CN114509156B - Linear motor calibration method, electronic device and storage medium - Google Patents
Linear motor calibration method, electronic device and storage medium Download PDFInfo
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- CN114509156B CN114509156B CN202011283185.3A CN202011283185A CN114509156B CN 114509156 B CN114509156 B CN 114509156B CN 202011283185 A CN202011283185 A CN 202011283185A CN 114509156 B CN114509156 B CN 114509156B
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Abstract
The application discloses a calibration method of a linear motor, which comprises the following steps: obtaining vibration time of the linear motor each time; if the vibration time is greater than a first preset time acquired in advance, tracking a resonant frequency value of the linear motor; obtaining a resonant frequency value every a preset second preset time, and obtaining a preset number of resonant frequency values; detecting whether variability between a predetermined number of resonant frequency values is less than a predetermined frequency value set in advance; if the variability is smaller than the preset frequency value, calculating the average value of the preset number of resonant frequency values; if the average value is in the pre-calculated trust interval, calibrating the average value as the initial value of the resonant frequency of the linear motor; therefore, the initial value of the resonant frequency after calibration is still used as a frequency point of the open loop, the probability of deviation of the frequency point of the open loop is reduced, and the probability of time lengthening of the closed loop to trace the resonant frequency is reduced, so that the risk that the vibration effect of the linear motor cannot produce optimal vibration feeling experience for a user is reduced.
Description
Technical Field
The present application relates to the field of motor frequency calibration, and in particular, to a method for calibrating a linear motor, an electronic device, and a storage medium.
Background
A linear motor is a device for converting electric energy into linear motion mechanical energy, and is often used as a vibrator of an electronic device or the like to achieve a vibration effect of the electronic device.
In general, the driving program of the linear motor provides an initial value of the resonant frequency to the driving chip as a frequency point of the open loop of the driving chip, and the frequency point is ideally also an initial set value of the vibration frequency before the closed loop is started to track the resonant frequency of the linear motor. The resonant frequency is a value that allows the user to obtain the best jarring experience. The frequency point is the resonant frequency that the linear motor is expected to reach when vibrating according to the initial value of the resonant frequency.
However, due to some reasons, for example, the influence of linear manufacturing tolerance of the linear motor, device aging, etc., the frequency point corresponding to the initial value of the resonant frequency is offset from the actual frequency point of the open loop of the driving chip, so that the time for tracking the resonant frequency corresponding to the actual frequency point of the closed loop is prolonged compared with the time for tracking the initial set value of the vibration frequency, and therefore, the risk that the vibration effect of the linear motor cannot produce the optimal vibration feeling experience for the user is increased.
Disclosure of Invention
In view of this, the application provides a calibration method, an electronic device and a storage medium for a linear motor, so as to solve the problem that the risk that the best vibration experience cannot be generated for a user due to the vibration effect of the linear motor after the offset is generated between the frequency point corresponding to the initial value of the resonant frequency of the existing driving chip and the actual frequency point.
A first aspect of the present application provides a method for calibrating a linear motor, comprising: obtaining vibration time of the linear motor each time; if the vibration time is greater than a first preset time acquired in advance, tracking a resonant frequency value of the linear motor; obtaining a resonant frequency value every a preset second preset time, and obtaining a preset number of resonant frequency values; detecting whether variability between a predetermined number of resonant frequency values is less than a predetermined frequency value set in advance; if the variability is less than the predetermined frequency value, calculating an average of a predetermined number of resonant frequency values; and if the average value is within the pre-calculated trust interval, calibrating the average value to be the initial value of the resonant frequency of the linear motor.
The obtaining mode of the first preset time comprises the following steps: acquiring vibration time lengths of all vibration scenes set by the electronic equipment; setting the vibration duration of one of all scenes or an average value of all the vibration durations as the first predetermined time; the second predetermined time is one of time values of 15-25 ms; the predetermined number is one of a number value of 25-35; the predetermined frequency value is 1Hz.
The method for calculating the trust interval comprises the following steps: and calculating an upper limit value of the initial frequency value to be calibrated floating upwards by 10% and a lower limit value of the initial frequency value floating downwards by 10%, and taking the upper limit value and the lower limit value as interval endpoints to form the trust interval.
Wherein the method further comprises: and if the vibration time is smaller than the first preset time, returning to the step of acquiring the vibration time of the linear motor each time.
Wherein the method further comprises: and if the variability among the preset number of resonant frequency values is larger than the preset frequency value, returning to the step of acquiring the vibration time of the linear motor each time.
Wherein the method further comprises: and if the average value is not in the trust interval, returning to the step of acquiring the vibration time of the linear motor each time.
Wherein the method further comprises: before the vibration time of each time of the linear motor is obtained, the vibration state of the electronic equipment is obtained; and acquiring the vibration time of the linear motor each time when the electronic equipment is in the state of ringing vibration, or starting vibration of the electronic equipment, or vibration when a typing operation instruction of a user is received, or vibration when the electronic equipment runs a game.
The vibration time of each time of the linear motor is obtained in real time.
According to the calibration method of the linear motor, the initial value of the resonant frequency of the linear motor is calibrated, so that the initial value of the resonant frequency after calibration can be matched with the frequency point affected by some reasons, the initial value of the resonant frequency after calibration is used as the frequency point of the open loop, the probability of deviation between the frequency point corresponding to the initial value of the resonant frequency and the actual frequency point of the open loop can be reduced, and the probability that the time from the tracking of the closed loop to the resonant frequency is prolonged compared with the set value of the vibration frequency is reduced, so that the risk that the vibration effect of the linear motor cannot produce optimal vibration feeling experience for a user is reduced.
A second aspect of the present application provides an electronic device, including: the linear motor calibration method comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the linear motor calibration method according to any one of the above when executing the computer program.
A third aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of calibrating a linear motor according to any of the above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for calibrating a linear motor according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for calibrating a linear motor according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made in detail and with reference to the accompanying drawings, wherein it is apparent that the embodiments described are only some, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. The various embodiments described below and their technical features can be combined with each other without conflict.
Referring to fig. 1, a method for calibrating a linear motor according to an embodiment of the application includes: s1, acquiring vibration time of a linear motor each time; s2, if the vibration time is greater than a first preset time acquired in advance, tracking a resonant frequency value of the linear motor; s3, acquiring a resonant frequency value every a preset second preset time, and acquiring a preset number of resonant frequency values; s4, detecting whether variability among the preset number of resonant frequency values is smaller than a preset frequency value or not; s5, if the variability is smaller than the preset frequency value, calculating the average value of the preset number of resonant frequency values; and S6, if the average value is in the pre-calculated trust interval, calibrating the average value as the initial value of the resonant frequency of the linear motor. Tracking the frequency of the linear motor to reach the initial value of the calibrated resonant frequency when the linear motor is driven to vibrate later is regarded as reaching the resonant frequency.
Variability between a predetermined number of resonant frequency values refers to the difference between the predetermined number of resonant frequency values.
Wherein in some embodiments, in step S3, the predetermined number of resonant frequency values are continuously acquired when the predetermined number of resonant frequency values are acquired.
And the acquiring means for the first predetermined time may include: acquiring vibration time lengths of all vibration scenes set by the electronic equipment; setting the vibration duration of one of all scenes or the average value of all vibration durations to a first predetermined time.
The vibration duration of all the vibration scenes set by the electronic device may be any time value between 50-750ms, and in particular implementations, in some embodiments, 350ms is set to the first predetermined time, and in other embodiments, 50ms, 70ms, 90ms, 110ms, 130ms, 150ms, 170ms, 190ms, 210ms, 230ms, 250ms, 270ms, 290ms, 310ms, 330ms, 370ms, 390ms, 410ms, 430ms, 450ms, 470ms, 490ms, 510ms, 530ms, 550ms, 570ms, 590ms, 610ms, 630ms, 650ms, 670ms, 690ms, 710ms, 730ms, or 750ms may also be set to the first predetermined time.
In some embodiments, the second predetermined time is one of 15-25 ms.
In specific implementation, 20ms can be taken as a second preset time, and a resonant frequency value is obtained every 20 ms; in other embodiments, 15ms, 16ms, 17ms, 18ms, 19ms, 21ms, 22ms, 23ms, 24ms, or 25ms may also be used as the second predetermined time.
In some embodiments, the predetermined number is one of a number value of 25-35.
In particular, 30 may be set to a predetermined number of values, one resonant frequency value may be acquired every 20ms, and 30 resonant frequency values may be acquired.
In some embodiments, the predetermined frequency value is set to 1Hz, but is not limited thereto.
A specific implementation of the linear motor calibration at a first predetermined time of 350ms, a second predetermined time of 20ms, a predetermined number of 30 pens, and a predetermined frequency value of 1Hz is described below.
Specifically, referring to fig. 2, in the process of calibrating the linear motor, an initial value of the resonant frequency of the linear motor is set or obtained, where the initial value may be a value provided in a specification of a single linear motor. Then starting to detect the vibration time of the electronic equipment, if the vibration time of the electronic equipment is not more than 350ms, temporarily maintaining the initial value of the resonant frequency of the linear motor, starting to calibrate and correct after each vibration of the electronic equipment is more than 350ms, starting to track the resonant frequency of the linear motor, acquiring a reported resonant frequency value, reporting one resonant frequency value every 20ms, and acquiring data of 30 resonant frequency values; judging whether variability of 30 resonant frequency values is smaller than 1Hz, if the variability is larger than 1Hz, temporarily maintaining the initial value of the resonant frequency of the linear motor, which is set at the beginning, not updating, continuously obtaining vibration time of the linear motor each time, and starting calibration correction again after the next vibration of the tracking electronic equipment is larger than 350 ms; if the variability is less than 1Hz, indicating that the linear motor needs to be calibrated, taking 30 pieces of data of resonant frequency values at the moment, obtaining an average value of the 30 pieces of data of the resonant frequency values, judging whether the average value is positioned in a trust zone, temporarily maintaining a set initial value of the resonant frequency of the linear motor when the average value is confirmed to be positioned in an out-of-trust zone, not updating, continuously obtaining the vibration time of the linear motor each time, and starting to calibrate and correct again after tracking that the next vibration of the mobile phone is more than 350 ms; if the average value of the data of 30 resonant frequency values is located in the trust interval, it indicates that the linear motor needs to be calibrated, if the average value is located in the trust interval, it indicates that the average value is reliable, and then the average value is updated to be the initial value of the resonant frequency of the linear motor, so as to achieve the effect of optimizing the shock sensation of the dynamic tracking electronic equipment, and thus the linear motor is calibrated. The variability is the difference value between the obtained 30 resonant frequency values of the linear motor.
In some embodiments, the method for calculating the trust interval includes: and calculating an upper limit value of the initial frequency value to be calibrated floating upwards by 10% and a lower limit value of the initial frequency value floating downwards by 10%, and forming a trust interval by taking the upper limit value and the lower limit value as interval endpoints. In other embodiments, the float may not be limited to 10%.
In some embodiments, the method of calibrating the linear motor further comprises: if the vibration time is smaller than the first preset time, stopping calibration, and continuously acquiring the vibration time of the linear motor each time.
For example, the first preset time is 350ms, when the vibration time of the linear motor is less than 350ms, the initial value of the vibration frequency of the linear motor is not required to be calibrated, the step of acquiring the vibration time of the linear motor each time is returned, and the calibration and correction are started again after the next vibration of the mobile phone is tracked to be greater than 350 ms.
In some embodiments, the method of calibrating the linear motor further comprises: if the variability among the preset number of resonant frequency values is larger than the preset frequency value, returning to the step of acquiring the vibration time of the linear motor each time, and continuing to acquire the vibration time of the linear motor each time.
For example, the preset frequency value is 1Hz, if the variability is greater than 1Hz, it indicates that the linear motor may be affected by external factors, for example, the electronic device collides, other devices are damaged, and the resonant frequency of the linear motor has a large difference from the resonant frequency of the linear motor under normal conditions, so that under the influence of the external factors, the error of the resonant frequency value tracked to the linear motor is relatively large, and the confidence of the initial value of the resonant frequency obtained by calibrating the linear motor is not high. At this time, the step of acquiring the vibration time of the linear motor is returned until the resonance frequency value having a difference smaller than the predetermined frequency value is re-tracked, and the subsequent step is not performed.
In some embodiments, the method of calibrating the linear motor further comprises: if the average value is not in the trust interval, stopping the calibration, and continuously acquiring the vibration time of the linear motor each time.
Because the trust interval is formed by taking the initial frequency value to be calibrated to float upwards by 10% as an upper limit value and floating downwards by 10% as a lower limit value, if the average value is not located in the trust interval, the linear motor may be affected by external factors, such as collision of electronic equipment, damage of other devices and the like, so that the resonant frequency of the linear motor has a larger difference from that of the linear motor under normal conditions, and the confidence of the initial value of the resonant frequency obtained by calibrating the linear motor is not high. At this time, the step of acquiring the vibration time of the linear motor is returned until the resonance frequency value having a difference smaller than the predetermined frequency value is re-tracked, and the subsequent step is not performed.
In some embodiments, the method of calibrating the linear motor further comprises: before the vibration time of each time of the linear motor is obtained, the vibration state of the electronic equipment is obtained; and acquiring the vibration time of the linear motor each time when the electronic equipment is in the state of ringing vibration, or starting vibration of the electronic equipment, or vibration when a typing operation instruction of a user is received, or vibration when the electronic equipment runs a game.
The method is suitable for calibrating the linear motor in some vibration scenes, for example, in a long vibration scene, the vibration can be calibrated when the bell of the user electronic equipment rings, and the calibration can be performed when the user electronic equipment starts to vibrate; for example, in a short shake scene, the vibration feedback of the electronic device during typing by the user and the vibration feedback during playing can be calibrated.
The vibration time of each time of the linear motor is obtained in real time.
The vibration time of each time of the linear motor is obtained in real time, so that the linear motor can be monitored in real time, and when the vibration time of the linear motor is greater than 350ms, the linear motor can be calibrated in real time.
In summary, according to the calibration method of the linear motor disclosed by the application, the initial value of the resonant frequency of the linear motor is calibrated, so that the initial value of the resonant frequency after calibration can be matched with the frequency point affected by some reasons, the initial value of the resonant frequency after calibration is used as the frequency point of the open loop, the probability of offset between the frequency point corresponding to the initial value of the resonant frequency and the actual frequency point of the open loop can be reduced, and the probability that the time from the tracking of the closed loop to the resonant frequency is prolonged compared with the set value of the vibration frequency is reduced, so that the risk that the vibration effect of the linear motor cannot produce optimal vibration feeling experience to a user is reduced.
In some unexpected situations, for example, the reasons of collision of electronic equipment, damage of other devices and the like, the resonance frequency of the linear motor is greatly different from that of the normal situation, so that under the influence of external factors, the error of the resonance frequency value tracked to the linear motor is relatively large, the confidence coefficient of the resonance frequency initial value obtained by calibrating the linear motor is not high, at the moment, the step of obtaining the vibration time of the linear motor is returned until the resonance frequency value with the difference smaller than the preset frequency value is tracked again, the subsequent steps are executed, and therefore, the situation of calibrating the resonance frequency initial value under the unexpected situation is avoided, and the calibration error is reduced.
In particular, it generally takes at least 20ms to reach the resonance frequency point, and the calibration scheme of the present application dynamically calibrates the initial setting value to ensure that the complete machine system can still provide the best vibration experience before starting the closed loop, and effectively improves the vibration experience of short vibration (for example <20 ms).
Referring to fig. 3, an embodiment of the present application provides an electronic device, which includes: the calibration method of the linear motor described in the foregoing is implemented by the memory 601, the processor 602, and a computer program stored on the memory 601 and executable on the processor 602, when the processor 602 executes the computer program.
Further, the electronic device further includes: at least one input device 603 and at least one output device 604.
The memory 601, the processor 602, the input device 603, and the output device 604 are connected via a bus 605.
The input device 603 may be a camera, a touch panel, a physical key, a mouse, or the like. The output device 604 may be, in particular, a display screen.
The memory 601 may be a high-speed random access memory (RAM, random Access Memory) memory or a non-volatile memory (non-volatile memory), such as a disk memory. The memory 601 is used for storing a set of executable program codes and the processor 602 is coupled to the memory 601.
Further, the embodiment of the present application also provides a computer readable storage medium, which may be provided in the electronic device in each of the above embodiments, and the computer readable storage medium may be the memory 601 in the above embodiments. The computer readable storage medium has stored thereon a computer program which, when executed by the processor 602, implements the method of calibrating a linear motor described in the foregoing embodiments.
Further, the computer-readable medium may be any medium capable of storing a program code, such as a usb (universal serial bus), a removable hard disk, a Read-Only Memory 601 (ROM), a RAM, a magnetic disk, or an optical disk.
Although the application has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. The present application includes all such modifications and alterations and is limited only by the scope of the following claims. In particular regard to the various functions performed by the above described components, the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the specification.
That is, the foregoing embodiments of the present application are merely examples, and are not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions of the present application and the accompanying drawings, such as the combination of technical features of the embodiments, or direct or indirect application in other related technical fields, are included in the scope of the present application.
In addition, in the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. In addition, the present application may be identified by the same or different reference numerals for structural elements having the same or similar characteristics. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as preferred or advantageous over other embodiments. The previous description is provided to enable any person skilled in the art to make or use the present application. In the above description, various details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been shown in detail to avoid unnecessarily obscuring the description of the application. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
Claims (8)
1. A method of calibrating a linear motor, comprising:
obtaining vibration time of the linear motor each time;
if the vibration time is greater than a first preset time acquired in advance, tracking a resonant frequency value of the linear motor; if the vibration time is smaller than the first preset time, returning to the step of acquiring the vibration time of the linear motor each time;
obtaining a resonant frequency value every a preset second preset time, and obtaining a preset number of resonant frequency values;
detecting whether variability between a predetermined number of resonant frequency values is less than a predetermined frequency value set in advance;
returning to the step of acquiring the vibration time of the linear motor each time if the variability among the preset number of resonant frequency values is larger than the preset frequency value; if the variability is less than the predetermined frequency value, calculating an average of a predetermined number of resonant frequency values;
if the average value of the preset number of resonant frequency values is located in a pre-calculated trust interval, calibrating the average value of the preset number of resonant frequency values to be a resonant frequency initial value of the linear motor; and if the average value of the preset number of resonant frequency values is not in the trust interval, returning to the step of acquiring the vibration time of the linear motor each time.
2. A method for calibrating a linear motor according to claim 1, wherein,
the first preset time obtaining mode includes:
acquiring vibration time lengths of all vibration scenes set by the electronic equipment;
setting the vibration duration of one of all scenes or an average value of all the vibration durations to the first predetermined time.
3. A method for calibrating a linear motor according to claim 1, wherein,
the second predetermined time is one of time values of 15-25 ms;
the predetermined number is one of a number value of 25-35;
the predetermined frequency value is 1Hz.
4. A method for calibrating a linear motor according to claim 1, wherein,
the trust interval calculation method comprises the following steps:
and calculating an upper limit value of the initial frequency value to be calibrated floating upwards by 10% and a lower limit value of the initial frequency value floating downwards by 10%, and taking the upper limit value and the lower limit value as interval endpoints to form the trust interval.
5. A method for calibrating a linear motor according to any of claims 1 to 4,
the method further comprises the steps of:
before the vibration time of each time of the linear motor is obtained, the vibration state of the electronic equipment is obtained;
and acquiring the vibration time of the linear motor each time under the condition that the electronic equipment is at least in the ringing vibration, or in the starting vibration of the electronic equipment, or in the vibration when the typing operation instruction of a user is received, or in the state that the electronic equipment runs the game vibration.
6. A method for calibrating a linear motor according to any of claims 1 to 4,
and the vibration time of each time of the linear motor is obtained in real time.
7. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the computer program.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1 to 6.
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