WO2021208446A1 - Signal processing method and apparatus, and electronic device - Google Patents

Signal processing method and apparatus, and electronic device Download PDF

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Publication number
WO2021208446A1
WO2021208446A1 PCT/CN2020/132038 CN2020132038W WO2021208446A1 WO 2021208446 A1 WO2021208446 A1 WO 2021208446A1 CN 2020132038 W CN2020132038 W CN 2020132038W WO 2021208446 A1 WO2021208446 A1 WO 2021208446A1
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WIPO (PCT)
Prior art keywords
displacement
parameter values
motor
system parameter
excitation signal
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PCT/CN2020/132038
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French (fr)
Chinese (zh)
Inventor
郑亚军
向征
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瑞声声学科技(深圳)有限公司
瑞声科技(新加坡)有限公司
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Publication of WO2021208446A1 publication Critical patent/WO2021208446A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
    • G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means

Definitions

  • This application relates to the field of signal processing technology, and in particular to a signal processing method, device and electronic equipment.
  • Tactile feedback technology is a tactile feedback mechanism that combines hardware and software, supplemented by actions such as force or vibration, and can simulate the real human tactile experience.
  • Tactile feedback technology is widely used in electronic devices such as mobile phones, automobiles, wearable devices, and gaming devices, and the user experience is improved by customizing unique tactile feedback effects.
  • the electronic device can be equipped with a vibration system that simulates the haptic feedback effect through the vibration effect, such as a linear resonant actuator (LRA), an eccentric rotor motor (ERM), and so on.
  • a vibration system that simulates the haptic feedback effect through the vibration effect
  • LRA linear resonant actuator
  • ERM eccentric rotor motor
  • the electronic device can use the original excitation signal to characterize the required vibration effect, where the original excitation signal is a voltage signal used to excite the motor.
  • the electronic device uses the linearity established based on a set of parameter values of the motor for the original excitation signal.
  • the parameter model is processed, and the voltage signal obtained after processing is used as the input voltage signal of the motor to excite the motor to generate the vibration effect required by the original excitation signal.
  • the present application provides a signal processing method, device and electronic equipment, which can characterize the non-linear characteristics of the vibration system and has a relatively small amount of calculation.
  • an embodiment of the present application provides a signal processing method, including:
  • the set of system parameter values includes the system parameters of the motor Value, the system parameters include the parameters involved in the electromechanical coupling equation of the vibration system;
  • a target voltage signal is calculated according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input a motor for motor excitation.
  • the target voltage signal is calculated based on a set of system parameter values and the original excitation signal, and the amount of calculation is small; moreover, compared to the linear system model in the prior art, the same set of system parameter values are used to calculate the target for all original excitation signals.
  • Voltage signal At least two displacement intervals are preset, and a set of system parameter values are set for each displacement interval, and a set of system parameter values are obtained according to the displacement interval corresponding to the original excitation signal, instead of just based on a set of system parameters The value of the target voltage signal is calculated, which is more able to characterize the nonlinear characteristics of the vibration system, and the processing accuracy is relatively higher.
  • the calculation of the target voltage signal according to the acquired set of system parameter values and the original excitation signal includes:
  • the electromechanical coupling equation of the vibration system is used to calculate the target voltage signal.
  • the calculation of the maximum displacement value of the motor when the original excitation signal is input to the motor includes:
  • an embodiment of the present application provides a signal processing device, including:
  • the signal obtaining unit is used to obtain the original excitation signal
  • a displacement calculation unit configured to calculate the maximum displacement value of the motor when the original excitation signal is input to the motor
  • An interval determining unit configured to determine the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals
  • the obtaining unit is configured to obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each of the displacement intervals;
  • the set of system parameter values includes all The system parameter values of the motor, and the system parameters include the parameters involved in the electromechanical coupling equation of the vibration system;
  • the calculation unit is configured to calculate a target voltage signal according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input the motor for motor excitation.
  • the calculation unit includes:
  • the first calculation subunit is configured to use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to the original excitation signal and the obtained set of system parameter values;
  • the second calculation subunit is configured to calculate the target voltage signal using the electromechanical coupling equation of the vibration system according to the displacement curve and the obtained set of system parameter values.
  • the displacement calculation unit is specifically configured to: use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to a preset set of system parameter values and the original excitation signal, and obtain the displacement curve The maximum absolute value of is used as the maximum displacement value.
  • an electronic device including:
  • One or more processors comprising: memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, when the instructions are When the device is executed, the device is caused to execute the method of the first aspect.
  • an embodiment of the present application provides a vibration system, including:
  • One or more processors a memory; a motor; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, when the When the instruction is executed by the device, the device is caused to execute the method according to any one of claims 1 to 3.
  • embodiments of the present application provide a computer-readable storage medium in which a computer program is stored, and when the computer program is run on a computer, the computer executes the method of the first aspect.
  • the present application provides a computer program, when the computer program is executed by a computer, it is used to execute the method described in the first aspect.
  • the program in the sixth aspect may be stored in whole or in part on a storage medium that is packaged with the processor, or may be stored in part or in a memory that is not packaged with the processor.
  • Figure 1 is a structural diagram of an embodiment of an electronic device of this application.
  • FIG. 2 is a structural diagram of another embodiment of the electronic device of this application.
  • FIG. 3 is a flowchart of an embodiment of the signal processing method of this application.
  • FIG. 4A is a flowchart of another embodiment of the signal processing method of this application.
  • Figure 4B is an example diagram of the maximum displacement value of the application
  • Fig. 5 is a flowchart of an embodiment of the signal processing device of the present application.
  • Displacement curve the displacement-time curve of the motor vibrator, also called the displacement response curve.
  • the maximum displacement value of the displacement curve is the maximum absolute value of the displacement curve.
  • Original excitation signal the voltage signal used to input and excite the motor.
  • the original excitation signal can generally be a digital signal.
  • the embodiment of the present application proposes a signal processing method that can characterize the nonlinear characteristics of a vibration system and has a relatively small amount of calculation.
  • the electronic device 100 may include: a processor 110, a memory 120, and a vibration system 130; wherein, the vibration system 130 may include: a motor 131; optionally, the vibration system 130 may also include: a displacement sensor 132, an acceleration Sensor 133 and so on.
  • the memory 120 may be used to store one or more computer programs, and the processor 110 may be used to call and execute the computer programs from the memory 120.
  • a computer program that implements the signal processing method of the embodiment of the present application may be stored in the memory 120, and the processor 110 calls and runs the computer program from the memory 120 to implement signal processing.
  • the electronic device 200 may include: a processor 210, a first memory 220, and a vibration system 230; wherein, the vibration system 230 may include: a motor 231, a signal processor 232, and a second memory 233; optionally The vibration system 230 may also include: a displacement sensor 234, an acceleration sensor 235, and the like.
  • the second memory 233 may be used to store data of the vibration system, such as the preset displacement interval described below; the second memory 233 may also be used to store the computer program of the signal processing method of the embodiment of the present application;
  • the signal processor 232 calls and runs the computer program from the second memory 233 to realize signal processing.
  • FIG. 1 and FIG. 2 can implement various processes of the methods provided in the embodiments shown in FIG. 3 to FIG. 4A of this application.
  • the operation and/or function of each module in the electronic device are respectively for implementing the corresponding process in the method embodiment.
  • FIG. 3 is a flowchart of an embodiment of the signal processing method of this application. As shown in FIG. 3, the method may include:
  • Step 301 Obtain the original excitation signal
  • Step 302 Calculate the maximum displacement value of the motor when the original excitation signal is input to the motor
  • Step 303 Determine the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals
  • Step 304 Obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each displacement interval;
  • the parameters include those involved in the electromechanical coupling equation of the vibration system.
  • Step 305 Calculate a target voltage signal according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input the motor for motor excitation.
  • the original excitation signal is obtained
  • the maximum displacement value of the motor when the original excitation signal is input to the motor is calculated
  • the displacement interval to which the maximum displacement value belongs is determined from at least two preset displacement intervals
  • the preset displacement interval A set of system parameter values corresponding to the maximum displacement value obtained from a set of system parameter values corresponding to the maximum displacement value.
  • a set of system parameter values includes the system parameter values of the motor, and the system parameters include those involved in the electromechanical coupling equation of the vibration system.
  • the target voltage signal is used to input the motor for motor excitation, so as to calculate the target voltage signal according to a set of system parameter values and the original excitation signal, the amount of calculation is small;
  • the same set of system parameter values are used to calculate the target voltage signal for all the original excitation signals.
  • at least two displacement intervals are set, and a set of system parameters are set for each displacement interval. According to the displacement interval corresponding to the original excitation signal, a set of system parameter values is obtained. No longer all original excitation signals are calculated based on the same set of system parameter values, the target voltage signal is calculated, which can better characterize the nonlinear characteristics of the vibration system, and The processing accuracy is relatively higher.
  • FIG. 4A is a flowchart of another embodiment of a signal processing method according to this application. As shown in FIG. 4A, the method may include:
  • Step 401 Pre-set at least two displacement intervals, and set a set of system parameter values for each displacement interval.
  • a set of system parameter values set for each displacement interval can be a set of system parameter values under the equivalent displacement of the motor in the displacement interval, that is, the maximum displacement of the vibrator in the motor corresponds to the equivalent displacement in the displacement interval.
  • the value of each system parameter When the displacement is near, the value of each system parameter.
  • the above-mentioned system parameters may be the parameters involved in the electromechanical coupling equation of the vibration system.
  • a set of system parameter values of the motor under the equivalent displacement may be: when the maximum displacement of the vibrator in the motor is near the equivalent displacement, the values of the parameters involved in the electromechanical coupling equation of the vibration system.
  • the motors that drive the vibration system can include linear motors and non-linear motors.
  • the electromechanical coupling equations of the linear motor-driven vibration system are generally different from those of the non-linear motor-driven vibration system.
  • the electromechanical coupling equations of the vibration system are involved.
  • the system parameters can be different. The following takes a linear motor-driven vibration system as an example to describe the system parameters.
  • the electromechanical coupling equation of the vibration system of the vibration system driven by the linear motor can be:
  • m is the mass of the motor mover
  • c is the motor mechanical damping
  • k for the motor spring coefficient
  • BL is the electromechanical coupling coefficient
  • R e is a motor coil resistance
  • L e is the motor coil inductance
  • i is the current
  • u voltage
  • x is the displacement
  • Is the speed
  • Is acceleration the acceleration
  • system parameters can include: the mass of the motor mover, the mechanical damping of the motor, the spring coefficient of the motor, the electromechanical coupling coefficient, the resistance of the motor coil, and the inductance of the motor coil, etc.
  • a set of system parameter values corresponding to each displacement interval can include: The value of each of the above system parameters.
  • the displacement interval can be set according to the actual application requirements of the vibration system. Specifically, for the vibration system applied to different electronic equipment or different purposes, the vibration system has different requirements for the distribution state of the maximum displacement value of the displacement curve generated by the motor, for example In mobile phones, the vibration function of the vibration system is less important than other functions in the mobile phone, so the maximum displacement value of the displacement curve generated by the motor in the mobile phone is mainly distributed in the middle displacement; while in the game device, the vibration system of the vibration system The vibration function is very important, so the maximum displacement value of the displacement curve generated by the motor in the game device is relatively evenly distributed, generally from low displacement to high displacement.
  • the displacement interval can be set relatively small (that is, the difference between the upper boundary value and the lower boundary value of the displacement interval is relatively small), for the maximum displacement In the part where the value distribution is sparse, the displacement interval can be set relatively large (that is, the difference between the upper boundary value and the lower boundary value of the displacement interval is relatively large).
  • the maximum displacement value of the displacement curve is uniformly distributed between [0mm, 0.5mm], divided into 5 displacement intervals, and the displacement intervals can be divided equally to obtain [0mm, 0.1mm), [0.1mm, 0.2mm ), [0.2mm, 0.3mm), [0.3mm, 0.4mm), [0.4mm, 0.5mm]; if the maximum displacement value of the displacement curve is unevenly distributed between [0mm, 0.65mm], such as most concentrated In the interval [0.2mm, 0.65mm], that is, the above-mentioned distribution is in the middle displacement, then, for the part where the maximum displacement value is concentrated, the boundary value of the displacement interval can be appropriately divided in the concentrated area, and the displacement interval is set to be relatively small , Get the following 5 displacement intervals: [0mm, 0.2mm], (0.2mm, 0.35mm], (0.35mm, 0.45mm], (0.45mm, 0.55mm], (0.55mm, 0.65mm).
  • the equivalent displacement of the displacement interval is a displacement value set for the displacement interval; the equivalent displacement of the displacement interval can be any value included in the displacement interval, and which value included in the displacement interval is specifically selected as the equivalent displacement, this application
  • the embodiment is not limited, and may be an intermediate value or a boundary value, for example.
  • the equivalent displacement of the displacement interval can also be calculated based on a certain algorithm or set according to empirical values. At this time, the equivalent displacement of the displacement interval may not be the value included in the displacement interval, but located in the displacement Values outside the interval are not limited in the embodiment of the present application.
  • Step 402 Obtain the original excitation signal.
  • the execution timing of this step may include but is not limited to the following situations:
  • the original excitation signal can be pre-stored in the electronic device, for example, in the memory of the electronic device.
  • Different vibration effects correspond to different original excitation signals; when a certain function in the electronic device is triggered, for example Incoming call notification, information notification, etc., and the function corresponds to a certain vibration effect, the electronic device obtains the original excitation signal corresponding to the vibration effect and performs subsequent processing;
  • the original excitation signal may be generated in real time by an application in the electronic device, such as a game application, or stored in advance, and trigger the electronic device to obtain the original excitation signal and perform subsequent processing.
  • an application in the electronic device such as a game application, or stored in advance
  • the electronic device may obtain the original excitation signal and perform subsequent processing.
  • the game application generates the original excitation signal corresponding to the driving operation scene, or the game application obtains the original incentive corresponding to the driving operation scene prestored in the game application Signal
  • the original excitation signal is sent to the processor of the electronic device, and the processor of the electronic device is triggered to obtain the original excitation signal and perform subsequent processing.
  • Step 403 Calculate the maximum displacement value of the motor when the original excitation signal is input to the motor.
  • the maximum displacement value is the maximum value of the absolute value of the displacement curve generated by the motor when the original excitation signal is input to the motor.
  • a set of system parameter values can be set in advance, and the set of system parameter values can be the same as or different from a set of system parameter values corresponding to each preset displacement interval.
  • the original excitation signal can be compared with the preset The group system parameter values are substituted into the electromechanical coupling equation of the vibration system, the displacement curve corresponding to the original excitation signal is calculated, and the maximum absolute value of the displacement curve is obtained as the maximum displacement value, so as to obtain the maximum displacement value of the motor when the original excitation signal is input to the motor.
  • Step 404 Determine the displacement interval to which the calculated maximum displacement value belongs from at least two preset displacement intervals, and obtain the displacement to which the maximum displacement value belongs from a set of system parameter values corresponding to each preset displacement interval. A set of system parameter values corresponding to the interval.
  • the displacement interval to which the maximum displacement value belongs refers to the displacement interval including the maximum displacement value.
  • each of the 5 displacement intervals corresponds to a set of system parameter values, that is, 5 sets of system parameter values are preset;
  • the interval of the maximum displacement value is: the displacement interval [0mm, 0.2mm] including 0.1mm.
  • a set of system parameter values corresponding to the displacement interval [0mm, 0.2mm] will be obtained from a set of system parameter values corresponding to each preset displacement interval.
  • Step 405 According to the acquired set of system parameter values and the original excitation signal, use the electromechanical coupling equation of the vibration system to calculate the displacement curve of the original excitation signal.
  • the obtained set of system parameter values (that is, the set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs) is substituted into the electromechanical coupling equation of the vibration system shown in step 401, and the original excitation signal is taken as u, which can be solved Obtain the displacement curve x.
  • Step 406 According to the calculated displacement curve and the obtained set of system parameter values, the electromechanical coupling equation of the vibration system is used to calculate the target voltage signal.
  • the target voltage signal is a voltage signal used to replace the original excitation signal into the motor for motor excitation.
  • the obtained set of system parameter values (that is, the set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs) is substituted into the electromechanical coupling equation of the vibration system shown in step 401, and u can be solved according to the displacement curve x. , Which is the target voltage signal.
  • the displacement interval to which the maximum displacement value of the motor belongs when the original excitation signal is input to the motor is determined, and then obtained A set of system parameter values corresponding to the displacement interval, the target voltage signal is calculated according to the obtained set of system parameter values and the original excitation signal.
  • the target voltage signal is calculated only according to a set of system parameter values and the original excitation signal, and the amount of calculation is small; Moreover, compared to the linear system model in the prior art using the same set of system parameter values for all the original excitation signals to calculate the target voltage signal, at least two displacement intervals are set in this method, and each displacement interval corresponds to a set of system parameters. According to the displacement interval corresponding to the original excitation signal, a set of system parameter values are obtained, so that the method can better characterize the nonlinear characteristics of the vibration system, and the processing accuracy is relatively higher.
  • FIG. 5 is a structural diagram of an embodiment of a signal processing device of this application. As shown in FIG. 5, the device 50 may include:
  • the signal obtaining unit 51 is used to obtain the original excitation signal
  • the displacement calculation unit 52 is configured to calculate the maximum displacement value of the motor when the original excitation signal is input to the motor;
  • the interval determining unit 53 is configured to determine the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals;
  • the obtaining unit 54 is configured to obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each displacement interval; the set of system parameter values includes the System parameter values of the motor, the system parameters including the parameters involved in the electromechanical coupling equation of the vibration system;
  • the calculation unit 55 is configured to calculate a target voltage signal according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input the motor for motor excitation.
  • calculation unit 55 may include:
  • the first calculation subunit is configured to use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to the original excitation signal and the obtained set of system parameter values;
  • the second calculation subunit is configured to calculate the target voltage signal using the electromechanical coupling equation of the vibration system according to the displacement curve and the obtained set of system parameter values.
  • the displacement calculation unit 52 may be specifically configured to: according to a preset set of system parameter values and the original excitation signal, use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal to obtain The maximum absolute value of the displacement curve is taken as the maximum displacement value.
  • the apparatus 50 provided in the embodiment shown in FIG. 5 can be used to implement the technical solutions of the method embodiments shown in FIGS. 3 to 4A of the present application.
  • the division of the various units of the device shown in FIG. 5 is only a division of logical functions, and may be fully or partially integrated into one physical entity during actual implementation, or may be physically separated.
  • these units can all be implemented in the form of software called by processing elements; they can also be implemented in the form of hardware; part of the units can also be implemented in the form of software called by the processing elements, and some of the units can be implemented in the form of hardware.
  • the computing unit may be a separately established processing element, or it may be integrated in a certain chip of the electronic device.
  • the implementation of other units is similar.
  • all or part of these units can be integrated together or implemented independently.
  • each step of the above method or each of the above units can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.
  • the above units may be one or more integrated circuits configured to implement the above methods, such as: one or more specific integrated circuits (Application Specific Integrated Circuit; hereinafter referred to as ASIC), or, one or more micro-processing Digital Processor (Digital Singnal Processor; hereinafter referred to as DSP), or, one or more Field Programmable Gate Array (Field Programmable Gate Array; hereinafter referred to as FPGA), etc.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Singnal Processor
  • FPGA Field Programmable Gate Array
  • these units can be integrated together and implemented in the form of a System-On-a-Chip (hereinafter referred to as SOC).
  • SOC System-On-a-Chip
  • the device includes a storage medium and a central processing unit.
  • the storage medium may be a non-volatile storage medium.
  • a computer executable program is stored in the storage medium.
  • the central processing unit is connected to the The non-volatile storage medium is connected, and the computer executable program is executed to implement the method provided by the embodiments shown in FIG. 3 to FIG. 4A of this application.
  • the processors involved may include, for example, CPU, DSP, microcontroller or digital signal processor, and may also include GPU, embedded neural network processor (Neural-network Process Units; hereinafter referred to as NPU) and Image signal processing (Image Signal Processing; hereinafter referred to as ISP), which may also include necessary hardware accelerators or logic processing hardware circuits, such as ASIC, or one or more integrated circuits used to control the execution of the technical solutions of this application Circuit etc.
  • the processor may have a function of operating one or more software programs, and the software programs may be stored in a storage medium.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when it runs on a computer, the computer executes the functions provided by the embodiments shown in Figs. 3 to 4A of the present application. method.
  • the embodiments of the present application also provide a computer program product.
  • the computer program product includes a computer program that, when running on a computer, causes the computer to execute the method provided by the embodiments shown in FIG. 3 to FIG. 4A of the present application.
  • At least one refers to one or more
  • multiple refers to two or more.
  • And/or describes the association relationship of the associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. Among them, A and B can be singular or plural.
  • the character “/” generally indicates that the associated objects before and after are in an “or” relationship.
  • the following at least one item” and similar expressions refer to any combination of these items, including any combination of single items or plural items.
  • At least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single, or There can be more than one.
  • any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as ROM), random access memory (Random Access Memory; hereinafter referred to as RAM), magnetic disks or optical disks, etc.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disks or optical disks etc.

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Abstract

A signal processing method and apparatus, and an electronic device. The method comprises: obtaining an original excitation signal (301); calculating a maximum displacement value of a motor when the original excitation signal is inputted in the motor (302); determining a displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals (303); acquiring a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of system parameter values corresponding to each preset displacement interval, the one set of system parameter values comprising values of parameters related to an electromechanical coupling equation of a vibration system (304); and calculating a target voltage signal according to the acquired set of system parameter values and the original excitation signal, the target voltage signal being used for being inputted to the motor for motor excitation (305). The signal processing method can characterize nonlinear features of a vibration system, and the amount of calculation is relatively small.

Description

信号处理方法、装置和电子设备Signal processing method, device and electronic equipment 技术领域Technical field
本申请涉及信号处理技术领域，特别涉及一种信号处理方法、装置和电子设备。This application relates to the field of signal processing technology, and in particular to a signal processing method, device and electronic equipment.
背景技术Background technique
触觉反馈技术是一种通过硬件与软件结合、辅以作用力或振动等动作的触觉反馈机制，能够模拟人的真实触觉体验。触觉反馈技术在手机、汽车、可穿戴设备、游戏设备等电子设备中广泛应用，通过定制独特的触觉反馈效果提升用户体验。Tactile feedback technology is a tactile feedback mechanism that combines hardware and software, supplemented by actions such as force or vibration, and can simulate the real human tactile experience. Tactile feedback technology is widely used in electronic devices such as mobile phones, automobiles, wearable devices, and gaming devices, and the user experience is improved by customizing unique tactile feedback effects.
电子设备中可以设置通过振动效果模拟触觉反馈效果的振动***，例如线性谐振执行器(LRA)、偏心转子马达(ERM)等。一般的，电子设备可以通过原始激励信号来表征所需的振动效果，其中原始激励信号是用于进行电机激励的电压信号。但是，由于不同振动***具有不同的***参数和特性，为了使得电子设备中的振动***能够产生原始激励信号所需的振动效果，电子设备对原始激励信号使用基于电机的一组参数值建立的线性参数模型进行处理，处理后得到的电压信号作为电机的输入电压信号，以激励电机产生原始激励信号所需的振动效果。The electronic device can be equipped with a vibration system that simulates the haptic feedback effect through the vibration effect, such as a linear resonant actuator (LRA), an eccentric rotor motor (ERM), and so on. Generally, the electronic device can use the original excitation signal to characterize the required vibration effect, where the original excitation signal is a voltage signal used to excite the motor. However, because different vibration systems have different system parameters and characteristics, in order to enable the vibration system in the electronic device to produce the vibration effect required by the original excitation signal, the electronic device uses the linearity established based on a set of parameter values of the motor for the original excitation signal. The parameter model is processed, and the voltage signal obtained after processing is used as the input voltage signal of the motor to excite the motor to generate the vibration effect required by the original excitation signal.
但是，随着电子设备的功能越来越强大，电子设备内部零件越来越精细，振动***也越来越复杂。简单的线性***模型已经不足以表征实际振动***，在实际应用中，不得不考虑振动***结构复杂性带来的振动***参数的非线性变化。然而，振动***中非线性参数的精确测量一直是个难题，且在对原始激励信号的处理中加入振动***的非线性特征会带来很大的计算量，在实时振动***中很难得到实际运用。However, as the functions of electronic equipment become more and more powerful, the internal parts of the electronic equipment become more and more sophisticated, and the vibration system becomes more and more complex. The simple linear system model is no longer sufficient to characterize the actual vibration system. In practical applications, the nonlinear changes of the vibration system parameters caused by the structural complexity of the vibration system have to be considered. However, the precise measurement of nonlinear parameters in a vibration system has always been a difficult problem, and adding the nonlinear characteristics of the vibration system to the processing of the original excitation signal will bring a lot of calculations, and it is difficult to get practical applications in real-time vibration systems. .
基于此，需要一种能够表征振动***的非线性特征、且计算量相对较小的原始激励信号处理方法。Based on this, there is a need for an original excitation signal processing method that can characterize the non-linear characteristics of the vibration system and has a relatively small amount of calculation.
申请内容Application content
本申请提供了一种信号处理方法、装置和电子设备，能够表征振动***的非线性特征、且计算量相对较小。The present application provides a signal processing method, device and electronic equipment, which can characterize the non-linear characteristics of the vibration system and has a relatively small amount of calculation.
第一方面，本申请实施例提供一种信号处理方法，包括：In the first aspect, an embodiment of the present application provides a signal processing method, including:
获得原始激励信号；Obtain the original excitation signal;
计算所述原始激励信号输入电机时所述电机的最大位移值；Calculating the maximum displacement value of the motor when the original excitation signal is input to the motor;
从预设的至少两个位移区间中确定所述最大位移值所属的位移区间；Determining the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals;
从预设的每个所述位移区间对应的一组***参数值中获取所述最大位移值所属的位移区间对应的一组***参数值；所述一组***参数值包括所述电机的***参数值，所述***参数包括振动***机电耦合方程中涉及的参数；Obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each of the displacement intervals; the set of system parameter values includes the system parameters of the motor Value, the system parameters include the parameters involved in the electromechanical coupling equation of the vibration system;
根据获取的所述一组***参数值以及所述原始激励信号计算目标电压信号，所述目标电压信号用于输入电机进行电机激励。A target voltage signal is calculated according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input a motor for motor excitation.
该方法中根据一组***参数值以及原始激励信号计算目标电压信号，计算量小；而且，相对于现有技术中线性***模型对于所有的原始激励信号均使用同样的一组***参数值计算目标电压信号，本方法中预先设置至少两个位移区间，并为每个位移区间设置一组***参数值，按照原始激励信号对应的位移区间获得一组***参数值，不再只根据一组***参数值计算目标电压信号，从而更能够表征振动***的非线性特征，且处理精度相对更高。In this method, the target voltage signal is calculated based on a set of system parameter values and the original excitation signal, and the amount of calculation is small; moreover, compared to the linear system model in the prior art, the same set of system parameter values are used to calculate the target for all original excitation signals. Voltage signal. In this method, at least two displacement intervals are preset, and a set of system parameter values are set for each displacement interval, and a set of system parameter values are obtained according to the displacement interval corresponding to the original excitation signal, instead of just based on a set of system parameters The value of the target voltage signal is calculated, which is more able to characterize the nonlinear characteristics of the vibration system, and the processing accuracy is relatively higher.
其中，所述根据获取的所述一组***参数值以及所述原始激励信号计算目标电压信号，包括：Wherein, the calculation of the target voltage signal according to the acquired set of system parameter values and the original excitation signal includes:
根据所述原始激励信号以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述原始激励信号对应的位移曲线；Using the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to the original excitation signal and the acquired set of system parameter values;
根据所述位移曲线以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述目标电压信号。According to the displacement curve and the obtained set of system parameter values, the electromechanical coupling equation of the vibration system is used to calculate the target voltage signal.
其中，所述计算所述原始激励信号输入电机时所述电机的最大位移值，包括：Wherein, the calculation of the maximum displacement value of the motor when the original excitation signal is input to the motor includes:
根据预设的一组***参数值以及所述原始激励信号，使用振动***机电耦 合方程计算得到所述原始激励信号对应的位移曲线；According to a preset set of system parameter values and the original excitation signal, use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal;
获得所述位移曲线的绝对值最大值作为所述最大位移值。Obtain the maximum absolute value of the displacement curve as the maximum displacement value.
第二方面，本申请实施例提供一种信号处理装置，包括：In a second aspect, an embodiment of the present application provides a signal processing device, including:
信号获得单元，用于获得原始激励信号；The signal obtaining unit is used to obtain the original excitation signal;
位移计算单元，用于计算所述原始激励信号输入电机时电机的最大位移值；A displacement calculation unit, configured to calculate the maximum displacement value of the motor when the original excitation signal is input to the motor;
区间确定单元，用于从预设的至少两个位移区间中确定所述最大位移值所属的位移区间；An interval determining unit, configured to determine the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals;
获取单元，用于从预设的每个所述位移区间对应的一组***参数值中获取所述最大位移值所属的位移区间对应的一组***参数值；所述一组***参数值包括所述电机的***参数值，所述***参数包括振动***机电耦合方程中涉及的参数；The obtaining unit is configured to obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each of the displacement intervals; the set of system parameter values includes all The system parameter values of the motor, and the system parameters include the parameters involved in the electromechanical coupling equation of the vibration system;
计算单元，用于根据获取的所述一组***参数值以及所述原始激励信号计算目标电压信号，所述目标电压信号用于输入电机进行电机激励。The calculation unit is configured to calculate a target voltage signal according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input the motor for motor excitation.
其中，所述计算单元包括：Wherein, the calculation unit includes:
第一计算子单元，用于根据所述原始激励信号以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述原始激励信号对应的位移曲线；The first calculation subunit is configured to use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to the original excitation signal and the obtained set of system parameter values;
第二计算子单元，用于根据所述位移曲线以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述目标电压信号。The second calculation subunit is configured to calculate the target voltage signal using the electromechanical coupling equation of the vibration system according to the displacement curve and the obtained set of system parameter values.
其中，所述位移计算单元具体用于：根据预设的一组***参数值以及所述原始激励信号，使用振动***机电耦合方程计算得到所述原始激励信号对应的位移曲线，获得所述位移曲线的绝对值最大值作为所述最大位移值。Wherein, the displacement calculation unit is specifically configured to: use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to a preset set of system parameter values and the original excitation signal, and obtain the displacement curve The maximum absolute value of is used as the maximum displacement value.
第三方面，本申请实施例提供一种电子设备，包括：In a third aspect, an embodiment of the present application provides an electronic device, including:
一个或多个处理器；存储器；以及一个或多个计算机程序，其中所述一个或多个计算机程序被存储在所述存储器中，所述一个或多个计算机程序包括指令，当所述指令被所述设备执行时，使得所述设备执行第一方面的方法。One or more processors; memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, when the instructions are When the device is executed, the device is caused to execute the method of the first aspect.
第四方面，本申请实施例提供一种振动***，包括：In a fourth aspect, an embodiment of the present application provides a vibration system, including:
一个或多个处理器；存储器；电机；以及一个或多个计算机程序，其中所述一个或多个计算机程序被存储在所述存储器中，所述一个或多个计算机程序 包括指令，当所述指令被所述设备执行时，使得所述设备执行权利要求1至3任一项所述的方法。One or more processors; a memory; a motor; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, when the When the instruction is executed by the device, the device is caused to execute the method according to any one of claims 1 to 3.
第五方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，当其在计算机上运行时，使得计算机执行第一方面的方法。In a fifth aspect, embodiments of the present application provide a computer-readable storage medium in which a computer program is stored, and when the computer program is run on a computer, the computer executes the method of the first aspect.
第六方面，本申请提供一种计算机程序，当所述计算机程序被计算机执行时，用于执行第一方面所述的方法。In a sixth aspect, the present application provides a computer program, when the computer program is executed by a computer, it is used to execute the method described in the first aspect.
在一种可能的设计中，第六方面中的程序可以全部或者部分存储在与处理器封装在一起的存储介质上，也可以部分或者全部存储在不与处理器封装在一起的存储器上。In a possible design, the program in the sixth aspect may be stored in whole or in part on a storage medium that is packaged with the processor, or may be stored in part or in a memory that is not packaged with the processor.
附图说明Description of the drawings
图1为本申请电子设备一个实施例的结构图；Figure 1 is a structural diagram of an embodiment of an electronic device of this application;
图2为本申请电子设备另一个实施例的结构图；FIG. 2 is a structural diagram of another embodiment of the electronic device of this application;
图3为本申请信号处理方法一个实施例的流程图；FIG. 3 is a flowchart of an embodiment of the signal processing method of this application;
图4A为本申请信号处理方法另一个实施例的流程图；4A is a flowchart of another embodiment of the signal processing method of this application;
图4B为本申请最大位移值示例图；Figure 4B is an example diagram of the maximum displacement value of the application;
图5为本申请信号处理装置一个实施例的流程图。Fig. 5 is a flowchart of an embodiment of the signal processing device of the present application.
具体实施方式Detailed ways
本申请的实施方式部分使用的术语仅用于对本申请的具体实施例进行解释，而非旨在限定本申请。The terms used in the implementation mode part of this application are only used to explain specific embodiments of this application, and are not intended to limit this application.
以下，首先对本申请实施例中出现的名词进行示例性而非限定性的说明。Hereinafter, firstly, an illustrative but not a restrictive description of the nouns appearing in the embodiments of the present application will be given.
位移曲线：电机振子的位移—时间曲线，也称为位移响应曲线，位移曲线的最大位移值即为该位移曲线绝对值的最大值。Displacement curve: the displacement-time curve of the motor vibrator, also called the displacement response curve. The maximum displacement value of the displacement curve is the maximum absolute value of the displacement curve.
原始激励信号：用于输入电机、进行电机激励的电压信号。原始激励信号一般可以为数字信号。Original excitation signal: the voltage signal used to input and excite the motor. The original excitation signal can generally be a digital signal.
本申请实施例提出一种信号处理方法，能够表征振动***的非线性特征、 且计算量相对较小。The embodiment of the present application proposes a signal processing method that can characterize the nonlinear characteristics of a vibration system and has a relatively small amount of calculation.
以下，首先对本申请实施例电子设备的可能实现结构进行示例性说明。In the following, firstly, a possible implementation structure of the electronic device in the embodiment of the present application will be exemplified.
如图1所示，电子设备100可以包括：处理器110，存储器120，振动***130；其中，振动***130可以包括：电机131；可选地，振动***130还可以包括：位移传感器132、加速度传感器133等。As shown in FIG. 1, the electronic device 100 may include: a processor 110, a memory 120, and a vibration system 130; wherein, the vibration system 130 may include: a motor 131; optionally, the vibration system 130 may also include: a displacement sensor 132, an acceleration Sensor 133 and so on.
其中，存储器120可以用于存储一个或多个计算机程序，处理器110可以用于从存储器120中调用并执行计算机程序。The memory 120 may be used to store one or more computer programs, and the processor 110 may be used to call and execute the computer programs from the memory 120.
其中，实现本申请实施例信号处理方法的计算机程序可以存储于存储器120中，处理器110从存储器120中调用并运行该计算机程序，实现信号处理。Among them, a computer program that implements the signal processing method of the embodiment of the present application may be stored in the memory 120, and the processor 110 calls and runs the computer program from the memory 120 to implement signal processing.
如图2所示，电子设备200可以包括：处理器210，第一存储器220，振动***230；其中，振动***230可以包括：电机231、信号处理器232、以及第二存储器233；可选地，振动***230还可以包括：位移传感器234、加速度传感器235等。As shown in FIG. 2, the electronic device 200 may include: a processor 210, a first memory 220, and a vibration system 230; wherein, the vibration system 230 may include: a motor 231, a signal processor 232, and a second memory 233; optionally The vibration system 230 may also include: a displacement sensor 234, an acceleration sensor 235, and the like.
其中，第二存储器233可以用于存储振动***的数据，例如下文中所述的预设位移区间等；第二存储器233还可以用于存储本申请实施例信号处理方法的计算机程序；Wherein, the second memory 233 may be used to store data of the vibration system, such as the preset displacement interval described below; the second memory 233 may also be used to store the computer program of the signal processing method of the embodiment of the present application;
信号处理器232从第二存储器233中调用并运行该计算机程序，实现信号处理。The signal processor 232 calls and runs the computer program from the second memory 233 to realize signal processing.
应理解，图1和图2所示的电子设备能够实现本申请图3～图4A所示实施例提供的方法的各个过程。电子设备中的各个模块的操作和/或功能，分别为了实现方法实施例中的相应流程。具体可参见本申请图3～图4A所示方法实施例中的描述，为避免重复，此处适当省略详细描述。It should be understood that the electronic devices shown in FIG. 1 and FIG. 2 can implement various processes of the methods provided in the embodiments shown in FIG. 3 to FIG. 4A of this application. The operation and/or function of each module in the electronic device are respectively for implementing the corresponding process in the method embodiment. For details, please refer to the descriptions in the method embodiments shown in FIG. 3 to FIG. 4A of this application. To avoid repetition, detailed descriptions are appropriately omitted here.
图3为本申请信号处理方法一个实施例的流程图，如图3所示，该方法可以包括：FIG. 3 is a flowchart of an embodiment of the signal processing method of this application. As shown in FIG. 3, the method may include:
步骤301：获得原始激励信号；Step 301: Obtain the original excitation signal;
步骤302：计算原始激励信号输入电机时电机的最大位移值；Step 302: Calculate the maximum displacement value of the motor when the original excitation signal is input to the motor;
步骤303：从预设的至少两个位移区间中确定最大位移值所属的位移区间；Step 303: Determine the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals;
步骤304：从预设的每个位移区间对应的一组***参数值中获取最大位移值所属的位移区间对应的一组***参数值；上述一组***参数值包括上述电机的***参数值，***参数包括振动***机电耦合方程中涉及的参数。Step 304: Obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each displacement interval; The parameters include those involved in the electromechanical coupling equation of the vibration system.
步骤305：根据获取的一组***参数值以及原始激励信号计算目标电压信号，目标电压信号用于输入电机进行电机激励。Step 305: Calculate a target voltage signal according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input the motor for motor excitation.
图3所示的方法中，获得原始激励信号，计算原始激励信号输入电机时电机的最大位移值，从预设的至少两个位移区间中确定最大位移值所属的位移区间，从预设的每个位移区间对应的一组***参数值中获取最大位移值所属的位移区间对应的一组***参数值，一组***参数值包括电机的***参数值，***参数包括振动***机电耦合方程中涉及的参数，根据一组***参数值以及原始激励信号计算目标电压信号，目标电压信号用于输入电机进行电机激励，从而根据一组***参数值以及原始激励信号计算目标电压信号，计算量小；而且，相对于现有技术中线性***模型对于所有的原始激励信号均使用同样的一组***参数值计算目标电压信号，本方法中设置至少两个位移区间，并为每个位移区间设置一组***参数值，按照原始激励信号对应的位移区间获得一组***参数值，不再所有的原始激励信号均根据相同的一组***参数值计算目标电压信号，从而更能够表征振动***的非线性特征，且处理精度相对更高。In the method shown in Figure 3, the original excitation signal is obtained, the maximum displacement value of the motor when the original excitation signal is input to the motor is calculated, the displacement interval to which the maximum displacement value belongs is determined from at least two preset displacement intervals, and the preset displacement interval A set of system parameter values corresponding to the maximum displacement value obtained from a set of system parameter values corresponding to the maximum displacement value. A set of system parameter values includes the system parameter values of the motor, and the system parameters include those involved in the electromechanical coupling equation of the vibration system. Parameter, calculate the target voltage signal according to a set of system parameter values and the original excitation signal, the target voltage signal is used to input the motor for motor excitation, so as to calculate the target voltage signal according to a set of system parameter values and the original excitation signal, the amount of calculation is small; Compared with the linear system model in the prior art, the same set of system parameter values are used to calculate the target voltage signal for all the original excitation signals. In this method, at least two displacement intervals are set, and a set of system parameters are set for each displacement interval. According to the displacement interval corresponding to the original excitation signal, a set of system parameter values is obtained. No longer all original excitation signals are calculated based on the same set of system parameter values, the target voltage signal is calculated, which can better characterize the nonlinear characteristics of the vibration system, and The processing accuracy is relatively higher.
图4A为本申请信号处理方法另一个实施例的流程图，如图4A所示，该方法可以包括：FIG. 4A is a flowchart of another embodiment of a signal processing method according to this application. As shown in FIG. 4A, the method may include:
步骤401：预先设置至少2个位移区间，为每个位移区间设置一组***参数值。Step 401: Pre-set at least two displacement intervals, and set a set of system parameter values for each displacement interval.
其中，为每个位移区间设置的一组***参数值可以是电机在该位移区间对应的等效位移下的一组***参数值，也即电机中振子的最大位移在该位移区间对应的等效位移附近时，各***参数的取值。Among them, a set of system parameter values set for each displacement interval can be a set of system parameter values under the equivalent displacement of the motor in the displacement interval, that is, the maximum displacement of the vibrator in the motor corresponds to the equivalent displacement in the displacement interval. When the displacement is near, the value of each system parameter.
上述***参数可以是振动***机电耦合方程中涉及的参数。相应的，电机在等效位移下的一组***参数值可以为：电机中振子的最大位移在等效位移附近时，振动***机电耦合方程中涉及的参数的取值。The above-mentioned system parameters may be the parameters involved in the electromechanical coupling equation of the vibration system. Correspondingly, a set of system parameter values of the motor under the equivalent displacement may be: when the maximum displacement of the vibrator in the motor is near the equivalent displacement, the values of the parameters involved in the electromechanical coupling equation of the vibration system.
驱动振动***的电机可以包括线性电机和非线性电机，线性电机驱动的振动***的机电耦合方程和非线性电机驱动的振动***的机电耦合方程一般不同，相应的，振动***机电耦合方程中涉及的***参数可以不同。以下以线性电机驱动的振动***为例进行***参数的说明。The motors that drive the vibration system can include linear motors and non-linear motors. The electromechanical coupling equations of the linear motor-driven vibration system are generally different from those of the non-linear motor-driven vibration system. Correspondingly, the electromechanical coupling equations of the vibration system are involved. The system parameters can be different. The following takes a linear motor-driven vibration system as an example to describe the system parameters.
其中，线性电机驱动的振动***的振动***机电耦合方程可以为：Among them, the electromechanical coupling equation of the vibration system of the vibration system driven by the linear motor can be:
Figure PCTCN2020132038-appb-000001
Figure PCTCN2020132038-appb-000001
其中，m为电机动子的质量，c为电机机械阻尼，k为电机弹簧系数，BL为机电耦合系数，R e为电机线圈电阻，L e为电机线圈电感，i为电流，u为电压，x为位移，
Figure PCTCN2020132038-appb-000002
为速度，
Figure PCTCN2020132038-appb-000003
为加速度。其中，速度
Figure PCTCN2020132038-appb-000004
可以由位移x一次求导得到，加速度
Figure PCTCN2020132038-appb-000005
可以由位移x两次求导得到，电流为中间耦合量i。 Wherein, m is the mass of the motor mover, c is the motor mechanical damping, k for the motor spring coefficient, BL is the electromechanical coupling coefficient, R e is a motor coil resistance, L e is the motor coil inductance, i is the current, u is voltage, x is the displacement,
Figure PCTCN2020132038-appb-000002
Is the speed,
Figure PCTCN2020132038-appb-000003
Is acceleration. Among them, the speed
Figure PCTCN2020132038-appb-000004
It can be derived from the displacement x once, and the acceleration
Figure PCTCN2020132038-appb-000005
It can be derived from the displacement x twice, and the current is the intermediate coupling quantity i.
相应的，***参数可以包括：电机动子的质量、电机机械阻尼、电机弹簧系数、机电耦合系数、电机线圈电阻、以及电机线圈电感等，每个位移区间对应的一组***参数值可以包括：上述每个***参数的取值。Correspondingly, the system parameters can include: the mass of the motor mover, the mechanical damping of the motor, the spring coefficient of the motor, the electromechanical coupling coefficient, the resistance of the motor coil, and the inductance of the motor coil, etc. A set of system parameter values corresponding to each displacement interval can include: The value of each of the above system parameters.
位移区间可以根据振动***的实际应用需求设置，具体的，对于应用于不同电子设备或者不同用途的振动***，振动***对电机产生的位移曲线的最大位移值的分布状态的要求是不同的，例如，在手机中，振动***的振动功能相较于手机中的其他功能没那么重要，所以手机中的电机产生的位移曲线的最大位移值主要分布于中位移；而在游戏设备中，振动***的振动功能十分重要，所以游戏设备中电机产生的位移曲线的最大位移值分布较为均匀，一般从低位移到高位移均匀分布。The displacement interval can be set according to the actual application requirements of the vibration system. Specifically, for the vibration system applied to different electronic equipment or different purposes, the vibration system has different requirements for the distribution state of the maximum displacement value of the displacement curve generated by the motor, for example In mobile phones, the vibration function of the vibration system is less important than other functions in the mobile phone, so the maximum displacement value of the displacement curve generated by the motor in the mobile phone is mainly distributed in the middle displacement; while in the game device, the vibration system of the vibration system The vibration function is very important, so the maximum displacement value of the displacement curve generated by the motor in the game device is relatively evenly distributed, generally from low displacement to high displacement.
基于以上的分布状态说明，对于最大位移值分布密集的部分，可以将位移区间设置的相对较小(也即位移区间上边界值与下边界值之间的差值相对较小)，对于最大位移值分布稀疏的部分，可以将位移区间设置的相对较大(也即位移区间上边界值与下边界值之间的差值相对较大)。举例来说，假设位移曲线的最大位移值在[0mm，0.5mm]间呈现均匀分布，划分为5个位移区间，可以平均划分位移区间，得到[0mm，0.1mm)、[0.1mm，0.2mm)、[0.2mm，0.3mm)、[0.3mm，0.4mm)、[0.4mm，0.5mm]；如果位移曲线的最大位移值在[0mm， 0.65mm]间呈现不均匀分布，例如大部分集中在区间[0.2mm，0.65mm]，也即上述的分布于中位移，那么，对于最大位移值集中的部分，可以将位移区间的边界值在集中区域适当划密，位移区间设置的相对小一些，得到以下5个位移区间：[0mm，0.2mm]、(0.2mm，0.35mm]、(0.35mm，0.45mm]、(0.45mm，0.55mm]、(0.55mm，0.65mm]。Based on the above description of the distribution state, for the densely distributed part of the maximum displacement value, the displacement interval can be set relatively small (that is, the difference between the upper boundary value and the lower boundary value of the displacement interval is relatively small), for the maximum displacement In the part where the value distribution is sparse, the displacement interval can be set relatively large (that is, the difference between the upper boundary value and the lower boundary value of the displacement interval is relatively large). For example, suppose that the maximum displacement value of the displacement curve is uniformly distributed between [0mm, 0.5mm], divided into 5 displacement intervals, and the displacement intervals can be divided equally to obtain [0mm, 0.1mm), [0.1mm, 0.2mm ), [0.2mm, 0.3mm), [0.3mm, 0.4mm), [0.4mm, 0.5mm]; if the maximum displacement value of the displacement curve is unevenly distributed between [0mm, 0.65mm], such as most concentrated In the interval [0.2mm, 0.65mm], that is, the above-mentioned distribution is in the middle displacement, then, for the part where the maximum displacement value is concentrated, the boundary value of the displacement interval can be appropriately divided in the concentrated area, and the displacement interval is set to be relatively small , Get the following 5 displacement intervals: [0mm, 0.2mm], (0.2mm, 0.35mm], (0.35mm, 0.45mm], (0.45mm, 0.55mm], (0.55mm, 0.65mm).
其中，位移区间的等效位移是为位移区间设置的一个位移值；位移区间的等效位移可以是该位移区间包括的任一值，具体选择位移区间包括的哪个值作为等效位移，本申请实施例不限定，例如可以是中间值或者边界值。在其他可能的实现方式中，位移区间的等效位移也可以基于某种算法计算得到或者根据经验值设置，此时，位移区间的等效位移也可能不是位移区间包括的值，而是位于位移区间之外的值，本申请实施例不限定。Wherein, the equivalent displacement of the displacement interval is a displacement value set for the displacement interval; the equivalent displacement of the displacement interval can be any value included in the displacement interval, and which value included in the displacement interval is specifically selected as the equivalent displacement, this application The embodiment is not limited, and may be an intermediate value or a boundary value, for example. In other possible implementations, the equivalent displacement of the displacement interval can also be calculated based on a certain algorithm or set according to empirical values. At this time, the equivalent displacement of the displacement interval may not be the value included in the displacement interval, but located in the displacement Values outside the interval are not limited in the embodiment of the present application.
步骤402：获得原始激励信号。Step 402: Obtain the original excitation signal.
本步骤的执行时机可以包括但不限于以下情况：The execution timing of this step may include but is not limited to the following situations:
在一种可能的实现方式中，原始激励信号可以预先存储于电子设备中，例如电子设备的存储器中，不同的振动效果对应着不同的原始激励信号；当电子设备中的某一功能被触发例如来电通知、信息通知等，而该功能对应着某一种振动效果时，电子设备获取到该振动效果对应的原始激励信号并进行后续处理；In a possible implementation, the original excitation signal can be pre-stored in the electronic device, for example, in the memory of the electronic device. Different vibration effects correspond to different original excitation signals; when a certain function in the electronic device is triggered, for example Incoming call notification, information notification, etc., and the function corresponds to a certain vibration effect, the electronic device obtains the original excitation signal corresponding to the vibration effect and performs subsequent processing;
在另一种可能的实现方式中，原始激励信号可以由电子设备中的应用程序例如某一游戏应用实时生成或预先存储，并触发电子设备获取该原始激励信号并进行后续处理。例如，在用户使用某一游戏应用时，游戏中出现开车操作场景，此时游戏应用生成该开车操作场景对应的原始激励信号，或者游戏应用获取游戏应用中预存的该开车操作场景对应的原始激励信号，将该原始激励信号发送至电子设备的处理器，触发电子设备的处理器获得该原始激励信号并进行后续处理。In another possible implementation, the original excitation signal may be generated in real time by an application in the electronic device, such as a game application, or stored in advance, and trigger the electronic device to obtain the original excitation signal and perform subsequent processing. For example, when a user uses a certain game application, a driving operation scene appears in the game. At this time, the game application generates the original excitation signal corresponding to the driving operation scene, or the game application obtains the original incentive corresponding to the driving operation scene prestored in the game application Signal, the original excitation signal is sent to the processor of the electronic device, and the processor of the electronic device is triggered to obtain the original excitation signal and perform subsequent processing.
步骤403：计算原始激励信号输入电机时电机的最大位移值。Step 403: Calculate the maximum displacement value of the motor when the original excitation signal is input to the motor.
其中，参见图4B所示，最大位移值是原始激励信号输入电机时，电机产生的位移曲线的绝对值的最大值。具体的，可以预先设置一组***参数值，该组***参数值可以与预先设置的每个位移区间对应的一组***参数值相同或不同， 相应的，可以将原始激励信号与预先设置的该组***参数值代入振动***机电耦合方程，计算得到原始激励信号对应的位移曲线，获得位移曲线的绝对值最大值作为上述最大位移值，从而得到原始激励信号输入电机时电机的最大位移值。Wherein, referring to FIG. 4B, the maximum displacement value is the maximum value of the absolute value of the displacement curve generated by the motor when the original excitation signal is input to the motor. Specifically, a set of system parameter values can be set in advance, and the set of system parameter values can be the same as or different from a set of system parameter values corresponding to each preset displacement interval. Correspondingly, the original excitation signal can be compared with the preset The group system parameter values are substituted into the electromechanical coupling equation of the vibration system, the displacement curve corresponding to the original excitation signal is calculated, and the maximum absolute value of the displacement curve is obtained as the maximum displacement value, so as to obtain the maximum displacement value of the motor when the original excitation signal is input to the motor.
步骤404：从预设的至少两个位移区间中确定计算得到的最大位移值所属的位移区间，从预设的每个所述位移区间对应的一组***参数值中获取最大位移值所属的位移区间对应的一组***参数值。Step 404: Determine the displacement interval to which the calculated maximum displacement value belongs from at least two preset displacement intervals, and obtain the displacement to which the maximum displacement value belongs from a set of system parameter values corresponding to each preset displacement interval. A set of system parameter values corresponding to the interval.
其中，最大位移值所属的位移区间是指：包括该最大位移值的位移区间。Wherein, the displacement interval to which the maximum displacement value belongs refers to the displacement interval including the maximum displacement value.
举例来说，沿用步骤401中举例的5个位移区间：[0mm，0.2mm]、(0.2mm，0.35mm]、(0.35mm，0.45mm]、(0.45mm，0.55mm]、(0.55mm，0.65mm]，5个位移区间中每个位移区间对应一组***参数值，也即预设了5组***参数值；For example, use the 5 displacement intervals exemplified in step 401: [0mm, 0.2mm], (0.2mm, 0.35mm], (0.35mm, 0.45mm], (0.45mm, 0.55mm], (0.55mm, 0.65mm], each of the 5 displacement intervals corresponds to a set of system parameter values, that is, 5 sets of system parameter values are preset;
假设最大位移值为0.1mm，那么最大位移值所属区间就是：包括0.1mm的位移区间[0mm，0.2mm]。相应的，本步骤中将从预设的每个位移区间对应的一组***参数值中获取位移区间[0mm，0.2mm]对应的一组***参数值。Assuming the maximum displacement value is 0.1mm, then the interval of the maximum displacement value is: the displacement interval [0mm, 0.2mm] including 0.1mm. Correspondingly, in this step, a set of system parameter values corresponding to the displacement interval [0mm, 0.2mm] will be obtained from a set of system parameter values corresponding to each preset displacement interval.
步骤405：根据获取的一组***参数值、以及原始激励信号，使用振动***机电耦合方程计算原始激励信号的位移曲线。Step 405: According to the acquired set of system parameter values and the original excitation signal, use the electromechanical coupling equation of the vibration system to calculate the displacement curve of the original excitation signal.
其中，将获取的一组***参数值(也即最大位移值所属位移区间对应的一组***参数值)代入步骤401中所示的振动***机电耦合方程，将原始激励信号作为u，即可以求解得到位移曲线x。Among them, the obtained set of system parameter values (that is, the set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs) is substituted into the electromechanical coupling equation of the vibration system shown in step 401, and the original excitation signal is taken as u, which can be solved Obtain the displacement curve x.
步骤406：根据计算得到的位移曲线、以及获取的一组***参数值，使用振动***机电耦合方程计算得到目标电压信号。Step 406: According to the calculated displacement curve and the obtained set of system parameter values, the electromechanical coupling equation of the vibration system is used to calculate the target voltage signal.
目标电压信号是用于替代原始激励信号输入电机进行电机激励的电压信号。The target voltage signal is a voltage signal used to replace the original excitation signal into the motor for motor excitation.
具体的，将获取的一组***参数值(也即最大位移值所属位移区间对应的一组***参数值)代入步骤401中所示的振动***机电耦合方程，根据位移曲线x即可以求解得到u，也即目标电压信号。Specifically, the obtained set of system parameter values (that is, the set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs) is substituted into the electromechanical coupling equation of the vibration system shown in step 401, and u can be solved according to the displacement curve x. , Which is the target voltage signal.
图4A所示的方法中，基于预设的至少两个位移区间、以及每个位移区间对应的一组***参数值，确定原始激励信号输入电机时电机的最大位移值所属的位移区间，进而获取位移区间对应的一组***参数值，根据获取的一组***参 数值以及原始激励信号计算目标电压信号，该方法中仅根据一组***参数值以及原始激励信号计算目标电压信号，计算量小；而且，相对于现有技术中线性***模型对于所有的原始激励信号均使用同样的一组***参数值计算目标电压信号，本方法中设置至少两个位移区间，每个位移区间对应一组***参数值，按照原始激励信号对应的位移区间获得一组***参数值，使得该方法更能够表征振动***的非线性特征，且处理精度相对更高。In the method shown in FIG. 4A, based on at least two preset displacement intervals and a set of system parameter values corresponding to each displacement interval, the displacement interval to which the maximum displacement value of the motor belongs when the original excitation signal is input to the motor is determined, and then obtained A set of system parameter values corresponding to the displacement interval, the target voltage signal is calculated according to the obtained set of system parameter values and the original excitation signal. In this method, the target voltage signal is calculated only according to a set of system parameter values and the original excitation signal, and the amount of calculation is small; Moreover, compared to the linear system model in the prior art using the same set of system parameter values for all the original excitation signals to calculate the target voltage signal, at least two displacement intervals are set in this method, and each displacement interval corresponds to a set of system parameters. According to the displacement interval corresponding to the original excitation signal, a set of system parameter values are obtained, so that the method can better characterize the nonlinear characteristics of the vibration system, and the processing accuracy is relatively higher.
可以理解的是，上述实施例中的部分或全部步骤骤或操作仅是示例，本申请实施例还可以执行其它操作或者各种操作的变形。此外，各个步骤可以按照上述实施例呈现的不同的顺序来执行，并且有可能并非要执行上述实施例中的全部操作。It can be understood that some or all of the steps or operations in the above-mentioned embodiments are merely examples, and the embodiments of the present application may also perform other operations or variations of various operations. In addition, each step may be executed in a different order presented in the foregoing embodiment, and it may not be necessary to perform all operations in the foregoing embodiment.
图5为本申请信号处理装置一个实施例的结构图，如图5所示，该装置50可以包括：FIG. 5 is a structural diagram of an embodiment of a signal processing device of this application. As shown in FIG. 5, the device 50 may include:
信号获得单元51，用于获得原始激励信号；The signal obtaining unit 51 is used to obtain the original excitation signal;
位移计算单元52，用于计算所述原始激励信号输入电机时电机的最大位移值；The displacement calculation unit 52 is configured to calculate the maximum displacement value of the motor when the original excitation signal is input to the motor;
区间确定单元53，用于从预设的至少两个位移区间中确定所述最大位移值所属的位移区间；The interval determining unit 53 is configured to determine the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals;
获取单元54，用于从预设的每个位移区间对应的一组***参数值中获取所述最大位移值所属的位移区间对应的一组***参数值；所述一组***参数值包括所述电机的***参数值，所述***参数包括振动***机电耦合方程中涉及的参数；The obtaining unit 54 is configured to obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each displacement interval; the set of system parameter values includes the System parameter values of the motor, the system parameters including the parameters involved in the electromechanical coupling equation of the vibration system;
计算单元55，用于根据获取的所述一组***参数值以及所述原始激励信号计算目标电压信号，所述目标电压信号用于输入电机进行电机激励。The calculation unit 55 is configured to calculate a target voltage signal according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input the motor for motor excitation.
可选地，所述计算单元55可以包括：Optionally, the calculation unit 55 may include:
第一计算子单元，用于根据所述原始激励信号以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述原始激励信号对应的位移曲线；The first calculation subunit is configured to use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to the original excitation signal and the obtained set of system parameter values;
第二计算子单元，用于根据所述位移曲线以及获取的所述一组***参数值， 使用所述振动***机电耦合方程计算所述目标电压信号。The second calculation subunit is configured to calculate the target voltage signal using the electromechanical coupling equation of the vibration system according to the displacement curve and the obtained set of system parameter values.
可选地，所述位移计算单元52具体可以用于：根据预设的一组***参数值以及所述原始激励信号，使用振动***机电耦合方程计算得到所述原始激励信号对应的位移曲线，获得所述位移曲线的绝对值最大值作为所述最大位移值。Optionally, the displacement calculation unit 52 may be specifically configured to: according to a preset set of system parameter values and the original excitation signal, use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal to obtain The maximum absolute value of the displacement curve is taken as the maximum displacement value.
图5所示实施例提供的装置50可用于执行本申请图3～图4A所示方法实施例的技术方案，其实现原理和技术效果可以进一步参考方法实施例中的相关描述。The apparatus 50 provided in the embodiment shown in FIG. 5 can be used to implement the technical solutions of the method embodiments shown in FIGS. 3 to 4A of the present application. For its implementation principles and technical effects, please refer to the related descriptions in the method embodiments.
应理解以上图5所示的装置的各个单元的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。且这些单元可以全部以软件通过处理元件调用的形式实现；也可以全部以硬件的形式实现；还可以部分单元以软件通过处理元件调用的形式实现，部分单元通过硬件的形式实现。例如，计算单元可以为单独设立的处理元件，也可以集成在电子设备的某一个芯片中实现。其它单元的实现与之类似。此外这些单元全部或部分可以集成在一起，也可以独立实现。在实现过程中，上述方法的各步骤或以上各个单元可以通过处理器元件中的硬件的集成逻辑电路或者软件形式的指令完成。It should be understood that the division of the various units of the device shown in FIG. 5 is only a division of logical functions, and may be fully or partially integrated into one physical entity during actual implementation, or may be physically separated. And these units can all be implemented in the form of software called by processing elements; they can also be implemented in the form of hardware; part of the units can also be implemented in the form of software called by the processing elements, and some of the units can be implemented in the form of hardware. For example, the computing unit may be a separately established processing element, or it may be integrated in a certain chip of the electronic device. The implementation of other units is similar. In addition, all or part of these units can be integrated together or implemented independently. In the implementation process, each step of the above method or each of the above units can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.
例如，以上这些单元可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个特定集成电路(Application Specific Integrated Circuit；以下简称：ASIC)，或，一个或多个微处理器(Digital Singnal Processor；以下简称：DSP)，或，一个或者多个现场可编程门阵列(Field Programmable Gate Array；以下简称：FPGA)等。再如，这些单元可以集成在一起，以片上***(System-On-a-Chip；以下简称：SOC)的形式实现。For example, the above units may be one or more integrated circuits configured to implement the above methods, such as: one or more specific integrated circuits (Application Specific Integrated Circuit; hereinafter referred to as ASIC), or, one or more micro-processing Digital Processor (Digital Singnal Processor; hereinafter referred to as DSP), or, one or more Field Programmable Gate Array (Field Programmable Gate Array; hereinafter referred to as FPGA), etc. For another example, these units can be integrated together and implemented in the form of a System-On-a-Chip (hereinafter referred to as SOC).
本申请还提供一种电子设备，所述设备包括存储介质和中央处理器，所述存储介质可以是非易失性存储介质，所述存储介质中存储有计算机可执行程序，所述中央处理器与所述非易失性存储介质连接，并执行所述计算机可执行程序以实现本申请图3～图4A所示实施例提供的方法。This application also provides an electronic device. The device includes a storage medium and a central processing unit. The storage medium may be a non-volatile storage medium. A computer executable program is stored in the storage medium. The central processing unit is connected to the The non-volatile storage medium is connected, and the computer executable program is executed to implement the method provided by the embodiments shown in FIG. 3 to FIG. 4A of this application.
以上各实施例中，涉及的处理器可以例如包括CPU、DSP、微控制器或数 字信号处理器，还可包括GPU、嵌入式神经网络处理器(Neural-network Process Units；以下简称：NPU)和图像信号处理器(Image Signal Processing；以下简称：ISP)，该处理器还可包括必要的硬件加速器或逻辑处理硬件电路，如ASIC，或一个或多个用于控制本申请技术方案程序执行的集成电路等。此外，处理器可以具有操作一个或多个软件程序的功能，软件程序可以存储在存储介质中。In the above embodiments, the processors involved may include, for example, CPU, DSP, microcontroller or digital signal processor, and may also include GPU, embedded neural network processor (Neural-network Process Units; hereinafter referred to as NPU) and Image signal processing (Image Signal Processing; hereinafter referred to as ISP), which may also include necessary hardware accelerators or logic processing hardware circuits, such as ASIC, or one or more integrated circuits used to control the execution of the technical solutions of this application Circuit etc. In addition, the processor may have a function of operating one or more software programs, and the software programs may be stored in a storage medium.
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，当其在计算机上运行时，使得计算机执行本申请图3～图4A所示实施例提供的方法。The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when it runs on a computer, the computer executes the functions provided by the embodiments shown in Figs. 3 to 4A of the present application. method.
本申请实施例还提供一种计算机程序产品，该计算机程序产品包括计算机程序，当其在计算机上运行时，使得计算机执行本申请图3～图4A所示实施例提供的方法。The embodiments of the present application also provide a computer program product. The computer program product includes a computer program that, when running on a computer, causes the computer to execute the method provided by the embodiments shown in FIG. 3 to FIG. 4A of the present application.
本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示单独存在A、同时存在A和B、单独存在B的情况。其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项”及其类似表达，是指的这些项中的任意组合，包括单项或复数项的任意组合。例如，a，b和c中的至少一项可以表示：a，b，c，a和b，a和c，b和c或a和b和c，其中a，b，c可以是单个，也可以是多个。In the embodiments of the present application, "at least one" refers to one or more, and "multiple" refers to two or more. "And/or" describes the association relationship of the associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. Among them, A and B can be singular or plural. The character "/" generally indicates that the associated objects before and after are in an "or" relationship. "The following at least one item" and similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single, or There can be more than one.
本领域普通技术人员可以意识到，本文中公开的实施例中描述的各单元及算法步骤，能够以电子硬件、计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。A person of ordinary skill in the art may be aware that the units and algorithm steps described in the embodiments disclosed herein can be implemented by a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
在本申请所提供的几个实施例中，任一功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。 基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory；以下简称：ROM)、随机存取存储器(Random Access Memory；以下简称：RAM)、磁碟或者光盘等各种可以存储程序代码的介质。In the several embodiments provided in this application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as ROM), random access memory (Random Access Memory; hereinafter referred to as RAM), magnetic disks or optical disks, etc. A medium that can store program codes.
以上所述，仅为本申请的具体实施方式，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。本申请的保护范围应以所述权利要求的保护范围为准。The above are only specific implementations of this application. Any person skilled in the art can easily conceive of changes or substitutions within the technical scope disclosed in this application, and they should all be covered by the protection scope of this application. The protection scope of this application shall be subject to the protection scope of the claims.

Claims (9)

  1. 一种信号处理方法，其特征在于，包括：A signal processing method, characterized in that it comprises:
    获得原始激励信号；Obtain the original excitation signal;
    计算所述原始激励信号输入电机时所述电机的最大位移值；Calculating the maximum displacement value of the motor when the original excitation signal is input to the motor;
    从预设的至少两个位移区间中确定所述最大位移值所属的位移区间；Determining the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals;
    从预设的每个所述位移区间对应的一组***参数值中获取所述最大位移值所属的位移区间对应的一组***参数值；所述一组***参数值包括所述电机的***参数值，所述***参数包括振动***机电耦合方程中涉及的参数；Obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each of the displacement intervals; the set of system parameter values includes the system parameters of the motor Value, the system parameters include the parameters involved in the electromechanical coupling equation of the vibration system;
    根据获取的所述一组***参数值以及所述原始激励信号计算目标电压信号，所述目标电压信号用于输入电机进行电机激励。A target voltage signal is calculated according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input a motor for motor excitation.
  2. 根据权利要求1所述的方法，其特征在于，所述根据获取的所述一组***参数值以及所述原始激励信号计算目标电压信号，包括：The method according to claim 1, wherein the calculating a target voltage signal according to the acquired set of system parameter values and the original excitation signal comprises:
    根据所述原始激励信号以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述原始激励信号对应的位移曲线；Using the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to the original excitation signal and the acquired set of system parameter values;
    根据所述位移曲线以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述目标电压信号。According to the displacement curve and the obtained set of system parameter values, the electromechanical coupling equation of the vibration system is used to calculate the target voltage signal.
  3. 根据权利要求1或2所述的方法，其特征在于，所述计算所述原始激励信号输入电机时所述电机的最大位移值，包括：The method according to claim 1 or 2, wherein the calculating the maximum displacement value of the motor when the original excitation signal is input to the motor comprises:
    根据预设的一组***参数值以及所述原始激励信号，使用振动***机电耦合方程计算得到所述原始激励信号对应的位移曲线；According to a preset set of system parameter values and the original excitation signal, the displacement curve corresponding to the original excitation signal is calculated by using the electromechanical coupling equation of the vibration system;
    获得所述位移曲线的绝对值最大值作为所述最大位移值。Obtain the maximum absolute value of the displacement curve as the maximum displacement value.
  4. 一种信号处理装置，其特征在于，包括：A signal processing device, characterized in that it comprises:
    信号获得单元，用于获得原始激励信号；The signal obtaining unit is used to obtain the original excitation signal;
    位移计算单元，用于计算所述原始激励信号输入电机时电机的最大位移值；A displacement calculation unit, configured to calculate the maximum displacement value of the motor when the original excitation signal is input to the motor;
    区间确定单元，用于从预设的至少两个位移区间中确定所述最大位移值所属的位移区间；An interval determining unit, configured to determine the displacement interval to which the maximum displacement value belongs from at least two preset displacement intervals;
    获取单元，用于从预设的每个所述位移区间对应的一组***参数值中获取 所述最大位移值所属的位移区间对应的一组***参数值；所述一组***参数值包括所述电机的***参数值，所述***参数包括振动***机电耦合方程中涉及的参数；The obtaining unit is configured to obtain a set of system parameter values corresponding to the displacement interval to which the maximum displacement value belongs from a set of preset system parameter values corresponding to each of the displacement intervals; the set of system parameter values includes all The system parameter values of the motor, and the system parameters include the parameters involved in the electromechanical coupling equation of the vibration system;
    计算单元，用于根据获取的所述一组***参数值以及所述原始激励信号计算目标电压信号，所述目标电压信号用于输入电机进行电机激励。The calculation unit is configured to calculate a target voltage signal according to the acquired set of system parameter values and the original excitation signal, and the target voltage signal is used to input the motor for motor excitation.
  5. 根据权利要求4所述的装置，其特征在于，所述计算单元包括：The device according to claim 4, wherein the calculation unit comprises:
    第一计算子单元，用于根据所述原始激励信号以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述原始激励信号对应的位移曲线；The first calculation subunit is configured to use the electromechanical coupling equation of the vibration system to calculate the displacement curve corresponding to the original excitation signal according to the original excitation signal and the obtained set of system parameter values;
    第二计算子单元，用于根据所述位移曲线以及获取的所述一组***参数值，使用所述振动***机电耦合方程计算所述目标电压信号。The second calculation subunit is configured to calculate the target voltage signal using the electromechanical coupling equation of the vibration system according to the displacement curve and the obtained set of system parameter values.
  6. 根据权利要求4或5所述的装置，其特征在于，所述位移计算单元具体用于：根据预设的一组***参数值以及所述原始激励信号，使用振动***机电耦合方程计算得到所述原始激励信号对应的位移曲线，获得所述位移曲线的绝对值最大值作为所述最大位移值。The device according to claim 4 or 5, wherein the displacement calculation unit is specifically configured to: calculate the electromechanical coupling equation of the vibration system according to a preset set of system parameter values and the original excitation signal. The displacement curve corresponding to the original excitation signal is obtained, and the absolute maximum value of the displacement curve is obtained as the maximum displacement value.
  7. 一种电子设备，其特征在于，包括：An electronic device, characterized in that it comprises:
    一个或多个处理器；存储器；以及一个或多个计算机程序，其中所述一个或多个计算机程序被存储在所述存储器中，所述一个或多个计算机程序包括指令，当所述指令被所述设备执行时，使得所述设备执行权利要求1至3任一项所述的方法。One or more processors; memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, when the instructions are When the device is executed, the device is caused to execute the method according to any one of claims 1 to 3.
  8. 一种振动***，其特征在于，包括：A vibration system, characterized in that it comprises:
    一个或多个处理器；存储器；电机；以及一个或多个计算机程序，其中所述一个或多个计算机程序被存储在所述存储器中，所述一个或多个计算机程序包括指令，当所述指令被所述设备执行时，使得所述设备执行权利要求1至3任一项所述的方法。One or more processors; a memory; a motor; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, when the When the instruction is executed by the device, the device is caused to execute the method according to any one of claims 1 to 3.
  9. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，当其在计算机上运行时，使得计算机执行如权利要求1至3任一项所述的方法。A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which when running on a computer, causes the computer to execute the method according to any one of claims 1 to 3.
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