional mass
  • x1 is the displacement of the motor vibrator
  • x2 is the displacement of the target device
  • is the motor oscillator speed is the target device speed
  • k1 is the motor spring stiffness coefficient
  • k2 is the equivalent stiffness coefficient of human hand skin
  • c1 is the motor spring damping coefficient
  • c2 is the equivalent damping coefficient of human hand skin
  • N is the test number of the linear motor
  • BL is the motor force coefficient
  • Re is the resistance
  • Le is the inductance
  • i is the current
  • U is the unit driving voltage.
  • the unit driving voltage can be 1V.
  • the unit vibration amount of the motor to be tested under the unit driving voltage is calculated based on the motor vibrator displacements of the motor to be tested, and finally the unit vibration amounts of the N motors to be tested at different vibration frequencies under the unit driving voltage are obtained.
  • the vibration amounts of N motors under test at different vibration frequencies under a preset driving voltage can be calculated based on the unit motor vibration amount under a unit driving voltage according to the following formula.
  • Gs is the system vibration amount
  • G1 is the unit system vibration amount
  • xmax is the safe displacement of the motor vibrator
  • Us is the preset driving voltage
  • x1 is the displacement of the motor vibrator
  • x2 is the displacement of the target device.
  • the preset vibration amount is a required vibration amount determined according to the design requirements of the target device.
  • the preset vibration amount can be determined based on human body's perception of the vibration amount and can be obtained through experiments.
  • the preset frequency range is a vibration frequency range determined according to the design requirements of the target device. It can be understood that the preset frequency range is a vibration frequency range in which the human body can perceive the best vibration amount.
  • the vibration amount generated when the motor to be tested is installed in the target device can be adjusted by adjusting the test number N of the motor to be tested, and then the simulation test is continued based on the motor to be tested after the adjusted number until the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency range.
  • the actual number M of motors to be tested used to make the vibration amount of the motor to be tested greater than or equal to the preset vibration amount and the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency range is determined.
  • the vibration amount generated by a motor to be tested at different vibration frequencies when installed in a target device can be simulated and calculated to obtain a relationship curve between the vibration frequency and the vibration amount when the motor to be tested is installed in the target device. According to the relationship curve between the vibration frequency and the vibration amount, it is judged whether the vibration amount generated by the motor to be tested when installed in the target device is greater than or equal to the preset vibration amount.
  • the vibration amount generated by the motor to be tested when installed in the target device is less than the preset vibration amount, the number of motors is increased, and a simulation is performed to calculate the vibration amount generated by two motors to be tested at different vibration frequencies when installed in the target device to obtain a relationship curve between the vibration frequency and the vibration amount when the two motors to be tested are installed in the target device. According to the relationship curve between the vibration frequency and the vibration amount, it is judged whether the vibration amount generated by the two motors to be tested when installed in the target device is greater than or equal to the preset vibration amount, until the vibration amount generated by the motor to be tested when installed in the target device is greater than or equal to the preset vibration amount.
  • the vibration frequency interval corresponding to the vibration amount greater than or equal to the preset vibration amount After determining that the vibration amount generated by the motor to be tested when installed in the target device is greater than or equal to the preset vibration amount, determine the vibration frequency interval corresponding to the vibration amount greater than or equal to the preset vibration amount, and judge whether the vibration frequency interval satisfies the preset frequency interval. When the frequency interval corresponding to the vibration amount greater than or equal to the preset vibration amount satisfies the preset frequency interval, determine the actual number of motors to be tested.
  • the test number N of the motor to be tested can be adjusted and modified until the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency interval, and the actual number M of motors to be tested referred to in the simulation is recorded.
  • a corresponding tactile feedback design scheme is generated when the motor to be tested is applied to a target device based on the actual number M of the motor to be tested, the motor parameters, and the fixed connection installation method.
  • the motor parameter may be a model identifier of the motor to be tested.
  • FIG. 4 is a schematic diagram of an example of a tactile feedback design solution provided in an embodiment of the present application.
  • the target device when the target device is a handheld device, when designing a tactile feedback scheme for the target device, there is no need to perform multiple rounds of iterative design and test verification. It is only necessary to use the mass of the target device, the installation method of the motor to be tested on the target device, and the motor parameters of the motor to be tested as input in a pre-tested tooling environment, and obtain the mass of the target device, the installation method of the motor to be tested on the target device, the motor parameters of the motor to be tested, and the equivalent stiffness coefficient, equivalent damping coefficient, and equivalent added mass of the human hand skin when holding the target device, and determine the vibration amounts of N motors to be tested at different vibration frequencies based on the mass, motor parameters, equivalent stiffness coefficient, equivalent damping coefficient, and equivalent added mass of the target device, and then determine the vibration amounts of N motors to be tested at different vibration frequencies based on the mass, motor parameters, equivalent stiffness coefficient, equivalent damping coefficient, and equivalent added mass of the motors to be tested.
  • the vibration amount of the motor is determined, and the actual number M of the motors to be tested that meet the preset conditions is determined.
  • the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is greater than or equal to the preset vibration amount and is within the preset frequency range.
  • a corresponding tactile feedback design scheme is generated when the motors to be tested are applied to the target device, thereby realizing the rapid generation of a set of tactile feedback schemes based on the motors to be tested for the target device, which can shorten the equipment development cycle and reduce research and development costs.
  • the holding effect of a person's hand when holding the target device is taken into account in the simulation calculation process, which has a more accurate simulation effect and better robustness in the face of various scenarios.
  • the motor to be tested is installed on the target device in a spring-supported manner.
  • the effect of the spring support structure on vibration conduction and the effect of the non-handheld device base should also be considered.
  • Figure 5 is a flow chart of an optimization method for generating a tactile feedback solution provided in an embodiment of the present application.
  • the optimization method for generating a tactile feedback solution may include the following steps:
  • step S102 in another embodiment for step S302, which will not be described in detail here.
  • the target device When the target device is a non-handheld device, most of them are installed in a base installation mode. Since the volume of non-handheld devices is relatively large, in order to ensure the vibration transmission effect of the motor under test installed in the non-handheld device, the motor under test is installed in the non-handheld device in a spring support installation mode using a spring support structure. Specifically, when the target device is a non-handheld device, the support spring stiffness coefficient and support spring damping coefficient corresponding to the spring support structure, the base mass of the non-handheld device base, and the equivalent stiffness coefficient and equivalent damping coefficient of the non-handheld device base are obtained.
  • the motor vibrator displacements of N motors to be tested at different vibration frequencies are simulated and calculated according to the mass of the target device, motor parameters, base mass, equivalent stiffness coefficient, equivalent damping coefficient, support spring stiffness coefficient and support spring damping coefficient, and then the vibration amounts of the N motors to be tested at different vibration frequencies are determined based on the motor vibrator displacements of the N motors to be tested at different vibration frequencies.
  • the motor vibrator displacements of the N motors to be tested at different vibration frequencies when the N motors to be tested are installed in the target device are simulated and calculated, and the vibration amount of the motor to be tested is calculated based on the motor vibrator displacement, so as to obtain a relationship curve between the vibration amount and the vibration frequency of the motor to be tested.
  • step S306 when determining the vibration amount of N motors to be tested at different vibration frequencies according to the mass, motor parameters, base mass, equivalent stiffness coefficient, equivalent damping coefficient, support spring stiffness coefficient, and support spring damping coefficient of the target device, firstly, the unit vibration amount of the N motors to be tested at different vibration frequencies under the unit driving voltage is simulated and calculated, and then the vibration amount of the N motors to be tested under the preset driving voltage is calculated according to the unit vibration amount under the unit driving voltage.
  • step S306 may include the following steps S3061 to S3063:
  • the simulation calculation can be performed according to the following formula:
  • m1 is the mass of the motor vibrator
  • m5 is the mass of the target device
  • m6 is the mass of the base
  • m3 is the mass of the motor stator
  • x1 is the displacement of the motor vibrator
  • x3 is the displacement of the target device
  • x6 is the displacement of the base
  • is the motor oscillator speed is the target device speed
  • is the motor oscillator acceleration is the target device acceleration
  • k4 is the equivalent stiffness coefficient
  • c1 is the spring damping coefficient
  • c3 is the support spring damping coefficient corresponding to the support spring stiffness coefficient
  • c4 is the equivalent damping coefficient
  • N is the test number of the linear motor
  • BL is the motor force coefficient
  • Re is the resistance
  • Le is the inductance
  • i is the current
  • U is the unit driving voltage
  • ⁇ is the spring damping ratio.
  • the unit vibration amount of the motor to be tested under the unit driving voltage is calculated based on the motor vibrator displacements of the motor to be tested, and finally the unit vibration amounts of the N motors to be tested at different vibration frequencies under the unit driving voltage are obtained.
  • the vibration amounts of N motors under test at different vibration frequencies under a preset driving voltage can be calculated based on the unit motor vibration amount under a unit driving voltage according to the following formula.
  • Gs is the system vibration amount
  • G2 is the unit system vibration amount
  • xmax is the safe displacement of the motor vibrator
  • Us is the preset driving voltage
  • x1 is the motor vibrator displacement
  • x3 is the target device displacement.
  • the preset vibration amount is a required vibration amount determined according to the design requirements of the target device.
  • the preset vibration amount can be determined based on human body's perception of the vibration amount and can be obtained through experiments.
  • the preset frequency range is a vibration frequency range determined according to the design requirements of the target device. It can be understood that the preset frequency range is a vibration frequency range in which the human body can perceive the best vibration amount.
  • the vibration amount of the motor to be tested is less than the preset vibration amount or the corresponding vibration frequency is not within the preset frequency range when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount, then adjust the support spring stiffness coefficient and the support spring damping coefficient corresponding to N and/or the spring support structure of the motor to be tested, and perform the step of determining the vibration amount of the motor to be tested after adjusting the quantity at different vibration frequencies according to the mass of the target device, the motor parameters, the base mass, the equivalent stiffness coefficient, the equivalent damping coefficient, the support spring stiffness coefficient and the support spring damping coefficient;
  • the spring support structure can include multiple models. When the vibration amount of the motor to be tested is less than the preset vibration amount or the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the corresponding vibration frequency range is not within the preset frequency range, the vibration amount of the motor to be tested when installed in the target device can be adjusted by replacing the spring support structure with different model parameters.
  • the actual number M of motors to be tested used to make the vibration amount of the motor to be tested greater than or equal to the preset vibration amount and the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency range is determined.
  • the vibration amount generated by a motor to be tested at different vibration frequencies when installed in a target device can be simulated and calculated to obtain a relationship curve between the vibration frequency and the vibration amount when the motor to be tested is installed in the target device. According to the relationship curve between the vibration frequency and the vibration amount, it is judged whether the vibration amount of the motor to be tested at different frequencies when the motor to be tested is installed in the target device is greater than or equal to the preset vibration amount, and whether the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency range.
  • the vibration amount generated by the motor to be tested when installed in the target device is less than the preset vibration amount or the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is not within the preset frequency range, then adjust N of the motor to be tested and/or the support spring stiffness coefficient and the support spring damping coefficient corresponding to the spring support structure until the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency range, and then determine the actual number of motors to be tested.
  • FIG. 7 is a schematic diagram of an example of a tactile feedback design solution provided in an embodiment of the present application.
  • the target device when the target device is a non-handheld device, when designing a tactile feedback scheme for the target device, there is no need to perform multiple rounds of iterative design and test verification. It is only necessary to use the mass of the target device, the installation method of the motor to be tested on the target device, and the motor parameters of the motor to be tested as input in a pre-tested tooling environment, by obtaining the mass of the target device, the installation method of the motor to be tested on the target device, the motor parameters of the motor to be tested, the support spring stiffness coefficient and the support spring damping coefficient corresponding to the spring support structure, the base mass of the non-handheld device base, and the equivalent stiffness coefficient and the equivalent damping coefficient of the non-handheld device base, and according to the mass of the target device, the motor parameters, the base mass, the equivalent stiffness coefficient, The equivalent damping coefficient, the support spring stiffness coefficient and the support spring damping coefficient are used to determine the vibration amount of N motors to be tested at different vibration frequencies, and then the actual number M
  • the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is greater than or equal to the preset vibration amount and is within the preset frequency range.
  • Figure 8 is a schematic diagram of the structure of a device for generating a tactile feedback solution provided in an embodiment of the present application.
  • the device 1 for generating a tactile feedback solution can be implemented as all or part of an electronic device through software, hardware, or a combination of both.
  • the device 1 for generating a tactile feedback solution includes a first parameter acquisition module 11, a vibration amount calculation module 12, a motor quantity determination module 13, and a solution generation module 14, specifically including:
  • a first parameter acquisition module 11 is used to acquire the mass of the target device, the installation method of the motor to be tested on the target device, and the motor parameters of the motor to be tested;
  • a vibration amount calculation module 12 used to determine the vibration amounts of the N motors to be tested at different vibration frequencies according to the mass of the target device and the motor parameters;
  • a motor quantity determination module 13 for determining an actual quantity M of the motors to be tested that meet a preset condition according to the vibration quantity of the motors to be tested, wherein the preset condition includes that the vibration quantity of the motors to be tested is greater than or equal to a preset vibration quantity and the vibration frequency of the motors to be tested is within a preset frequency range;
  • the solution generating module 14 is used to generate a tactile feedback design solution corresponding to when the motor to be tested is applied to the target device based on the actual quantity M, the motor parameters, and the installation method of the motor to be tested on the target device.
  • the vibration amount calculation module 12 is specifically used for:
  • the vibration amounts of the N motors to be tested at different vibration frequencies are determined based on the motor vibrator displacements of the N motors to be tested at different vibration frequencies.
  • the vibration amount calculation module 12 is specifically used for:
  • the unit motor vibrator displacements of N motors to be tested at different vibration frequencies under unit driving voltage are simulated and calculated;
  • the vibration amounts of N motors under test at different vibration frequencies under a preset driving voltage are calculated based on the motor vibrator safety displacement of the motor under test, the unit motor vibrator displacement and the unit vibration amount, and the preset driving voltage of the motor under test.
  • the motor quantity determination module 13 is specifically used to:
  • the test quantity N of the motor to be tested is adjusted, and the vibration amount of the motor to be tested after the adjustment quantity at different vibration frequencies is determined according to the mass of the target device and the motor parameters;
  • the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the corresponding vibration frequency when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount is within the preset frequency range, it is determined that the actual number M of the motor to be tested is equal to N.
  • the motor to be tested is installed on the target device in a fixed connection manner, see FIG9 , the device further includes:
  • the second parameter acquisition module 15 is used to acquire the equivalent stiffness coefficient, equivalent damping coefficient and equivalent additional mass of the skin of a human hand when holding the target device.
  • the vibration amount calculation module 12 is specifically used to:
  • the vibration amounts of the N motors to be tested at different vibration frequencies are determined according to the mass of the target device, the motor parameters, the equivalent stiffness coefficient, the equivalent damping coefficient and the equivalent added mass.
  • the vibration amount calculation module 12 is specifically used to:
  • the vibration amounts of the N motors to be tested at different vibration frequencies are determined based on the motor vibrator displacements of the N motors to be tested at different vibration frequencies.
  • the vibration amount calculation module 12 is specifically used to:
  • the vibration amounts of N motors under test at different vibration frequencies under a preset driving voltage are calculated based on the motor vibrator safety displacement of the motor under test, the unit motor vibrator displacement and the unit vibration amount, and the preset driving voltage of the motor under test.
  • the motor to be tested is mounted on the target device in a spring-supported manner, see FIG9 , and the apparatus further includes:
  • the third parameter acquisition module 16 is used to acquire the support spring stiffness coefficient and the support spring damping coefficient corresponding to the spring support structure, the base mass of the non-handheld device base, and the equivalent stiffness coefficient and the equivalent damping coefficient of the non-handheld device base.
  • the vibration amount calculation module 12 is specifically used to:
  • the vibration amounts of the N motors to be tested at different vibration frequencies are determined based on the motor vibrator displacements of the N motors to be tested at different vibration frequencies.
  • the vibration amount calculation module 12 is specifically used to:
  • the vibration amounts of N motors under test at different vibration frequencies under a preset driving voltage are calculated based on the motor vibrator safety displacement of the motor under test, the unit motor vibrator displacement and the unit vibration amount, and the preset driving voltage of the motor under test.
  • the motor quantity determination module 13 is specifically configured to:
  • the vibration amount of the motor to be tested is less than the preset vibration amount or the corresponding vibration frequency is not within the preset frequency range when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount, then adjust N of the motor to be tested and/or the support spring stiffness coefficient and the support spring damping coefficient corresponding to the spring support structure, and perform the step of determining the vibration amount of the motor to be tested after the adjustment amount at different vibration frequencies according to the mass of the target device, the motor parameters, the base mass, the equivalent stiffness coefficient, the equivalent damping coefficient, the support spring stiffness coefficient and the support spring damping coefficient;
  • the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the corresponding vibration frequency is within the preset frequency range when the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount, determine that the actual number M of the motor to be tested is equal to N, and determine the support spring stiffness coefficient and support spring damping coefficient corresponding to the spring support structure.
  • the solution generating module 14 is specifically configured to:
  • a corresponding tactile feedback design scheme is generated when the motor to be tested is applied to the target device.
  • the motor parameters include one or more of a motor vibrator mass, a motor stator mass, a motor spring stiffness coefficient, a motor spring damping coefficient, and a motor force coefficient of the motor to be tested.
  • the vibration amounts of N motors to be tested at different vibration frequencies are determined. Then, according to the vibration amounts of the motors to be tested, the actual number M of motors to be tested that meet preset conditions is determined.
  • the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is greater than or equal to the preset vibration amount within a preset frequency range.
  • the device for generating a tactile feedback solution provided in the above embodiment only uses the division of the above functional modules as an example when executing the optimization method for generating a tactile feedback solution.
  • the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.
  • the device for generating a tactile feedback solution provided in the above embodiment and the optimization method for generating a tactile feedback solution are of the same concept. The implementation process thereof is detailed in the method embodiment and will not be repeated here.
  • An embodiment of the present application also provides a computer storage medium, which can store multiple instructions, and the instructions are suitable for being loaded by a processor and executed as described in the optimization method for generating a tactile feedback scheme in the embodiments shown in Figures 1 to 7 above.
  • the specific execution process can be found in the specific description of the embodiments shown in Figures 1 to 7, which will not be repeated here.
  • the present application also provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded by the processor and executed by the optimization method for generating a tactile feedback scheme as described in the embodiments shown in Figures 1 to 7 above.
  • the specific execution process can be found in the specific description of the embodiments shown in Figures 1 to 7, and will not be repeated here.
  • FIG. 10 shows a block diagram of an electronic device provided by an exemplary embodiment of the present application.
  • the electronic device in the present application may include one or more of the following components: a processor 110, a memory 120, an input device 130, an output device 140, and a bus 150.
  • the processor 110, the memory 120, the input device 130, and the output device 140 may be connected via the bus 150.
  • the processor 110 may include one or more processing cores.
  • the processor 110 uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions and processes data of the terminal 100 by running or executing instructions, programs, code sets or instruction sets stored in the memory 120, and calling data stored in the memory 120.
  • the processor 110 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA).
  • DSP digital signal processing
  • FPGA field-programmable gate array
  • PDA programmable logic array
  • the processor 110 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem.
  • the CPU mainly processes the operating system, user pages, and applications
  • the GPU is responsible for rendering and drawing display content
  • the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 110, but may be implemented separately through a communication chip.
  • the memory 120 may include a random access memory (RAM) or a read-only memory (ROM).
  • the memory 120 includes a non-transitory computer-readable storage medium (Non-Transitory Computer-Readable Storage Medium).
  • the memory 120 may be used to store instructions, programs, codes, code sets or instruction sets.
  • the memory 120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.
  • the operating system may be an Android system, including a system deeply developed based on the Android system, an IOS system developed by Apple, including a system deeply developed based on the IOS system, or other systems.
  • the memory 120 can be divided into an operating system space and a user space.
  • the operating system runs in the operating system space, and native and third-party applications run in the user space.
  • the operating system allocates corresponding system resources to different third-party applications.
  • the requirements for system resources in different application scenarios in the same third-party application are also different. For example, in the local resource loading scenario, the third-party application has higher requirements for disk reading speed; in the animation rendering scenario, the third-party application has higher requirements for GPU performance.
  • the operating system and third-party applications are independent of each other, and the operating system often cannot perceive the current application scenario of the third-party application in a timely manner, resulting in the operating system being unable to perform targeted system resource adaptation according to the specific application scenario of the third-party application.
  • the input device 130 is used to receive input commands or data, and includes but is not limited to a keyboard, a mouse, a camera, a microphone, or a touch device.
  • the output device 140 is used to output commands or data, and includes but is not limited to a display device and a speaker. In one example, the input device 130 and the output device 140 can be combined, and the input device 130 and the output device 140 are touch screen displays.
  • the touch display screen can be designed as a full screen, a curved screen or a special-shaped screen.
  • the touch display screen can also be designed as a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in the embodiments of the present application.
  • the structure of the electronic device shown in the above drawings does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.
  • the electronic device also includes radio frequency circuits, input units, sensors, audio circuits, wireless fidelity (WiFi) modules, power supplies, Bluetooth modules and other components, which will not be described in detail here.
  • WiFi wireless fidelity
  • the processor 110 may be used to call the tactile feedback design program stored in the memory 120 and execute the program to implement the optimization method for generating a tactile feedback solution as described in the various method embodiments of the present application.
  • the vibration amounts of N motors to be tested at different vibration frequencies are determined. Then, according to the vibration amounts of the motors to be tested, the actual number M of motors to be tested that meet preset conditions is determined.
  • the preset conditions include that the vibration amount of the motor to be tested is greater than or equal to the preset vibration amount and the vibration frequency of the motor to be tested is greater than or equal to the preset vibration amount within a preset frequency range.
  • the storage medium can be a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

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Abstract

本申请公开了一种生成触觉反馈方案的优化方法、装置、介质及电子设备，包括：获取目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数，根据目标设备的质量、马达参数，确定在不同的振动频率下N个待测马达的振动量，N为大于或等于1的整数，根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量的振动频率在预设频率区间内，基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案，可以在设备研发阶段快速为设备提供符合设计需求的触觉反馈设计方案。

Description

生成触觉反馈方案的优化方法、装置、介质及电子设备 技术领域
本申请涉及计算机技术领域，尤其涉及一种生成触觉反馈方案的优化方法、装置、介质及电子设备。
背景技术
近年来，为了进一步提高人机交互的使用体验，触觉反馈技术应运而生，得到了越来越多的关注和研究。而线性马达被广泛应用于各类电子设备，用于为电子设备提供触觉反馈，增强人机交互体验。典型的应用场景如手机、游戏手柄等各种手持式交互设备和汽车中控触控屏、电脑触控板等各种非手持式交互设备。
生产厂家在研发、生产电子设备的过程中，为自家产品选择合适的马达、确定马达在电子设备上的安装数量、安装方式等，以确定合适的触觉反馈方案成为产品研发生产的关键，针对具体产品和设计需求，如何在研发初期快速为不同的电子设备确定最佳的触觉反馈方案成为亟待解决的问题。
发明内容
本申请实施例提供的一种生成触觉反馈方案的优化方法、装置、介质及电子设备，可以在设备研发阶段快速为设备提供符合设计需求的触觉反馈设计方案。所述技术方案如下：
第一方面，本申请实施例提供的一种生成触觉反馈方案的优化方法，所述方法包括：
获取目标设备的质量、待测马达在所述目标设备上的安装方式和所述待测马达的马达参数；
根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量，N为大于或等于1的整数；
根据所述待测马达的振动量，确定满足预设条件的待测马达的实际数量M，所述预设条件包括所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内；
基于所述待测马达的实际数量M、所述马达参数、所述待测马达在所述目标设备上的安装方式生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
第二方面，本申请实施例提供的一种生成触觉反馈方案的装置，所述装置包括：
第一参数获取模块，用于获取目标设备的质量、待测马达在所述目标设备上的安装方式和所述待测马达的马达参数；
振动量计算模块，用于根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量；
马达数量确定模块，用于根据所述待测马达的振动量，确定满足预设条件的所述待测马达的实际数量M，所述预设条件包括所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内；
方案生成模块，用于基于所述实际数量M、所述马达参数、所述待测马达在所述目标设备上的安装方式生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
第三方面，本申请实施例提供一种计算机存储介质，所述计算机存储介质存储有多条指令，所述指令适于由处理器加载并执行上述的方法步骤。
第四方面，本申请实施例提供一种电子设备，可包括：处理器和存储器；其中，所述存储器存储有计算机程序，所述计算机程序适于由所述处理器加载并执行上述的方法步骤。
在本申请一个或多个实施例中，通过获取目标设备的质量、待测马达在目标设备上的安 装方式和待测马达的马达参数，并根据目标设备的质量、马达参数，确定在不同的振动频率下N个待测马达的振动量，然后根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内，最终基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案。采用本申请实施例提供的触觉反馈设计方案，在为目标设备设计触觉反馈方案时，无需进行多轮的迭代设计和测试验证，只需要在预先测试好的工装环境下将目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数作为输入，通过执行上述触觉反馈方案生成方法，即可为目标设备快速生成一套基于待测马达的触觉反馈方案，可以缩短设备研发周期，降低研发费用。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图；
图2为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图；
图3为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图；
图4为本申请实施例提供的一种触觉反馈设计方案的举例示意图；
图5为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图；
图6为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图；
图7为本申请实施例提供的一种触觉反馈设计方案的举例示意图；
图8为本申请实施例提供的一种生成触觉反馈方案的装置的结构示意图；
图9为本申请实施例提供的一种生成触觉反馈方案的装置的结构示意图；
图10示出了本申请一个示例性实施例提供的电子设备的结构方框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。在本申请的描述中，需要说明的是，除非另有明确的规定和限定，“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。此外，在本申请的描述中，除非另有说明，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
下面结合具体的实施例进行详细说明。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。附图中所示的流程图仅是示例性说明，不是必须按照所示步骤执行。例如，有的步骤是并列的，在逻辑上并没有严格的先后关系，因此实际执行 顺序是可变的。
触觉反馈技术(Haptics)是指通过力度、振动等皮肤感觉反馈传递信息的技术，触觉反馈目前在终端上的主要表现方式是“振动”。典型的触觉技术系统是几个子模块的组合，即：带电容式按钮的触觉界面、处理器、驱动电路和执行器。触觉技术系统的输入可以是触摸、按压触摸屏，设备中的传感器感知施加的力的变化、输入角度的变化并将信息发送到处理器。该信息被进一步处理，生成一个可以是模拟或数字波形的波形，作为驱动电路的输入，并将特定指令提供给致动器以生成产生振动的模式，来自致动器的反馈返回到触摸屏设备作为反馈，用户因此虚拟地感觉到这种反馈。手持式电子产品中，例如智能手机、智能手表、智能手环、游戏手柄、平板电脑等，触觉反馈更有助于提高互动感，让用户可以具有沉浸感的体验；而对于非手持式产品，例如汽车中控系统，座舱内的传统物理按键逐渐被触控显示屏及智能表面替代，触觉反馈技术可提高驾驶安全性及体验感，可防止误操作。
线性马达是常见的触觉振动致动器，主要是一个由弹簧，质量块和线圈组成的弹簧系统。弹簧将线圈悬浮在线性马达内部，当线圈中有电流流过时，线圈会产生磁场。线圈和带有磁性的质量块相连，当流过线圈的电流改变时，磁场的方向和强弱也会改变，质量块就会在变化的磁场中上下移动，这种运动被人们感知就会产生触觉效果。线性马达作为触觉反馈的致动器，响应速度快，震动强度大，震动体验感觉细腻，功耗低，声学噪声小。
目前针对不同的电子设备，并没有较好的触觉反馈设计方案，且缺少有效的触觉仿真指导方案。相关触觉反馈装置制造商大都采用大量样机试制并测试触觉反馈效果的方式来为电子设备确定合适的触觉反馈设计方案，并且针对其特定产品需要设计专有的触觉反馈方案，这一阶段需要大量的样机试制与反复测试，严重拖慢了产品的研发进程，且带来了大量的研发费用支出。在现有触觉反馈方案设计中，往往需要进行多轮的方案迭代设计与测试验证，具体包括对不同型号马达进行适配结构设计与打样、组装测试、软硬件调试以及马达驱动波形控制测试等，而上述过程至少需要4个月的开发周期和多达数十万人民币的研发费用；而且相关技术中在设计触觉反馈方案时，并未对应到具体的产品，也未考虑到针对手持式产品人手的等效刚度和阻尼作用因素，以及非手持式产品安装底座的等效刚度与阻尼作用等因素的影响。
基于相关技术中存在的问题，提出本发明实施例的方案。
本申请实施例提出了一种生成触觉反馈方案的优化方法，通过获取目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数，并根据目标设备的质量、马达参数，确定在不同的振动频率下N个待测马达的振动量，然后根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内，最终基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案，实现了在设备研发阶段快速为设备提供符合设计需求的触觉反馈设计方案。需要阐明的是，本申请的改进点是在于研发阶段，对方案整体进行的优化，只需要预先测试好在工装环境下的所有待选型号马达的基本性能参数，然后针对具体项目中的应用场景，将其作为输入快速确定合适的马达型号、数量和对应的关键振动结构参数，从而仅需要一轮的总体方案设计即可得到合适的设计方案与原型机，产品开发周期和研发费用相较于现有技术至少减半，因此本申请能够避免大量样机试制与测试，进而缩短了设备研发周期，降低了研发费用。
请参见图1，为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图。在具体的实施例中，所述生成触觉反馈方案的优化方法可以应用于生成触觉反馈方案的装置或配置有生成触觉反馈方案的装置的电子设备。下面将针对图1所示的流程进行详细的阐述，所述生成触觉反馈方案的优化方法具体可以包括以下步骤：
S102，获取目标设备的质量、待测马达在所述目标设备上的安装方式和所述待测马达的马达参数；
目标设备为待安装马达的电子设备，目标设备可以为任意需要添加触觉反馈的电子设备，包括但不限于手机、智能手表、交互式平板、游戏手柄等各种手持式交互设备，以及汽车中控触控屏、电脑触控板等各种非手持式交互设备。
待测马达为待安装至目标设备并能够为用户提供触觉反馈的马达，包括但不限于线性马达、转子马达等。
可选地，马达参数可以为待测马达的固有参数属性，包括但不限于待测马达的马达振子质量、马达定子质量、马达弹簧刚度系数、马达弹簧阻尼系数、马达力系数等。例如，马达参数还可以包括待测马达的电阻、电感、马达驱动电压等参数，本申请实施例对此不做限定。
针对不同类别的目标设备，待测马达在目标设备上的安装方式也可以不同。在本申请一种示例性的实现方式中，若目标设备为手持式设备，考虑到手持式设备直接和使用者的手掌接触，使用者对手持式设备具有较好的振动感知，且手持式设备体积较小，马达的振动传导效果较好，因此，待测马达可采用固定连接的安装方式安装在手持式设备上。
若目标设备为非手持式设备，即非手持式设备不和使用者的手掌直接接触，使用者仅依靠手指在非手持式设备上的触摸来感知马达的触觉反馈，对马达的振动感知较弱，因此，待测马达可采用由弹簧支撑的安装方式安装在非手持式设备上，通过弹簧支撑结构增加马达在非手持式设备上的振动传导效果。
在本申请一个或多个实施例中，马达参数包括待测马达的马达振子质量、马达定子质量、马达弹簧刚度系数、马达弹簧阻尼系数、马达力系数中的一种或多种。
S104，根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量，N为大于或等于1的整数；
具体的，根据待测马达所安装目标设备的质量、待测马达的马达参数，仿真计算N个待测马达在不同的振动频率下的振动量。
N为待测马达的数量，可以理解的是，在为目标设备设计触觉反馈设计方案时，一个待测马达安装在目标设备上所产生的振动量可能不能满足目标设备的振动量需求，因此，需要采用多个待测马达同时安装的方案以满足目标设备的振动量需求。
一个实施例中，可以首先基于目标设备的质量、马达参数仿真计算在不同的振动频率下N个所述待测马达的马达振子位移，然后基于不同的振动频率下N个待测马达的马达振子位移确定不同的振动频率下N个待测马达的振动量。其中，N可以是一个，也可以是多个。
在本申请一个实施例中，根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量，包括：根据所述目标设备的质量、所述马达参数仿真计算单位驱动电压下在不同的振动频率下N个所述待测马达的单位马达振子位移，基于所述单位马达振子位移确定单位驱动电压下不同的振动频率下N个所述待测马达的单位振动量，基于所述待测马达的马达振子安全位移、所述单位马达振子位移以及所述单位振动量、所述待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个所述待测马达的振动量。
可以理解，待测马达的型号可以是多个，当待测马达的型号为多个时，根据不同型号的待测马达分别生成待测马达应用于目标设备时对应的触觉反馈设计方案供用户进行选择。而考虑到不同型号的待测马达之间的物理性能存在差异，在根据目标设备的质量、马达参数，确定在不同的振动频率下N个待测马达的振动量时，应确定待测马达在预设驱动电压下不同的振动频率下N个待测马达的振动量。
其中，预设驱动电压为目标设备可为待测马达提供的驱动电压。
需要说明的是，不同型号的待测马达对应的振子安全位移并不相同，由于振子安全位移的限制，在相同的预设驱动电压下，不同型号待测马达中马达振子产生的位移可能存在区别， 直接采用预设驱动电压仿真计算不同的振动频率下N个待测马达的振动量会存在仿真结果不准确的问题。因此，在根据目标设备的质量、马达参数，确定在不同的振动频率下N个待测马达的振动量时，首先仿真计算单位驱动电压下在不同的振动频率下N个待测马达的单位马达振子位移，基于单位马达振子位移确定单位驱动电压下不同的振动频率下N个待测马达的单位振动量，再基于待测马达的马达振子安全位移、单位马达振子位移以及单位振动量、待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个待测马达的振动量。
S106，根据所述待测马达的振动量，确定满足预设条件的待测马达的实际数量M，所述预设条件包括所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内；
预设振动量为根据目标设备设计需求确定的需求振动量，预设振动量可以基于人体对振动量的感知情况进行确定，可通过试验获得。
预设频率区间为根据目标设备设计需求确定的振动频率区间，可以理解为，预设频率区间为人体感知振动量最佳的振动频率区间。
具体的，当确定在不同的振动频率下N个待测马达的振动量之后，可以基于获得的振动量，确定振动量大于或等于预设振动量且待测马达的振动频率在预设频率区间内时，所使用待测马达的实际数量M。
可以理解，实际数量M即为振动量大于或等于预设振动量且待测马达的振动频率在预设频率区间内时N的数量。
在一个实施例中，在确定在不同的振动频率下N个待测马达的振动量之后，首先判断不同频率下待测马达的振动量是否大于或等于预设振动量以及判断待测马达的振动量大于或等于预设振动量时对应的频率区间是否在预设频率区间内，若待测马达的振动量小于预设振动量或待测马达的振动量大于或等于预设振动量时对应的频率区间不在预设频率区间内，则调整待测马达的测试数量N，并执行根据目标设备的质量、马达参数，确定在不同的振动频率下调整数量之后的待测马达的振动量的步骤；若待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，确定待测马达的实际数量M等于N。
S108，基于所述待测马达的实际数量M、所述马达参数、所述待测马达在所述目标设备上的安装方式生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
一个实施例中，当目标设备为手持式设备时，基于待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内时待测马达的实际数量M、待测马达的马达参数和固定连接安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案。
一个实施例中，当目标设备为非手持式设备时，基于待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内时待测马达的实际数量M、待测马达的马达参数和弹簧支撑安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案。
一个实施例中，当待测马达的型号为多个时，根据不同型号的待测马达分别生成待测马达应用于目标设备时对应的触觉反馈设计方案，可由用户从不同型号待测马达的价格、外形尺寸等因素出发，对不同型号的待测马达分别对应的触觉反馈设计方案进行综合评估，选择性价比最高的触觉反馈设计方案。
在本申请实施例中，在为目标设备设计触觉反馈方案时，无需进行多轮的迭代设计和测试验证，只需要在预先测试好的工装环境下将目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数作为输入，通过获取目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数，并根据目标设备的质量、马达参数，确定在不同的振动 频率下N个待测马达的振动量，然后根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量的振动频率在预设频率区间内，最终基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案，可为目标设备快速生成一套基于待测马达的触觉反馈方案，可以缩短设备研发周期，降低研发费用。
下面分别针对手机等手持式设备和汽车中控触控屏等非手持式设备，详细介绍如何为不同的设备生成触觉反馈设计方案。
场景1：手持式设备
当目标设备为手持式设备时，待测马达在目标设备上的安装方式为固定连接的安装方式，在生成待测马达应用于目标设备时对应的触觉反馈设计方案时，还应考虑人手对目标设备的握持作用。
请参见图2，为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图。如图2所示，所述生成触觉反馈方案的优化方法可以包括以下步骤：
S202，获取目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数；
具体的，步骤S202请一并参见另一实施例中步骤S102的详细描述，在此不一一赘述。
S204，获取手持目标设备时人手皮肤的等效刚度系数、等效阻尼系数和等效附加质量；
具体的，当目标设备为手持式设备时，人手在握持手持式设备时，会对手持式设备产生附加质量，获取人手握持目标设备时人手皮肤对目标设备的等效刚度系数、等效阻尼系数和等效附加质量。
S206，根据目标设备的质量、马达参数、等效刚度系数、等效阻尼系数和等效附加质量，确定在不同的振动频率下N个待测马达的振动量；
具体的，根据目标设备的质量、马达参数、等效刚度系数、等效阻尼系数和等效附加质量仿真计算在不同的振动频率下N个待测马达的马达振子位移，再基于不同的振动频率下N个待测马达的马达振子位移确定不同的振动频率下N个待测马达的振动量。
一种可行的实施方式中，根据目标设备的质量、马达振子质量、马达定子质量、马达弹簧刚度系数、马达弹簧阻尼系数、马达力系数、马达电阻、马达电感、等效刚度系数、等效阻尼系数和等效附加质量等参数，仿真计算N个待测马达安装在目标设备中时，在不同的振动频率下N个待测马达的马达振子位移，并根据马达振子位移计算待测马达的振动量，得到待测马达振动量和振动频率的关系曲线。
一个实施例中，在根据目标设备的质量、马达参数、等效刚度系数、等效阻尼系数和等效附加质量，确定在不同的振动频率下N个待测马达的振动量时，首先仿真计算N个待测马达在单位驱动电压下不同的振动频率下的单位振动量，再根据单位驱动电压下的单位振动量计算预设驱动电压下N个待测马达的振动量。请参见图3，步骤S206可以包括以下步骤S2061～步骤S2063：
S2061，根据目标设备的质量、马达参数、等效刚度系数、等效阻尼系数和等效附加质量仿真计算单位驱动电压下在不同的振动频率下N个待测马达的单位马达振子位移；
具体可根据如下公式进行仿真计算：
Figure PCTCN2022132761-appb-000001
Figure PCTCN2022132761-appb-000002
Figure PCTCN2022132761-appb-000003
其中，所述m 1为马达振子质量，所述m 2为目标设备质量，所述m 3为马达定子质量，所述m 4为等效附加质量，所述x 1为马达振子位移，所述x 2为目标设备位移，所述
Figure PCTCN2022132761-appb-000004
为马达振子 速度，所述
Figure PCTCN2022132761-appb-000005
为目标设备速度，所述
Figure PCTCN2022132761-appb-000006
为马达振子加速度，所述
Figure PCTCN2022132761-appb-000007
为目标设备加速度，所述k 1为马达弹簧刚度系数，所述k 2为人手皮肤的等效刚度系数，所述c 1为马达弹簧阻尼系数，所述c 2为人手皮肤的等效阻尼系数，所述N为线性马达的测试数量，所述BL为马达力系数，所述R e为电阻，所述L e为电感，所述i为电流，所述U为单位驱动电压。
单位驱动电压可以为1V。
需要说明的是，上述用于仿真计算的公式中考虑了人手握持目标设备时的握持作用，具有更为准确的仿真效果，面对各种场景具有更好的鲁棒性。
S2062，基于单位马达振子位移确定单位驱动电压下不同的振动频率下N个待测马达的单位振动量；
具体的，在得到单位驱动电压下在不同的振动频率下N个待测马达的单位马达振子位移之后，根据待测马达的马达振子位移计算待测马达在单位驱动电压下的单位振动量，最终得到单位驱动电压下不同的振动频率下N个待测马达的单位振动量。
S2063，基于待测马达的马达振子安全位移、单位马达振子位移以及单位振动量、待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个待测马达的振动量。
由于不同型号的待测马达的马达振子安全位移不同，可基于单位驱动电压下的单位马达振动量并按照如下公式计算预设驱动电压下不同的振动频率下N个待测马达的振动量。
Figure PCTCN2022132761-appb-000008
其中，所述G s为系统振动量，所述G 1为单位系统振动量，所述x max为马达振子安全位移，所述U s为预设驱动电压，所述x 1为马达振子位移，所述x 2为目标设备位移。
S208，判断不同频率下待测马达的振动量是否大于或等于预设振动量以及判断待测马达的振动量大于或等于预设振动量时对应的振动频率是否在预设频率区间内；
预设振动量为根据目标设备设计需求确定的需求振动量，预设振动量可以基于人体对振动量的感知情况进行确定，可通过试验获得。
预设频率区间为根据目标设备设计需求确定的振动频率区间，可以理解为，预设频率区间为人体感知振动量最佳的振动频率区间。
S210，若待测马达的振动量小于预设振动量或待测马达的振动量大于或等于预设振动量时对应的振动频率不在预设频率区间内，则调整待测马达的测试数量N，并执行根据目标设备的质量、马达参数，确定在不同的振动频率下调整数量之后的待测马达的振动量的步骤；
具体的，当待测马达的振动量小于预设振动量或待测马达的振动量大于或等于预设振动量时对应的振动频率不在预设频率区间内时，可通过调整待测马达的测试数量N来调整待测马达安装在目标设备时产生的振动量，进而基于调整数量后的待测马达继续进行仿真测试，直至待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内。
S212，若待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，确定待测马达的实际数量M等于N；
具体的，在确定待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内时，确定使待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内所使用的待测马达的实际数量M。
在一种可行的实现方式中，可先仿真计算1个待测马达安装在目标设备时在不同振动频率下所产生的振动量，得到1个待测马达安装在目标设备时振动频率和振动量的关系曲线，根据振动频率和振动量的关系曲线判断1个待测马达安装在目标设备时产生的振动量是否大于或等于预设振动量，若1个待测马达安装在目标设备时产生的振动量小于预设振动量，则增加马达数量，并执行仿真计算2个待测马达安装在目标设备时在不同振动频率下所产生 的振动量，得到2个待测马达安装在目标设备时振动频率和振动量的关系曲线，根据振动频率和振动量的关系曲线判断2个待测马达安装在目标设备时产生的振动量是否大于或等于预设振动量的步骤，直至待测马达安装在目标设备时产生的振动量大于或等于预设振动量。在确定待测马达安装在目标设备时产生的振动量大于或等于预设振动量之后，确定振动量大于或等于预设振动量所对应的振动频率区间，并判断振动频率区间是否满足预设频率区间，在振动量大于或等于预设振动量所对应的频率区间满足预设频率区间时，确定待测马达的实际数量。在振动量大于或等于预设振动量所对应的频率区间不满足预设频率区间时，可继续调整修改待测马达的测试数量N，直至待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，并记录参见仿真的待测马达的实际数量M。
S214，基于待测马达的实际数量M、马达参数、固定连接的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案。
具体的，基于待测马达的实际数量M、马达参数、固定连接的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案。
其中，马达参数可以为待测马达的型号标识。
请参见图4，为本申请实施例提供的一种触觉反馈设计方案的举例示意图。
在本申请实施例中，当目标设备为手持式设备时，在为目标设备设计触觉反馈方案时，无需进行多轮的迭代设计和测试验证，只需要在预先测试好的工装环境下将目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数作为输入，通过获取目标设备的质量、待测马达在目标设备上的安装方式、待测马达的马达参数、手持目标设备时人手皮肤的等效刚度系数、等效阻尼系数和等效附加质量，并根据目标设备的质量、马达参数、等效刚度系数、等效阻尼系数和等效附加质量，确定在不同的振动频率下N个待测马达的振动量，然后根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量的振动频率在预设频率区间内，最终基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案，实现了为目标设备快速生成一套基于待测马达的触觉反馈方案，可以缩短设备研发周期，降低研发费用，且在仿真计算的过程中考虑了人手握持目标设备时的握持作用，具有更为准确的仿真效果，面对各种场景具有更好的鲁棒性。
场景2：非手持式设备
当目标设备为非手持式设备时，待测马达在目标设备上的安装方式为弹簧支撑的安装方式，在生成待测马达应用于目标设备时对应的触觉反馈设计方案时，还应考虑弹簧支撑结构的对振动传导的作用因素以及非手持式设备底座的作用因素。
请参见图5，为本申请实施例提供的一种生成触觉反馈方案的优化方法的流程示意图。如图5所示，所述生成触觉反馈方案的优化方法可以包括以下步骤：
S302，获取目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数；
具体的，步骤S302请一并参见另一实施例中步骤S102的详细描述，在此不一一赘述。
S304，获取弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数、非手持式设备底座的底座质量、非手持式设备底座的等效刚度系数和等效阻尼系数；
当目标设备为非手持式设备时，大都采用底座安装的安装方式，且由于非手持式设备的体积相对来说较大，为保证待测马达安装在非手持式设备的振动传导效果，待测马达在非手持式设备中的采用弹簧支撑结构的弹簧支撑安装方式。具体的，当目标设备为非手持式设备时，获取弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数、非手持式设备底座的底座质量、非手持式设备底座的等效刚度系数和等效阻尼系数。
S306，根据目标设备的质量、马达参数、底座质量、等效刚度系数、等效阻尼系数、支撑弹簧刚度系数和支撑弹簧阻尼系数，确定在不同的振动频率下N个待测马达的振动量；
具体的，根据目标设备的质量、马达参数、底座质量、等效刚度系数、等效阻尼系数、支撑弹簧刚度系数和支撑弹簧阻尼系数仿真计算在不同的振动频率下N个待测马达的马达振子位移，再基于不同的振动频率下N个待测马达的马达振子位移确定不同的振动频率下N个待测马达的振动量。
一种可行的实施方式中，根据目标设备的质量、马达振子质量、马达定子质量、马达弹簧刚度系数、马达弹簧阻尼系数、马达力系数、马达电阻、马达电感、底座质量、等效刚度系数、等效阻尼系数、支撑弹簧刚度系数和支撑弹簧阻尼系数等参数，仿真计算N个待测马达安装在目标设备中时，在不同的振动频率下N个待测马达的马达振子位移，并根据马达振子位移计算待测马达的振动量，得到待测马达振动量和振动频率的关系曲线。
一个实施例中，在根据目标设备的质量、马达参数、底座质量、等效刚度系数、等效阻尼系数、支撑弹簧刚度系数和支撑弹簧阻尼系数，确定在不同的振动频率下N个待测马达的振动量时，首先仿真计算N个待测马达在单位驱动电压下不同的振动频率下的单位振动量，再根据单位驱动电压下的单位振动量计算预设驱动电压下N个待测马达的振动量。请参见图6，步骤S306可以包括以下步骤S3061～步骤S3063：
S3061，根据目标设备的质量、马达参数、底座质量、等效刚度系数、等效阻尼系数、支撑弹簧刚度系数和支撑弹簧阻尼系数仿真计算单位驱动电压下在不同的振动频率下N个待测马达的单位马达振子位移；
具体可根据如下公式进行仿真计算：
Figure PCTCN2022132761-appb-000009
Figure PCTCN2022132761-appb-000010
Figure PCTCN2022132761-appb-000011
Figure PCTCN2022132761-appb-000012
Figure PCTCN2022132761-appb-000013
其中，所述m 1为马达振子质量，所述m 5为目标设备质量，所述m 6为底座质量，所述m 3为马达定子质量，所述x 1为马达振子位移，所述x 3为目标设备位移，所述x 6为底座位移，所述
Figure PCTCN2022132761-appb-000014
为马达振子速度，所述
Figure PCTCN2022132761-appb-000015
为目标设备速度，所述
Figure PCTCN2022132761-appb-000016
为底座速度，所述
Figure PCTCN2022132761-appb-000017
为马达振子加速度，所述
Figure PCTCN2022132761-appb-000018
为目标设备加速度，所述
Figure PCTCN2022132761-appb-000019
为底座加速度，所述k 1为弹簧刚度系数，所述k 3为支撑弹簧刚度系数，所述k 4为等效刚度系数，所述c 1为弹簧阻尼系数，所述c 3为与支撑弹簧刚度系数对应的支撑弹簧阻尼系数，所述c 4为等效阻尼系数，所述N为线性马达的测试数量，所述BL为马达力系数，所述R e为电阻，所述L e为电感，所述i为电流，所述U为单位驱动电压，所述ξ为弹簧阻尼比。
需要说明的是，上述用于仿真计算的公式中考虑了底座对目标设备的等效作用以及弹簧支撑结构的振动传导，具有更为准确的仿真效果，面对各种场景具有更好的鲁棒性。
S3062，基于单位马达振子位移确定单位驱动电压下不同的振动频率下N个待测马达的单位振动量；
具体的，在得到单位驱动电压下在不同的振动频率下N个待测马达的单位马达振子位移之后，根据待测马达的马达振子位移计算待测马达在单位驱动电压下的单位振动量，最终得到单位驱动电压下不同的振动频率下N个待测马达的单位振动量。
S3063，基于待测马达的马达振子安全位移、单位马达振子位移以及单位振动量、待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个待测马达的振动量。
由于不同型号的待测马达的马达振子安全位移不同，可基于单位驱动电压下的单位马达 振动量并按照如下公式计算预设驱动电压下不同的振动频率下N个待测马达的振动量。
Figure PCTCN2022132761-appb-000020
其中，所述G s为系统振动量，所述G 2为单位系统振动量，所述x max为马达振子安全位移，所述U s为预设驱动电压，所述x 1为马达振子位移，所述x 3为目标设备位移。
S308，判断不同频率下待测马达的振动量是否大于或等于预设振动量以及判断待测马达的振动量大于或等于预设振动量时对应的振动频率是否在预设频率区间内；
预设振动量为根据目标设备设计需求确定的需求振动量，预设振动量可以基于人体对振动量的感知情况进行确定，可通过试验获得。
预设频率区间为根据目标设备设计需求确定的振动频率区间，可以理解为，预设频率区间为人体感知振动量最佳的振动频率区间。
S310，若待测马达的振动量小于预设振动量或待测马达的振动量大于或等于预设振动量时对应的振动频率不在预设频率区间内，则调整待测马达的N和/或弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数，并执行根据目标设备的质量、马达参数、底座质量、等效刚度系数、等效阻尼系数、支撑弹簧刚度系数和支撑弹簧阻尼系数，确定在不同的振动频率下调整数量之后的待测马达的振动量的步骤；
弹簧支撑结构可以包括多种型号，当待测马达的振动量小于预设振动量或待测马达的振动量大于或等于预设振动量时对应的振动频率区间不在预设频率区间内时，还可通过更换不同型号参数的弹簧支撑结构来调整待测马达安装在目标设备时的振动量。
S312，若待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，确定待测马达的实际数量M等于N，并确定弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数；
具体的，在确定待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内时，确定使待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内所使用的待测马达的实际数量M。
在一种可行的实现方式中，可先仿真计算1个待测马达安装在目标设备时在不同振动频率下所产生的振动量，得到1个待测马达安装在目标设备时振动频率和振动量的关系曲线，根据振动频率和振动量的关系曲线判断1个待测马达安装在目标设备时不同频率下待测马达的振动量是否大于或等于预设振动量以及判断待测马达的振动量大于或等于预设振动量时对应的振动频率是否在预设频率区间内，若1个待测马达安装在目标设备时产生的的振动量小于预设振动量或待测马达的振动量大于或等于预设振动量时对应的振动频率不在预设频率区间内，则调整待测马达的N和/或弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数，直至待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，然后确定待测马达的实际数量。
S314，基于实际数量M、马达参数、弹簧支撑的安装方式、弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数生成待测马达应用于目标设备时对应的触觉反馈设计方案。
请参见图7，为本申请实施例提供的一种触觉反馈设计方案的举例示意图。
在本申请实施例中，当目标设备为非手持式设备时，在为目标设备设计触觉反馈方案时，无需进行多轮的迭代设计和测试验证，只需要在预先测试好的工装环境下将目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数作为输入，通过获取目标设备的质量、待测马达在目标设备上的安装方式、待测马达的马达参数、弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数、非手持式设备底座的底座质量、非手持式设备底座的等效刚度系数和等效阻尼系数，并根据目标设备的质量、马达参数、底座质量、等效刚度系数、 等效阻尼系数、支撑弹簧刚度系数和支撑弹簧阻尼系数，确定在不同的振动频率下N个待测马达的振动量，然后根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量的振动频率在预设频率区间内，最终基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案，实现了为目标设备快速生成一套基于待测马达的触觉反馈方案，避免了大量样机试制与测试，可以缩短设备研发周期，降低研发费用，且在仿真计算的过程中考虑了底座对目标设备的等效作用以及弹簧支撑结构的振动传导，具有更为准确的仿真效果，面对各种场景具有更好的鲁棒性。
下面将结合附图8，对本申请实施例提供的生成触觉反馈方案的装置进行详细介绍。需要说明的是，附图8的生成触觉反馈方案的装置，用于执行本申请图1、图2、图3、图5和图6所示实施例的方法，为了便于说明，仅示出了与本申请实施例相关的部分，具体技术细节未揭示的，请参照本申请图1、图2、图3、图5和图6所示的实施例。
请参见图8，为本申请实施例提供的一种生成触觉反馈方案的装置的结构示意图。如图8所示，该生成触觉反馈方案的装置1可以通过软件、硬件或者两者的结合实现成为电子设备的全部或一部分。根据一些实施例，该生成触觉反馈方案的装置1包括，第一参数获取模块11、振动量计算模块12、马达数量确定模块13、方案生成模块14，具体包括：
第一参数获取模块11，用于获取目标设备的质量、待测马达在所述目标设备上的安装方式和所述待测马达的马达参数；
振动量计算模块12，用于根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量；
马达数量确定模块13，用于根据所述待测马达的振动量，确定满足预设条件的所述待测马达的实际数量M，所述预设条件包括所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内；
方案生成模块14，用于基于所述实际数量M、所述马达参数、所述待测马达在所述目标设备上的安装方式生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
可选的，所述振动量计算模块12，具体用于：
根据所述目标设备的质量、所述马达参数仿真计算在不同的振动频率下N个所述待测马达的马达振子位移；
基于不同的振动频率下N个所述待测马达的马达振子位移确定不同的振动频率下N个所述待测马达的振动量。
可选的，所述振动量计算模块12，具体用于：
根据所述目标设备的质量、所述马达参数仿真计算单位驱动电压下在不同的振动频率下N个所述待测马达的单位马达振子位移；
基于所述单位马达振子位移确定单位驱动电压下不同的振动频率下N个所述待测马达的单位振动量；
基于所述待测马达的马达振子安全位移、所述单位马达振子位移以及所述单位振动量、所述待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个所述待测马达的振动量。
可选的，所述马达数量确定模块13，具体用于：
判断不同频率下所述待测马达的振动量是否大于或等于预设振动量以及判断所述待测马达的振动量大于或等于预设振动量时对应的振动频率是否在预设频率区间内；
若所述待测马达的振动量小于预设振动量或所述待测马达的振动量大于或等于预设振动量时对应的振动频率不在预设频率区间内，则调整所述待测马达的测试数量N，并执行根 据所述目标设备的质量、所述马达参数，确定在不同的振动频率下调整数量之后的所述待测马达的振动量的步骤；
若所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，确定所述待测马达的实际数量M等于N。
可选的，当所述目标设备是手持式设备时，所述待测马达在所述目标设备上的安装方式为固定连接的安装方式，请参见图9，所述装置还包括：
第二参数获取模块15，用于获取手持所述目标设备时人手皮肤的等效刚度系数、等效阻尼系数和等效附加质量。
可选的，当所述目标设备是手持式设备时，所述振动量计算模块12，具体用于：
根据所述目标设备的质量、所述马达参数、所述等效刚度系数、所述等效阻尼系数和所述等效附加质量，确定在不同的振动频率下N个所述待测马达的振动量。
可选的，当所述目标设备是手持式设备时，所述振动量计算模块12，具体用于：
根据所述目标设备的质量、所述马达参数、所述等效刚度系数、所述等效阻尼系数和所述等效附加质量仿真计算在不同的振动频率下N个所述待测马达的马达振子位移；
基于不同的振动频率下N个所述待测马达的马达振子位移确定不同的振动频率下N个所述待测马达的振动量。
可选的，当所述目标设备是手持式设备时，所述振动量计算模块12，具体用于：
根据所述目标设备的质量、所述马达参数、所述等效刚度系数、所述等效阻尼系数和所述等效附加质量仿真计算单位驱动电压下在不同的振动频率下N个所述待测马达的单位马达振子位移；
基于所述单位马达振子位移确定单位驱动电压下不同的振动频率下N个所述待测马达的单位振动量；
基于所述待测马达的马达振子安全位移、所述单位马达振子位移以及所述单位振动量、所述待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个所述待测马达的振动量。
可选的，当所述目标设备是非手持式设备时，所述待测马达在所述目标设备上的安装方式为弹簧支撑的安装方式，请参见图9，所述装置还包括：
第三参数获取模块16，用于获取弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数、非手持式设备底座的底座质量、非手持式设备底座的等效刚度系数和等效阻尼系数。
可选的，当所述目标设备是非手持式设备时，所述振动量计算模块12，具体用于：
根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数仿真计算在不同的振动频率下N个所述待测马达的马达振子位移；
基于不同的振动频率下N个所述待测马达的马达振子位移确定不同的振动频率下N个所述待测马达的振动量。
可选的，当所述目标设备是非手持式设备时，所述振动量计算模块12，具体用于：
根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数仿真计算单位驱动电压下在不同的振动频率下N个所述待测马达的单位马达振子位移；
基于所述单位马达振子位移确定单位驱动电压下不同的振动频率下N个所述待测马达的单位振动量；
基于所述待测马达的马达振子安全位移、所述单位马达振子位移以及所述单位振动量、所述待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个所述待测马达的振动量。
可选的，当所述目标设备是非手持式设备时，所述马达数量确定模块13，具体用于：
判断不同频率下所述待测马达的振动量是否大于或等于预设振动量以及判断所述待测马达的振动量大于或等于预设振动量时对应的振动频率是否在预设频率区间内；
若所述待测马达的振动量小于预设振动量或所述待测马达的振动量大于或等于预设振动量时对应的振动频率不在预设频率区间内，则调整所述待测马达的N和/或所述弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数，并执行根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数，确定在不同的振动频率下调整数量之后的所述待测马达的振动量的步骤；
若所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，确定所述待测马达的实际数量M等于N，并确定所述弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数。
可选的，当所述目标设备是非手持式设备时，所述方案生成模块14，具体用于：
基于所述实际数量M、所述马达参数、所述弹簧支撑的安装方式、所述弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
可选的，所述马达参数包括所述待测马达的马达振子质量、马达定子质量、马达弹簧刚度系数、马达弹簧阻尼系数、马达力系数中的一种或多种。
在本申请实施例中，在为目标设备设计触觉反馈方案时，无需进行多轮的迭代设计和测试验证，只需要在预先测试好的工装环境下将目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数作为输入，通过获取目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数，并根据目标设备的质量、马达参数，确定在不同的振动频率下N个待测马达的振动量，然后根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量的振动频率在预设频率区间内，最终基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案，可为目标设备快速生成一套基于待测马达的触觉反馈方案，可以缩短设备研发周期，降低研发费用。
需要说明的是，上述实施例提供的生成触觉反馈方案的装置在执行生成触觉反馈方案的优化方法时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将设备的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的生成触觉反馈方案的装置与生成触觉反馈方案的优化方法实施例属于同一构思，其体现实现过程详见方法实施例，这里不再赘述。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
本申请实施例还提供的一种计算机存储介质，所述计算机存储介质可以存储有多条指令，所述指令适于由处理器加载并执行如上述图1-图7所示实施例的所述生成触觉反馈方案的优化方法，具体执行过程可以参见图1-图7所示实施例的具体说明，在此不进行赘述。
本申请还提供的一种计算机程序产品，该计算机程序产品存储有至少一条指令，所述至少一条指令由所述处理器加载并执行如上述图1-图7所示实施例的所述生成触觉反馈方案的优化方法，具体执行过程可以参见图1-图7所示实施例的具体说明，在此不进行赘述。
请参考图10，其示出了本申请一个示例性实施例提供的电子设备的结构方框图。本申 请中的电子设备可以包括一个或多个如下部件：处理器110、存储器120、输入装置130、输出装置140和总线150。处理器110、存储器120、输入装置130和输出装置140之间可以通过总线150连接。
处理器110可以包括一个或者多个处理核心。处理器110利用各种接口和线路连接整个电子设备内的各个部分，通过运行或执行存储在存储器120内的指令、程序、代码集或指令集，以及调用存储在存储器120内的数据，执行终端100的各种功能和处理数据。可选地，处理器110可以采用数字信号处理(Digital Signal Processing，DSP)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器110可集成中央处理器(Central Processing Unit，CPU)、图像处理器(Graphics Processing Unit，GPU)和调制解调器等中的一种或几种的组合。其中，CPU主要处理操作系统、用户页面和应用程序等；GPU用于负责显示内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器110中，单独通过一块通信芯片进行实现。
存储器120可以包括随机存储器(Random Access Memory，RAM)，也可以包括只读存储器(Read-Only Memory，ROM)。可选地，该存储器120包括非瞬时性计算机可读介质(Non-Transitory Computer-Readable Storage Medium)。存储器120可用于存储指令、程序、代码、代码集或指令集。存储器120可包括存储程序区和存储数据区，其中，存储程序区可存储用于实现操作系统的指令、用于实现至少一个功能的指令(比如触控功能、声音播放功能、图像播放功能等)、用于实现上述各个方法实施例的指令等，该操作系统可以是安卓(Android)系统，包括基于Android系统深度开发的系统、苹果公司开发的IOS系统，包括基于IOS系统深度开发的系统或其它系统。
存储器120可分为操作系统空间和用户空间，操作系统即运行于操作系统空间，原生及第三方应用程序即运行于用户空间。为了保证不同第三方应用程序均能够达到较好的运行效果，操作系统针对不同第三方应用程序为其分配相应的系统资源。然而，同一第三方应用程序中不同应用场景对系统资源的需求也存在差异，比如，在本地资源加载场景下，第三方应用程序对磁盘读取速度的要求较高；在动画渲染场景下，第三方应用程序则对GPU性能的要求较高。而操作系统与第三方应用程序之间相互独立，操作系统往往不能及时感知第三方应用程序当前的应用场景，导致操作系统无法根据第三方应用程序的具体应用场景进行针对性的系统资源适配。
为了使操作系统能够区分第三方应用程序的具体应用场景，需要打通第三方应用程序与操作系统之间的数据通信，使得操作系统能够随时获取第三方应用程序当前的场景信息，进而基于当前场景进行针对性的系统资源适配。
其中，输入装置130用于接收输入的指令或数据，输入装置130包括但不限于键盘、鼠标、摄像头、麦克风或触控设备。输出装置140用于输出指令或数据，输出装置140包括但不限于显示设备和扬声器等。在一个示例中，输入装置130和输出装置140可以合设，输入装置130和输出装置140为触摸显示屏。
所述触摸显示屏可被设计成为全面屏、曲面屏或异型屏。触摸显示屏还可被设计成为全面屏与曲面屏的结合，异型屏与曲面屏的结合，本申请实施例对此不加以限定。
除此之外，本领域技术人员可以理解，上述附图所示出的电子设备的结构并不构成对电子设备的限定，电子设备可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。比如，电子设备中还包括射频电路、输入单元、传感器、音频电路、无线保真(Wireless Fidelity，WiFi)模块、电源、蓝牙模块等部件，在此不再赘述。
在图10所示的电子设备中，处理器110可以用于调用存储器120中存储的触觉反馈设计程序，并执行以实现如本申请各个方法实施例所述的生成触觉反馈方案的优化方法。
在本申请实施例中，在为目标设备设计触觉反馈方案时，无需进行多轮的迭代设计和测 试验证，只需要在预先测试好的工装环境下将目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数作为输入，通过获取目标设备的质量、待测马达在目标设备上的安装方式和待测马达的马达参数，并根据目标设备的质量、马达参数，确定在不同的振动频率下N个待测马达的振动量，然后根据待测马达的振动量，确定满足预设条件的待测马达的实际数量M，预设条件包括待测马达的振动量大于或等于预设振动量且待测马达的振动量大于或等于预设振动量的振动频率在预设频率区间内，最终基于待测马达的实际数量M、马达参数、待测马达在目标设备上的安装方式生成待测马达应用于目标设备时对应的触觉反馈设计方案，可为目标设备快速生成一套基于待测马达的触觉反馈方案，可以缩短设备研发周期，降低研发费用。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。
以上所揭露的仅为本申请较佳实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。

Claims (15)

  1. 一种生成触觉反馈方案的优化方法，其特征在于，所述方法包括：
    获取目标设备的质量、待测马达在所述目标设备上的安装方式和所述待测马达的马达参数；
    根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量，N为大于或等于1的整数；
    根据所述待测马达的振动量，确定满足预设条件的待测马达的实际数量M，所述预设条件包括所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内；
    基于所述待测马达的实际数量M、所述马达参数、所述待测马达在所述目标设备上的安装方式生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量，包括：
    根据所述目标设备的质量、所述马达参数仿真计算在不同的振动频率下N个所述待测马达的马达振子位移；
    基于不同的振动频率下N个所述待测马达的马达振子位移确定不同的振动频率下N个所述待测马达的振动量。
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量，包括：
    根据所述目标设备的质量、所述马达参数仿真计算单位驱动电压下在不同的振动频率下N个所述待测马达的单位马达振子位移；
    基于所述单位马达振子位移确定单位驱动电压下不同的振动频率下N个所述待测马达的单位振动量；
    基于所述待测马达的马达振子安全位移、所述单位马达振子位移以及所述单位振动量、所述待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个所述待测马达的振动量。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述根据所述待测马达的振动量，确定满足预设条件的待测马达的实际数量M，包括：
    判断不同频率下所述待测马达的振动量是否大于或等于预设振动量以及判断所述待测马达的振动量大于或等于预设振动量时对应的振动频率是否在预设频率区间内；
    若所述待测马达的振动量小于预设振动量或所述待测马达的振动量大于或等于预设振动量时对应的振动频率不在预设频率区间内，则调整所述待测马达的测试数量N，并执行根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下调整数量之后的所述待测马达的振动量的步骤；
    若所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，确定所述待测马达的实际数量M等于N。
  5. 根据权利要求1至3中任一项所述的方法，其特征在于，当所述目标设备是手持式设备时，所述待测马达在所述目标设备上的安装方式为固定连接的安装方式，所述方法还包括：
    获取手持所述目标设备时人手皮肤的等效刚度系数、等效阻尼系数和等效附加质量；
    以及根据所述目标设备的质量、所述马达参数、所述等效刚度系数、所述等效阻尼系数和所述等效附加质量，确定在不同的振动频率下N个所述待测马达的振动量。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述目标设备的质量、所述马达参数、所述等效刚度系数、所述等效阻尼系数和所述等效附加质量，确定在不同的振动频率下N个所述待测马达的振动量，包括：
    根据所述目标设备的质量、所述马达参数、所述等效刚度系数、所述等效阻尼系数和所述等效附加质量仿真计算在不同的振动频率下N个所述待测马达的马达振子位移；
    基于不同的振动频率下N个所述待测马达的马达振子位移确定不同的振动频率下N个所述待测马达的振动量。
  7. 根据权利要求5所述的方法，其特征在于，所述根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量，包括：
    根据所述目标设备的质量、所述马达参数、所述等效刚度系数、所述等效阻尼系数和所述等效附加质量仿真计算单位驱动电压下在不同的振动频率下N个所述待测马达的单位马达振子位移；
    基于所述单位马达振子位移确定单位驱动电压下不同的振动频率下N个所述待测马达的单位振动量；
    基于所述待测马达的马达振子安全位移、所述单位马达振子位移以及所述单位振动量、所述待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个所述待测马达的振动量。
  8. 根据权利要求1至3中任一项所述的方法，其特征在于，当所述目标设备是非手持式设备时，所述待测马达在所述目标设备上的安装方式为弹簧支撑的安装方式，所述方法还包括：
    获取弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数、非手持式设备底座的底座质量、非手持式设备底座的等效刚度系数和等效阻尼系数；
    以及根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数，确定在不同的振动频率下N个所述待测马达的振动量。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数，确定在不同的振动频率下N个所述待测马达的振动量，包括：
    根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数仿真计算在不同的振动频率下N个所述待测马达的马达振子位移；
    基于不同的振动频率下N个所述待测马达的马达振子位移确定不同的振动频率下N个所述待测马达的振动量。
  10. 根据权利要求8所述的方法，其特征在于，所述根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数，确定在不同的振动频率下N个所述待测马达的振动量，包括：
    根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数仿真计算单位驱动电压下在不 同的振动频率下N个所述待测马达的单位马达振子位移；
    基于所述单位马达振子位移确定单位驱动电压下不同的振动频率下N个所述待测马达的单位振动量；
    基于所述待测马达的马达振子安全位移、所述单位马达振子位移以及所述单位振动量、所述待测马达的预设驱动电压计算预设驱动电压下不同的振动频率下N个所述待测马达的振动量。
  11. 根据权利要求8所述的方法，其特征在于，所述根据所述待测马达的振动量，确定满足预设条件的待测马达的实际数量M，包括：
    判断不同频率下所述待测马达的振动量是否大于或等于预设振动量以及判断所述待测马达的振动量大于或等于预设振动量时对应的频率区间是否在预设频率区间内；
    若所述待测马达的振动量小于预设振动量或所述待测马达的振动量大于或等于预设振动量时对应的频率区间不在预设频率区间内，则调整所述待测马达的N和/或所述弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数，并执行根据所述目标设备的质量、所述马达参数、所述底座质量、所述等效刚度系数、所述等效阻尼系数、所述支撑弹簧刚度系数和所述支撑弹簧阻尼系数，确定在不同的振动频率下调整数量之后的所述待测马达的振动量的步骤；
    若所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动量大于或等于预设振动量时对应的振动频率在预设频率区间内，确定所述待测马达的实际数量M等于N，并确定所述弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数；
    以及基于所述实际数量M、所述马达参数、所述弹簧支撑的安装方式、所述弹簧支撑结构对应的支撑弹簧刚度系数和支撑弹簧阻尼系数生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
  12. 根据权利要求1所述的方法，其特征在于，所述马达参数包括所述待测马达的马达振子质量、马达定子质量、马达弹簧刚度系数、马达弹簧阻尼系数、马达力系数中的一种或多种。
  13. 一种生成触觉反馈方案的装置，其特征在于，所述装置包括：
    第一参数获取模块，用于获取目标设备的质量、待测马达在所述目标设备上的安装方式和所述待测马达的马达参数；
    振动量计算模块，用于根据所述目标设备的质量、所述马达参数，确定在不同的振动频率下N个所述待测马达的振动量；
    马达数量确定模块，用于根据所述待测马达的振动量，确定满足预设条件的所述待测马达的实际数量M，所述预设条件包括所述待测马达的振动量大于或等于预设振动量且所述待测马达的振动频率在预设频率区间内；
    方案生成模块，用于基于所述实际数量M、所述马达参数、所述待测马达在所述目标设备上的安装方式生成所述待测马达应用于所述目标设备时对应的触觉反馈设计方案。
  14. 一种存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1～12中任意一项所述方法的步骤。
  15. 一种电子设备，其特征在于，包括：处理器和存储器；其中，所述存储器存储有计算机程序，所述计算机程序适于由所述处理器加载并执行如权利要求1～12中任意一项所述方法的步骤。
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CN111600453A (zh) * 2019-02-20 2020-08-28 北京小米移动软件有限公司 振动马达的选择方法、装置、终端和存储介质
CN112100884A (zh) * 2020-08-28 2020-12-18 瑞声新能源发展(常州)有限公司科教城分公司 线性马达的触控装置的振动量确定方法及相关设备
CN112433635A (zh) * 2020-11-24 2021-03-02 瑞声新能源发展(常州)有限公司科教城分公司 车载触控装置的线性参数的测试方法及装置
WO2022113678A1 (ja) * 2020-11-24 2022-06-02 ソニーグループ株式会社 触覚提示装置及び触覚制御装置
CN217521584U (zh) * 2022-01-19 2022-09-30 广州视源电子科技股份有限公司 振动反馈装置、触控设备、车载中控显示装置及会议平板

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