CN113992106B - Motor control method, apparatus, device, and computer-readable storage medium - Google Patents
Motor control method, apparatus, device, and computer-readable storage medium Download PDFInfo
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- CN113992106B CN113992106B CN202111276033.5A CN202111276033A CN113992106B CN 113992106 B CN113992106 B CN 113992106B CN 202111276033 A CN202111276033 A CN 202111276033A CN 113992106 B CN113992106 B CN 113992106B
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- 238000005070 sampling Methods 0.000 claims abstract description 71
- 238000006243 chemical reaction Methods 0.000 claims description 35
- 238000004364 calculation method Methods 0.000 claims description 9
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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
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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
- 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
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Abstract
The invention discloses a motor control method, a motor control device, motor control equipment and a computer readable storage medium, wherein the motor control method comprises the following steps: sampling the target acceleration waveform to obtain first acceleration data; calculating first driving voltage data according to the first acceleration data, and calculating first displacement data according to the first driving voltage data; according to a displacement peak value allowed by the hardware design of the motor, the first displacement data are adjusted to obtain second displacement data, wherein the absolute value of the displacement value in the second displacement data is not larger than the displacement peak value; and calculating second driving voltage data according to the second displacement data, and driving the motor to vibrate based on the second driving voltage data. The invention can avoid the motor vibrator from mechanically breaking and colliding with the shell due to the fact that the driving displacement corresponding to the acceleration waveform exceeds the maximum displacement range allowed by the motor hardware design, thereby avoiding the performance reduction or damage of the motor and ensuring the normal vibration of the motor.
Description
Technical Field
The present invention relates to the field of motors, and in particular, to a motor control method, apparatus, device, and computer readable storage medium.
Background
The application of motors in electronic equipment products is becoming more and more popular, for example, linear motors (Linear Resonant Actuator, LRA) have been widely used in various vibration applications of consumer electronics, especially games and AR/VR products, due to their strong, rich, crisp and low energy consumption. By constructing a wide frequency vibration waveform (acceleration waveform) in a variety, the motor can realize very rich and real vibration feedback. However, when the game developer constructs the vibration waveform, since the specific physical characteristics and control algorithm of the motor are not accurately known, it is difficult to ensure that the displacement of the vibrator corresponding to the vibration waveform is always within the maximum displacement range allowed by the motor hardware design. When the displacement of the vibrator corresponding to the vibration waveform exceeds the allowable space range of the motor, the vibrator can generate mechanical collision with the motor shell, the motor performance is reduced slightly, the normal vibration waveform output is affected, and the motor is directly damaged heavily.
Disclosure of Invention
The present invention provides a motor control method, apparatus, device and computer readable storage medium, which aims to solve the technical problem that when the required driving displacement exceeds the maximum displacement range allowed by the motor hardware design, the motor performance is reduced or mechanical damage is generated due to the mechanical collision between the vibrator and the motor shell.
In order to achieve the above object, the present invention provides a motor control method comprising the steps of:
sampling the target acceleration waveform to obtain first acceleration data;
calculating to obtain first driving voltage data according to the first acceleration data, and calculating to obtain first displacement data according to the first driving voltage data;
Adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data, wherein the absolute value of the displacement value in the second displacement data is not larger than the displacement peak value;
And calculating second driving voltage data according to the second displacement data, and driving the motor to vibrate based on the second driving voltage data.
Optionally, the first acceleration data includes a plurality of acceleration sampling values, and the step of adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data includes:
dividing the displacement peak value by the absolute peak value of each displacement value in the first displacement data to obtain an adjustment coefficient, and judging whether the adjustment coefficient is smaller than 1;
If the adjustment coefficient is greater than or equal to 1, the first displacement data is used as second displacement data;
And if the adjustment coefficient is smaller than 1, multiplying each displacement value in the first displacement data by the adjustment coefficient to obtain each adjusted displacement value, and taking each adjusted displacement value as second displacement data.
Optionally, the step of sampling the target acceleration waveform to obtain the first acceleration data includes:
sampling a target acceleration waveform according to a first time length to obtain first acceleration data, wherein the time span of the first acceleration data is the first time length;
after the step of driving the motor to vibrate based on the second driving voltage data, the method further includes:
Acquiring user feedback information, and extracting a motor vibration state carried by the user feedback information;
and if the motor vibration state is a delay state, adjusting the first time to obtain a second time so as to continuously sample the target acceleration waveform based on the second time, wherein the second time is smaller than the first time.
Optionally, after the step of obtaining the user feedback information and extracting the motor vibration state carried by the user feedback information, the method further includes:
and if the motor vibration state is a distortion state, adjusting the first time length to obtain a third time length so as to continuously sample the target acceleration waveform based on the third time length, wherein the third time length is longer than the first time length.
Optionally, before the step of sampling the target acceleration waveform to obtain the first acceleration data, the method further includes:
Acquiring an original acceleration waveform and a sweep frequency characteristic bandwidth of the motor;
And setting parameters of a filter according to the sweep characteristic bandwidth, and then adopting the filter to filter the original acceleration waveform to obtain a target acceleration waveform.
Optionally, the step of calculating the first driving voltage data according to the first acceleration data includes:
obtaining motor parameters of the motor, wherein the motor parameters comprise vibrator mass, magnetic field intensity, spring stiffness coefficient, damping coefficient and coil direct current resistance;
and calculating according to the first acceleration data and the motor parameter and a conversion formula between the voltage and the acceleration of the motor to obtain first driving voltage data.
Optionally, the step of calculating second driving voltage data according to the second displacement data, and driving the motor to vibrate based on the second driving voltage data includes:
calculating second acceleration data according to the second displacement data and a conversion formula between the displacement and the acceleration of the motor;
And calculating second driving voltage data according to the second acceleration data, inputting the second driving voltage data into a power amplifier of the motor, and performing power amplification on the second driving voltage data through the power amplifier so as to drive the motor to vibrate.
In order to achieve the above object, the present invention also provides a motor control device comprising:
the sampling module is used for sampling the target acceleration waveform to obtain first acceleration data;
the calculation module is used for calculating to obtain first driving voltage data according to the first acceleration data and calculating to obtain first displacement data according to the first driving voltage data;
The adjusting module is used for adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data, wherein the absolute value of the displacement value in the second displacement data is not larger than the displacement peak value;
And the driving module is used for calculating second driving voltage data according to the second displacement data and driving the motor to vibrate based on the second driving voltage data.
In order to achieve the above object, the present invention also provides a motor control apparatus comprising: the system comprises a memory, a processor and a motor control program stored on the memory and capable of running on the processor, wherein the motor control program realizes the steps of the motor control method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a motor control program which, when executed by a processor, implements the steps of the motor control method as described above.
According to the invention, the target acceleration waveform is sampled to obtain acceleration data, driving voltage data required by acceleration data prediction is obtained, displacement data is predicted according to the driving voltage data, and the displacement data is adjusted, so that the absolute value of the adjusted displacement value is not larger than the displacement peak value of the hardware driving circuit, then the driving voltage is predicted according to the adjusted displacement data, and the motor is driven to vibrate according to the predicted driving voltage, so that when the driving displacement corresponding to the target acceleration waveform is larger than the displacement peak value allowed by the hardware design of the motor, the displacement can be adjusted, and the motor vibrator and the motor shell are prevented from generating mechanical collision due to the fact that the driving displacement corresponding to the acceleration waveform exceeds the displacement peak value allowed by the hardware design, thereby causing the performance of the motor to be reduced or mechanical damage to ensure the normal vibration of the motor.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a motor control method according to a first embodiment of the present invention;
fig. 3 is a schematic functional block diagram of a motor control device according to a preferred embodiment of the invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic device structure of a hardware running environment according to an embodiment of the present invention.
It should be noted that, in the motor control device according to the embodiment of the present invention, the motor control device may be disposed in an electronic device such as a smart phone, a personal computer, a game machine, and a VR/AR device, which is not particularly limited herein.
As shown in fig. 1, the motor control apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the apparatus structure shown in fig. 1 is not limiting of the motor control apparatus and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a motor control program may be included in a memory 1005, which is a type of computer storage medium. An operating system is a program that manages and controls the hardware and software resources of the device, supporting the running of motor control programs, as well as other software or programs. In the device shown in fig. 1, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used for establishing communication connection with a server; and the processor 1001 may be configured to call a motor control program stored in the memory 1005 and perform the following operations:
sampling the target acceleration waveform to obtain first acceleration data;
calculating to obtain first driving voltage data according to the first acceleration data, and calculating to obtain first displacement data according to the first driving voltage data;
Adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data, wherein the absolute value of the displacement value in the second displacement data is not larger than the displacement peak value;
And calculating second driving voltage data according to the second displacement data, and driving the motor to vibrate based on the second driving voltage data.
Further, the first acceleration data includes a plurality of acceleration sampling values, and the step of adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data includes:
dividing the displacement peak value by the absolute peak value of each displacement value in the first displacement data to obtain an adjustment coefficient, and judging whether the adjustment coefficient is smaller than 1;
If the adjustment coefficient is greater than or equal to 1, the first displacement data is used as second displacement data;
And if the adjustment coefficient is smaller than 1, multiplying each displacement value in the first displacement data by the adjustment coefficient to obtain each adjusted displacement value, and taking each adjusted displacement value as second displacement data.
Further, the step of sampling the target acceleration waveform to obtain first acceleration data includes:
sampling a target acceleration waveform according to a first time length to obtain first acceleration data, wherein the time span of the first acceleration data is the first time length;
after the step of driving the motor to vibrate based on the second driving voltage data, the method further includes:
Acquiring user feedback information, and extracting a motor vibration state carried by the user feedback information;
and if the motor vibration state is a delay state, adjusting the first time to obtain a second time so as to continuously sample the target acceleration waveform based on the second time, wherein the second time is smaller than the first time.
Further, after the step of obtaining the user feedback information and extracting the motor vibration state carried by the user feedback information, the method further includes:
and if the motor vibration state is a distortion state, adjusting the first time length to obtain a third time length so as to continuously sample the target acceleration waveform based on the third time length, wherein the third time length is longer than the first time length.
Further, before the step of sampling the target acceleration waveform to obtain the first acceleration data, the method further includes:
Acquiring an original acceleration waveform and a sweep frequency characteristic bandwidth of the motor;
And setting parameters of a filter according to the sweep characteristic bandwidth, and then adopting the filter to filter the original acceleration waveform to obtain a target acceleration waveform.
Further, the step of calculating the first driving voltage data according to the first acceleration data includes:
obtaining motor parameters of the motor, wherein the motor parameters comprise vibrator mass, magnetic field intensity, spring stiffness coefficient, damping coefficient and coil direct current resistance;
and calculating according to the first acceleration data and the motor parameter and a conversion formula between the voltage and the acceleration of the motor to obtain first driving voltage data.
Further, the step of calculating second driving voltage data according to the second displacement data, and driving the motor to vibrate based on the second driving voltage data includes:
calculating second acceleration data according to the second displacement data and a conversion formula between the displacement and the acceleration of the motor;
And calculating second driving voltage data according to the second acceleration data, inputting the second driving voltage data into a power amplifier of the motor, and performing power amplification on the second driving voltage data through the power amplifier so as to drive the motor to vibrate.
Based on the above-described structure, various embodiments of a motor control method are proposed.
Referring to fig. 2, fig. 2 is a flowchart illustrating a motor control method according to a first embodiment of the present invention.
The embodiments of the present invention provide embodiments of motor control methods, it being noted that although a logic sequence is shown in the flow chart, in some cases the steps shown or described may be performed in a different order than that shown or described herein. In the present embodiment, the execution subject of the motor control method may be a motor control apparatus for driving the motor to vibrate, and may specifically include, but not be limited to, a motor drive circuit, a filter, and the like. The motor control device may be provided in an electronic device such as a smart phone, a personal computer, a game machine, a VR/AR device, etc., and is not limited in this embodiment. The description of each embodiment of the execution body is omitted below. In this embodiment, the motor control method includes:
step S10, sampling a target acceleration waveform to obtain first acceleration data;
In the present embodiment, the motor may be various vibration motors, for example, a rotor motor, a linear motor, and the like. In order to achieve a certain vibration effect of the motor, a target acceleration waveform (i.e., a target vibration waveform) may be input, the driving voltage may be predicted according to the target acceleration waveform, and it is desired that an actual acceleration waveform achieved by driving the motor to vibrate by the driving voltage be as uniform as possible to the target acceleration waveform, thereby achieving a desired vibration effect. In a specific application scenario, the target acceleration waveform may be a broadband signal that is custom designed according to the game scenario, or may be an audio effect actually output by the game application.
In order to avoid that the driving displacement corresponding to the target acceleration waveform exceeds the displacement peak value range allowed by the hardware design of the motor, in the embodiment, the target acceleration waveform is adjusted so that the driving displacement corresponding to the adjusted acceleration waveform does not exceed the displacement peak value allowed by the hardware design, and the phenomenon that the motor vibrator and the shell mechanically collide due to the fact that the displacement when the vibrator vibrates exceeds the displacement peak value allowed by the hardware design is avoided, so that the performance of the motor is reduced or damaged.
Specifically, the input target acceleration waveform may be sampled each time, or may be sampled simultaneously with a plurality of frames of target acceleration waveforms, which is not limited herein. Taking sampling a frame of target acceleration waveform at a time as an example, obtaining a frame of acceleration data every time, processing the frame of acceleration data obtained by sampling to obtain a frame of driving voltage data, and driving the motor to vibrate according to the frame of driving voltage data. The sampling frequency can be preset according to the requirement, for example, 48kHz; in the process of sampling the target acceleration waveform, the sampling frequency can be dynamically adjusted according to the requirement, namely, the sampling frequency of the first acceleration data of the previous frame is possibly different from the sampling frequency of the first acceleration data of the next frame; the time span of the single-frame acceleration data can be preset according to the requirement, for example, the time span is set to be 1ms, and when the sampling frequency is 48kHz, one frame of first acceleration data comprises 48 acceleration sampling values; the first acceleration data of one frame at least comprises one acceleration sampling value, and the number of the acceleration sampling values contained in the first acceleration data of one frame can be changed by adjusting the time span and the sampling frequency of the acceleration data of one frame; the time span may also be dynamically adjusted as needed during the process of sampling the target acceleration waveform, i.e., the time span of the first acceleration data of the previous frame may be different from the time span of the first acceleration data of the next frame.
Since the processing method of each frame of acceleration data obtained by sampling is the same, one frame of acceleration data will be described below as an example, and will be referred to as first acceleration data to show distinction.
Step S20, calculating first driving voltage data according to the first acceleration data, and calculating first displacement data according to the first driving voltage data;
The first acceleration data obtained by sampling is first calculated to obtain driving voltage data (hereinafter referred to as first driving voltage data for distinction) based on the first acceleration data. It is understood that the first driving voltage data is voltage data calculated so that an actual acceleration waveform of the motor vibration can coincide with an acceleration waveform corresponding to the first acceleration data. In a specific embodiment, a conversion formula between voltage and acceleration may be preset, each acceleration sampling value in the first acceleration data is brought into the conversion formula, a driving voltage value corresponding to each acceleration sampling value is calculated, and each driving voltage value is the calculated first driving voltage data. The conversion formula between the voltage and the acceleration can be obtained by adopting a bilinear conversion method, a unit impulse response invariant method or an Euler discrete method energy conversion method according to the transfer characteristic between the voltage and the acceleration of the motor, and the conversion formula is not limited in the embodiment.
After the first driving voltage data is obtained, displacement data (hereinafter referred to as first displacement data to show distinction) is calculated from the first driving voltage data. It is understood that the first displacement data is displacement data calculated so that an actual acceleration waveform of the motor vibration can coincide with an acceleration waveform corresponding to the first acceleration data. In a specific embodiment, a conversion formula between voltage and displacement may be preset, each driving voltage value in the first driving voltage data is brought into the conversion formula, a displacement value corresponding to each driving voltage value is calculated, and each displacement value is calculated to obtain first displacement data. The conversion formula between the displacement and the voltage can be obtained by adopting a bilinear conversion method, a unit impulse response invariant method or an Euler discrete method energy conversion method according to the transfer characteristic between the displacement and the voltage of the motor, and the conversion formula is not limited in the embodiment.
Step S30, adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data, wherein the absolute value of the displacement value in the second displacement data is not larger than the displacement peak value;
After the first displacement data is obtained through calculation, the first displacement data can be adjusted according to the output displacement peak value of the hardware driving circuit of the motor to obtain second displacement data, and the absolute value of the displacement value in the adjusted second displacement data is not larger than the displacement peak value. That is, when the absolute value of the displacement value in the first displacement data is larger than the displacement peak value, the first displacement data needs to be adjusted so that the absolute value of the displacement value in the adjusted second displacement data is not larger than the displacement peak value allowed by the motor hardware design. In this embodiment, the manner of adjusting the first displacement data is not limited, for example, in an embodiment, a displacement value with an absolute value greater than the output displacement peak value in the first displacement data may be adjusted to be the displacement peak value, then the original symbol is reserved, and the rest of the displacement values are unchanged, so as to obtain the second displacement data.
And step S40, calculating second driving voltage data according to the second displacement data, and driving the motor to vibrate based on the second driving voltage data.
After the second displacement data is adjusted, driving voltage data (hereinafter referred to as second driving voltage data to show distinction) may be calculated from the second displacement data. It is understood that the second displacement data is displacement data capable of making an actual acceleration waveform of the motor vibration coincide with an acceleration waveform corresponding to the second driving voltage data; since the second displacement data is obtained by adjusting the first displacement data, the acceleration waveform corresponding to the second driving voltage data and the acceleration waveform corresponding to the first acceleration data (a section of the target acceleration waveform) have certain difference, namely the actual acceleration waveform of motor vibration and the expected acceleration waveform have certain difference, but the absolute value of the displacement value of the second displacement data is not larger than the displacement peak value, so that the situation that the motor vibrator and the shell mechanically collide due to the fact that the driving displacement corresponding to the acceleration waveform exceeds the displacement peak value allowed by the hardware design does not occur.
In a specific embodiment, a conversion formula between the voltage and the displacement may be preset, each displacement value in the second displacement data is brought into the conversion formula, a voltage value corresponding to each displacement value is calculated, and each voltage value is calculated to obtain second driving voltage data. The conversion formula between the voltage and the displacement can be obtained by adopting a bilinear conversion method, a unit impulse response invariant method or an Euler discrete method energy conversion method according to the transfer characteristic between the acceleration and the voltage of the motor, and the conversion formula is not limited in the embodiment.
Further, the refinement of step S40 further includes:
Step S41, calculating second acceleration data according to a conversion formula between the second displacement data and the displacement and acceleration of the motor;
Step S42, calculating second driving voltage data according to the second acceleration data, inputting the second driving voltage data into a power amplifier of the motor, and performing power amplification on the second driving voltage data through the power amplifier so as to drive the motor to vibrate.
After the second displacement data is obtained by adjustment, displacement-adjusted acceleration data (hereinafter referred to as second acceleration data to show distinction) may be calculated according to a conversion formula between the second displacement data and the displacement and acceleration of the motor, and second driving voltage data may be calculated according to the second acceleration data. It is to be understood that the second displacement data is displacement data capable of making an actual acceleration waveform of the motor vibration coincide with an acceleration waveform corresponding to the second acceleration data; since the second displacement data is obtained by adjusting the first displacement data, the acceleration waveform corresponding to the second acceleration data and the acceleration waveform corresponding to the first acceleration data (a section of the target acceleration waveform) have certain difference, namely the actual acceleration waveform of motor vibration and the expected acceleration waveform have certain difference, but the absolute value of the displacement value of the second displacement data is not larger than the displacement peak value, so that the situation that the motor vibrator and the shell mechanically collide due to the fact that the driving displacement corresponding to the acceleration waveform exceeds the displacement peak value allowed by hardware design does not occur.
After the second acceleration data is calculated, in order to make the actual acceleration waveform of the motor coincide with the acceleration waveform corresponding to the second acceleration data, the driving voltage data (i.e., the second driving voltage data) may be calculated again according to the second acceleration data. It is understood that the second driving voltage data is voltage data calculated so that an actual acceleration waveform of the motor vibration coincides with an acceleration waveform corresponding to the second acceleration data. In a specific embodiment, the method for calculating the second driving voltage data according to the second acceleration data may refer to the method for calculating the first driving voltage data according to the first acceleration data, which is not repeated herein. After the second acceleration data is obtained, the second acceleration data may be output for the user to review when he wants to know the acceleration waveform of the motor when he actually vibrates, where the output actual acceleration waveform may be a waveform, or may be acceleration data or waveform parameters corresponding to the actual acceleration waveform, which is not limited herein.
After the second driving voltage data is obtained, the second driving voltage data may be input to a power amplifier in the motor hardware driving circuit, and the second driving voltage data may be power-amplified by the power amplifier, that is, each voltage value in the second driving voltage data may be converted into an actual voltage driving motor vibration by the power amplifier. The power amplifier may be an amplifier that performs power matching on an input signal, for example, a common class a, class B, class AB or class D driver may be used, and the input signal may be an analog signal or a digital signal with a certain system.
In this embodiment, the target acceleration waveform is sampled to obtain acceleration data, driving voltage data required by the acceleration data is predicted, corresponding displacement data is predicted according to the driving voltage data, the predicted displacement data is adjusted, so that the absolute value of the adjusted displacement value is not greater than the displacement peak value allowed by the motor hardware design, driving voltage is calculated according to the adjusted displacement data, and the motor is driven to vibrate according to the calculated driving voltage, so that when the driving displacement corresponding to the target acceleration waveform is greater than the displacement peak value allowed by the hardware design, the motor vibrator and the shell are prevented from mechanically colliding due to the fact that the driving displacement corresponding to the acceleration waveform exceeds the displacement range allowed by the motor hardware design, the motor performance is influenced, and the normal vibration of the motor can be ensured.
Further, in an embodiment, before the step S10, the method further includes:
s50, acquiring an original acceleration waveform and a sweep frequency characteristic bandwidth of the motor;
and step S60, after parameters of a filter are set according to the sweep characteristic bandwidth, filtering the original acceleration waveform by adopting the filter to obtain the target acceleration waveform.
When the frequency of the input acceleration waveform exceeds the sweep frequency characteristic bandwidth of the motor, the input original acceleration waveform can be filtered, the filtered acceleration waveform is used as a target acceleration waveform, and then subsequent sampling operation is carried out on the target acceleration waveform.
Specifically, the original acceleration waveform and the sweep characteristic bandwidth of the motor may be acquired first. The frequency sweep characteristic of the motor refers to the frequency domain response characteristic of the acceleration amplitude under unit driving voltage. Parameters of a filter are set according to the frequency sweep characteristic bandwidth, the original acceleration waveform is filtered according to the filter with the set parameters, and the acceleration waveform obtained through filtering is used as a target acceleration waveform. By setting parameters of the filter according to the frequency sweep characteristic bandwidth, the frequency of the target acceleration waveform obtained by filtering can be enabled to be within the frequency sweep characteristic bandwidth.
Specifically, in an embodiment, after the upper limit frequency of the sweep characteristic bandwidth is set as the cut-off frequency of the low-pass filter, and the lower limit frequency of the sweep characteristic bandwidth is set as the cut-off frequency of the high-pass filter, the low-pass filter and the high-pass filter are adopted to sequentially perform low-pass filtering and high-pass filtering on the original acceleration waveform, so as to obtain the target acceleration waveform. For example, the sweep characteristic bandwidth is [ f aL,faH ], the cut-off frequency of the low pass filter can be set to f aH, and the cut-off frequency of the high pass filter can be set to f aL.
Or in another embodiment, after the upper limit frequency of the sweep characteristic bandwidth is set as the upper limit cutoff frequency of the band-pass filter and the lower limit frequency of the sweep characteristic bandwidth is set as the lower limit cutoff frequency of the band-pass filter, the band-pass filter is adopted to carry out band-pass filtering on the original acceleration waveform, so as to obtain the target acceleration waveform. For example, the sweep characteristic bandwidth is [ f aL,faH ], and the bandwidth of the bandpass filter can be set to [ f aL,faH ].
Further, based on the above-mentioned first embodiment, a second embodiment of the motor control method of the present invention is proposed, in which the step S30 includes:
step S301, dividing the displacement peak value by the absolute peak value of each displacement value in the first displacement data to obtain an adjustment coefficient, and judging whether the adjustment coefficient is smaller than a preset threshold value 1;
In order to achieve the purpose of avoiding that the driving displacement corresponding to the acceleration waveform exceeds the displacement peak value allowed by the motor hardware design, and meanwhile ensuring that the difference between the actual acceleration waveform and the target acceleration waveform of the motor is relatively small, in this embodiment, the time span of the acceleration data sampled once can be set so that the first acceleration data obtained by sampling comprises a plurality of acceleration sampling values, and therefore the first displacement data comprises a plurality of displacement sampling values, and each displacement value of the first displacement data is subjected to linear adjustment, so that the second displacement data obtained by adjustment is in a linear relation with the first displacement data, and finally the difference between the actual acceleration waveform and the target acceleration waveform obtained by driving the motor to vibrate based on the second driving voltage data is relatively small.
In one embodiment, the linear adjustment may be performed by first extracting the maximum value, that is, the absolute peak value, of the absolute values of the respective displacement values in the first displacement data. For example, the first displacement data includes n displacement values x 1(1)、x1(2)、……x1 (n), taking absolute values to obtain |x 1(1)|、|x1(2)|、……|x1 (n) |, and detecting the maximum value by adopting a sequential comparison method, namely comparing |x 1 (1) | with |x 1 (2) |, and taking the larger value as x 1max; comparing x 1max with |x 1 (2) |, and taking the larger value as new x 1max; and so on until comparing x 1max with |x 1 (n) |, taking the larger value as the final x 1max, i.e., absolute peak. After the absolute peak value is obtained, the displacement peak value allowed by the motor hardware design is divided by the absolute peak value, and the obtained result is used as an adjustment coefficient.
After the adjustment coefficient is obtained, whether the adjustment coefficient is smaller than 1 can be judged, and the adjustment coefficient is used for limiting the displacement peak value actually driven by the driving circuit so as to ensure the safety of the motor.
Step S302, if the adjustment coefficient is greater than or equal to 1, the first displacement data is used as second displacement data;
When the adjustment coefficient is greater than or equal to 1, it is indicated that the absolute value of each displacement value in the first displacement data does not exceed the displacement peak value, and at this time, the situation that the motor vibrator and the shell are mechanically collided does not occur, and the first displacement data can be directly used as the second displacement data, that is, the first displacement data does not need to be adjusted, so that the actual acceleration waveform of the motor is consistent with the target acceleration waveform.
Step S303, if the adjustment coefficient is smaller than 1, multiplying each displacement value in the first displacement data by the adjustment coefficient to obtain each adjusted displacement value, and taking each adjusted displacement value as second displacement data.
When the adjustment coefficient is smaller than 1, it indicates that at least one of the first displacement data has an absolute value exceeding the output displacement peak value, at this time, the displacement value needs to be adjusted, each of the displacement values in the first displacement data may be multiplied by the adjustment coefficient to obtain each adjusted displacement value, and the adjusted displacement value is used as the second displacement data.
Further, in an embodiment, the step S10 includes:
step S101, sampling a target acceleration waveform according to a first time length to obtain first acceleration data, wherein the time span of the first acceleration data is the first time length;
in this embodiment, when sampling the target acceleration waveform, sampling may be performed according to a time span (hereinafter referred to as a first time length to show distinction) of currently set single-sampling acceleration data, that is, such that the time span of the first acceleration data obtained by the single-sampling is the first time length.
After the step S40, the method further includes:
step A10, obtaining user feedback information and extracting a motor vibration state carried by the user feedback information;
An input device for receiving user feedback information, such as a display screen or a control handle of the game machine, etc., may be provided, and the user may feedback the vibration state of the motor, for example, whether the vibration state of the feedback motor is a delay state, a distortion state, etc. The delay state refers to a delay between the vibration of the motor and the operation of the user, for example, one operation of the user triggers one vibration effect of the motor, but the vibration effect of the motor occurs only after the user operates for a period of time, and the state is the delay state. The distortion state means that there is a large difference between the vibration of the motor and the expected vibration effect.
In the process of driving the motor to vibrate, user feedback information is acquired from the input equipment, wherein the user feedback information carries the motor vibration state. In particular, the motor vibration state may be a delayed state or a non-delayed state.
And step A20, if the motor vibration state is a delay state, adjusting the first time to obtain a second time so as to continuously sample the target acceleration waveform based on the second time, wherein the second time is smaller than the first time.
After the motor vibration state is extracted, judging whether the motor vibration state is a delay state, if so, adjusting the first time length to obtain a second time length smaller than the first time length, and sampling the second time length when the target acceleration waveform is sampled next time, namely sampling the time span of the first acceleration data obtained by next time sampling to be the second time length. It should be noted that, since the motor is driven to vibrate based on the second driving voltage data after the second driving voltage data is obtained by processing the sampled first acceleration data, when the motor vibration state is a delay state, the first time length is too long, so that the motor vibration perceived by the user is delayed, and at this time, the time span of the single sampled acceleration data is shortened, and then the subsequent sampling is performed, so that the delay of the motor vibration perceived by the user is shorter or the motor vibration is not perceived. Specifically, in an embodiment, the manner of adjusting the first time length to obtain the second time length may be to subtract a preset value from the first time length, that is, the preset value is taken as a step, and when the vibration state of the motor is determined to be the delay state according to the feedback information of the user, the preset value is subtracted from the time span of the currently set single-frame acceleration data to shorten the time span; further, a minimum threshold may be set, and when the first time length minus the preset value is smaller than the minimum threshold, the first time length is not adjusted, and the first time length is still maintained, so as to ensure that at least a plurality of acceleration sampling values exist in the first acceleration data obtained by sampling.
Further, in an embodiment, after the step a10, the method further includes:
And step A30, if the motor vibration state is a distortion state, adjusting the first time length to obtain a third time length, so as to continuously sample the target acceleration waveform based on the third time length, wherein the third time length is longer than the first time length.
After the motor vibration state is extracted, judging whether the motor vibration state is a distortion state, if so, adjusting the first time length to obtain a third time length longer than the first time length, and sampling by adopting the third time length when the target acceleration waveform is sampled next time, namely, sampling the time span of the first acceleration data obtained by next time is the third time length. It should be noted that, when the time span of the single-time sampled acceleration data is shorter, the number of acceleration sampling values in the first acceleration data is smaller, so that the adjusted second displacement data and the first displacement data cannot maintain a stronger linear relationship, and the effect of motor vibration is distorted for the user, so that when the motor vibration state is a distortion state, the time span of the single-time acceleration data is increased to perform subsequent sampling, and the motor vibration distortion perceived by the user is not obvious or is not perceived. Specifically, in an embodiment, the manner of adjusting the first time length to obtain the third time length may be to add a preset value to the first time length, that is, to add the preset value to the time span of the currently set single-frame acceleration data to increase the time span each time the vibration state of the motor is determined to be a distortion state according to the user feedback information; further, a highest threshold may be set, and when the first time length is greater than the highest threshold after the preset value is added, the first time length is not adjusted, and the first time length is still maintained, so that the delay of motor vibration caused by too long time span of single-frame acceleration is avoided.
It can be understood that the shorter the frame length is, the higher the timeliness of the adjustment of sampling parameters such as time span and the like according to the feedback information of the user is, when sampling is performed on only one frame of acceleration waveform at a time, the next frame of acceleration waveform can be sampled according to the feedback information of the user by utilizing the adjusted sampling parameters after the feedback information of the user is obtained, and the response timeliness of the feedback information of the user is improved.
Further, based on the first and/or second embodiments, a third embodiment of the motor control method according to the present invention is provided, in this embodiment, the step of calculating the first driving voltage data according to the first acceleration data in step S20 includes:
step S201, obtaining motor parameters of the motor, wherein the motor parameters comprise vibrator mass, magnetic field intensity, spring stiffness coefficient, damping coefficient and coil direct current resistance;
Step S202, calculating first driving voltage data according to a conversion formula between the voltage and the acceleration of the motor according to the first acceleration data and the motor parameter.
In this embodiment, the motor parameter of the motor may be obtained according to a conversion formula between the motor parameter setting voltage and the acceleration of the motor, and the motor parameter and the first acceleration data are brought into the conversion formula to perform calculation, so as to obtain the first driving voltage data. The motor parameters may include vibrator mass, magnetic field strength, spring stiffness coefficient, damping coefficient, coil dc resistance.
Specifically, in an embodiment, the first driving voltage data may be calculated according to the following conversion formula.
ωcc＝2πfaL,Qc＝0.707
Where u 1 (n) represents an nth driving voltage value in the first driving voltage data, and a 1 (n) represents an nth acceleration sampling value in the first acceleration data. m is vibrator mass, bl is magnetic field strength, k is spring stiffness coefficient, r is damping coefficient, re is coil DC resistance, and T is sampling period. f aL is the lower limit frequency of the motor sweep characteristic bandwidth. U 1(n-1)、u1(n-2)、a1 (n-1) and a 1 (n-2) take 0 when n takes 1, and u 1 (n-2) and a 1 (n-2) take 0 when n takes 2.
In one embodiment, the first displacement data may be calculated according to the following conversion formula.
Where u 1 (n) represents an nth driving voltage value in the first driving voltage data, and x 1 (n) represents an nth displacement value in the first displacement data. m is vibrator mass, bl is magnetic field strength, k is spring stiffness coefficient, r is damping coefficient, re is coil DC resistance, and T is sampling period. f aL is the lower limit frequency of the motor sweep characteristic bandwidth. U 1(n-1)、u1(n-2)、x1 (n-1) and x 1 (n-2) take 0 when n takes 1, and u 1 (n-2) and x 1 (n-2) take 0 when n takes 2.
In one embodiment, the second acceleration data may be calculated according to the following conversion formula.
c30＝1
c31＝2
c32＝1
Where a 2 (n) represents an nth acceleration value in the second acceleration data, x 2 (n) represents an nth displacement value in the second displacement data, and T is a sampling period. A 2(n-1)、a2(n-2)、x2 (n-1) and x 2 (n-2) take 0 when n takes 1, and a 2 (n-2) and x 2 (n-2) take 0 when n takes 2.
In one embodiment, the second driving voltage data may be calculated according to the following conversion formula.
ωcc＝2πfaL,Qc＝0.707
Where a 2 (n) represents an nth acceleration value in the second acceleration data, and u 2 (n) represents an nth driving voltage value in the second driving voltage data. m is vibrator mass, bl is magnetic field strength, k is spring stiffness coefficient, r is damping coefficient, re is coil DC resistance, and T is sampling period. f aL is the lower limit frequency of the motor sweep characteristic bandwidth. A 2(n-1)、a2(n-2)、u2 (n-1) and u 2 (n-2) take 0 when n takes 1, and a 2 (n-2) and u 2 (n-2) take 0 when n takes 2.
In addition, an embodiment of the present invention further provides a motor control device, referring to fig. 3, the device includes:
the sampling module 10 is used for sampling the target acceleration waveform to obtain first acceleration data;
The calculating module 20 is configured to calculate first driving voltage data according to the first acceleration data, and calculate first displacement data according to the first driving voltage data;
the adjustment module 30 is configured to adjust the first displacement data according to a displacement peak value of the motor to obtain second displacement data, where an absolute value of a displacement value in the second displacement data is not greater than the displacement peak value;
the driving module 40 is configured to calculate second driving voltage data according to the second displacement data, and drive the motor to vibrate based on the second driving voltage data.
Further, the first acceleration data includes a plurality of acceleration sampling values, and the adjusting module 30 includes:
the first calculation unit is used for dividing the output displacement peak value by the absolute peak value of each displacement value in the first displacement data to obtain an adjustment coefficient and judging whether the adjustment coefficient is smaller than 1;
a determining unit, configured to take the first displacement data as second displacement data if the adjustment coefficient is greater than or equal to 1;
And the second calculation unit is used for multiplying each displacement value in the first displacement data by the adjustment coefficient to obtain each adjusted displacement value and taking each adjusted displacement value as second displacement data if the adjustment coefficient is smaller than 1.
Further, the sampling module 10 is further configured to sample the target acceleration waveform according to a first time length to obtain first acceleration data, where a time span of the first acceleration data is the first time length;
The apparatus further comprises:
the first acquisition module is used for acquiring user feedback information and extracting a motor vibration state carried by the user feedback information;
The adjustment module 30 is further configured to adjust the first time period to obtain a second time period if the motor vibration state is a delay state, so as to continue sampling the target acceleration waveform based on the second time period, where the second time period is less than the first time period.
Further, the adjusting module 30 is further configured to adjust the first time period to obtain a third time period if the motor vibration state is a distortion state, so as to continue sampling the target acceleration waveform based on the third time period, where the third time period is longer than the first time period.
Further, the apparatus further comprises:
The second acquisition module is used for acquiring an original acceleration waveform and the sweep frequency characteristic bandwidth of the motor;
And the filtering module is used for filtering the original acceleration waveform by adopting the filter after setting parameters of the filter according to the sweep characteristic bandwidth to obtain the target acceleration waveform.
Further, the computing module 20 includes:
the acquisition unit is used for acquiring motor parameters of the motor, wherein the motor parameters comprise vibrator mass, magnetic field intensity, spring stiffness coefficient, damping coefficient and coil direct current resistance;
And the third calculation unit is used for calculating and obtaining first driving voltage data according to the first acceleration data and the motor parameter and a conversion formula between the voltage and the acceleration of the motor.
Further, the driving module 40 is further configured to calculate second acceleration data according to a conversion formula between the second displacement data and the displacement and acceleration of the motor;
And calculating second driving voltage data according to the second acceleration data, inputting the second driving voltage data into a power amplifier of the motor, and performing power amplification on the second driving voltage data through the power amplifier so as to drive the motor to vibrate.
The expansion content of the specific implementation mode of the motor control device is basically the same as that of each embodiment of the motor control method, and is not repeated here.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the storage medium stores a motor control program, and the motor control program realizes the steps of a motor control method when being executed by a processor.
Embodiments of the motor control apparatus and the computer readable storage medium according to the present invention may refer to embodiments of the motor control method according to the present invention, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A motor control method, characterized in that the method comprises the steps of:
sampling the target acceleration waveform to obtain first acceleration data;
calculating to obtain first driving voltage data according to the first acceleration data, and calculating to obtain first displacement data according to the first driving voltage data;
Adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data, wherein the absolute value of the displacement value in the second displacement data is not larger than the displacement peak value;
Calculating second driving voltage data according to the second displacement data, and driving the motor to vibrate based on the second driving voltage data;
The first acceleration data comprises a plurality of acceleration sampling values, and the step of adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data comprises the following steps:
dividing the displacement peak value by the absolute peak value of each displacement value in the first displacement data to obtain an adjustment coefficient, and judging whether the adjustment coefficient is smaller than a preset threshold value 1 or not;
If the adjustment coefficient is greater than or equal to 1, the first displacement data is used as second displacement data;
And if the adjustment coefficient is smaller than 1, multiplying each displacement value in the first displacement data by the adjustment coefficient to obtain each adjusted displacement value, and taking each adjusted displacement value as second displacement data.
2. The motor control method as claimed in claim 1, wherein the step of sampling the target acceleration waveform to obtain the first acceleration data includes:
sampling a target acceleration waveform according to a first time length to obtain first acceleration data, wherein the time span of the first acceleration data is the first time length;
after the step of driving the motor to vibrate based on the second driving voltage data, the method further includes:
Acquiring user feedback information, and extracting a motor vibration state carried by the user feedback information;
and if the motor vibration state is a delay state, adjusting the first time to obtain a second time so as to continuously sample the target acceleration waveform based on the second time, wherein the second time is smaller than the first time.
3. The motor control method according to claim 2, wherein after the step of acquiring the user feedback information and extracting the motor vibration state carried by the user feedback information, further comprising:
and if the motor vibration state is a distortion state, adjusting the first time length to obtain a third time length so as to continuously sample the target acceleration waveform based on the third time length, wherein the third time length is longer than the first time length.
4. The motor control method according to claim 1, wherein before the step of sampling the target acceleration waveform to obtain the first acceleration data, further comprising:
Acquiring an original acceleration waveform and a sweep frequency characteristic bandwidth of the motor;
And setting parameters of a filter according to the sweep characteristic bandwidth, and then adopting the filter to filter the original acceleration waveform to obtain a target acceleration waveform.
5. The motor control method according to claim 1, wherein the step of calculating first driving voltage data from the first acceleration data includes:
obtaining motor parameters of the motor, wherein the motor parameters comprise vibrator mass, magnetic field intensity, spring stiffness coefficient, damping coefficient and coil direct current resistance;
and calculating according to the first acceleration data and the motor parameter and a conversion formula between the voltage and the acceleration of the motor to obtain first driving voltage data.
6. The motor control method according to claim 1, wherein the step of calculating second driving voltage data from the second displacement data, and driving the motor to vibrate based on the second driving voltage data, comprises:
calculating second acceleration data according to the second displacement data and a conversion formula between the displacement and the acceleration of the motor;
And calculating second driving voltage data according to the second acceleration data, inputting the second driving voltage data into a power amplifier of the motor, and performing power amplification on the second driving voltage data through the power amplifier so as to drive the motor to vibrate.
7. A motor control apparatus, characterized in that the apparatus comprises:
the sampling module is used for sampling the target acceleration waveform to obtain first acceleration data;
the calculation module is used for calculating to obtain first driving voltage data according to the first acceleration data and calculating to obtain first displacement data according to the first driving voltage data;
The adjusting module is used for adjusting the first displacement data according to the displacement peak value of the motor to obtain second displacement data, wherein the absolute value of the displacement value in the second displacement data is not larger than the displacement peak value;
The driving module is used for calculating second driving voltage data according to the second displacement data and driving the motor to vibrate based on the second driving voltage data;
The first acceleration data includes a plurality of acceleration sample values, and the adjustment module includes:
The first calculation unit is used for dividing the displacement peak value by the absolute peak value of each displacement value in the first displacement data to obtain an adjustment coefficient and judging whether the adjustment coefficient is smaller than 1;
a determining unit, configured to take the first displacement data as second displacement data if the adjustment coefficient is greater than or equal to 1;
And the second calculation unit is used for multiplying each displacement value in the first displacement data by the adjustment coefficient to obtain each adjusted displacement value and taking each adjusted displacement value as second displacement data if the adjustment coefficient is smaller than 1.
8. A motor control apparatus, characterized by comprising: a memory, a processor and a motor control program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the motor control method according to any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a motor control program which, when executed by a processor, implements the steps of the motor control method according to any one of claims 1 to 6.
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