Motor driving signal adjusting method and device and electronic equipment

Abstract

The invention provides a motor driving method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a driving signal parameter of a driving signal corresponding to a current vibration period, and determining a driving stage of the current vibration period and a detection stage of a continuous driving stage; in the driving stage of the current vibration period, driving the motor to vibrate according to the driving signal, and in the detection stage of the current vibration period, obtaining the back electromotive force of the motor corresponding to the current vibration period; and according to the back electromotive force of the motor corresponding to the current vibration period, obtaining the driving signal frequency of the to-be-executed vibration period, and obtaining the driving stage of the to-be-executed vibration period and the detection stage following the driving stage. Through a real-time asynchronous closed-loop control mode, dynamic adjustment of driving signal parameters is realized, and the stability of motor vibration can be maintained when an external load changes.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of motor control technology, and more particularly to a motor driving method, device, electronic device, and storage medium. Background Art

[0002] With advancements in motor technology, linear motors are increasingly being used. In consumer electronics devices like mobile phones and tablets, the vibrations generated by linear motors provide tactile feedback, enhancing the user experience.

[0003] In the application scenario of an electric shaver, a motor drives the blade to move back and forth rapidly at a certain frequency in a fixed direction (for example, the front-to-back direction relative to the user) to cut beards. However, during the operation of the shaver, beard hairs that fall between the blades will cause the load on the motor to change, resulting in fluctuations in the amplitude of the motor vibration, affecting the shaving effect and the user experience.

[0004] In summary, there is an urgent need for a motor drive signal adjustment technology that can adaptively adjust various drive parameters of the motor drive signal in real time according to changes in the motor's external load to ensure the stability of the motor's vibration. Summary of the Invention

[0005] In view of this, an embodiment of the present disclosure provides a motor driving solution that can adaptively adjust various driving parameters of the motor driving signal according to changes in the external load of the motor to maintain the stability of the motor vibration.

[0006] According to a first aspect of the present disclosure, a motor driving method is provided, comprising: obtaining driving signal parameters corresponding to a current vibration cycle, and determining a driving phase of the current vibration cycle and a detection phase following the driving phase; in the driving phase of the current vibration cycle, driving the motor to vibrate according to the driving signal, and in the detection phase of the current vibration cycle, obtaining a back electromotive force of the motor corresponding to the current vibration cycle; obtaining driving signal parameters of a vibration cycle to be executed according to the back electromotive force of the motor corresponding to the current vibration cycle, and obtaining the driving phase of the vibration cycle to be executed and a detection phase following the driving phase; wherein the vibration cycle to be executed is a vibration cycle to be executed following the current vibration cycle.

[0007] According to a second aspect of the present disclosure, a motor driving device is provided, comprising: a parameter determination module for determining a signal frequency, a signal amplitude and a signal duration of a driving signal corresponding to a current vibration cycle, and determining a driving phase of the current vibration cycle and a detection phase following the driving phase; a parameter updating module for driving the motor to vibrate according to the driving signal during the driving phase of the current vibration cycle, and obtaining a back electromotive force of the motor corresponding to the current vibration cycle during the detection phase of the current vibration cycle; a signal adjustment module for obtaining a signal frequency, a signal amplitude and a signal duration of a driving signal of a vibration cycle to be executed according to the back electromotive force of the motor corresponding to the current vibration cycle, and obtaining the driving phase of the vibration cycle to be executed and the detection phase following the driving phase; wherein the vibration cycle to be executed is a vibration cycle to be executed subsequent to the current vibration cycle.

[0008] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other through the bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method described in the first aspect.

[0009] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes the method as described in the first aspect.

[0010] The motor driving scheme provided by each embodiment of the present disclosure divides the vibration cycle into a driving stage and a detection stage. In the driving stage of the vibration cycle, the motor is driven to vibrate based on the driving signal, and in the detection stage of the vibration cycle, the back electromotive force of the motor is detected. The driving signal is dynamically adjusted accordingly to correspond to the various driving parameters of the vibration cycle to be executed. This can maintain the stability of the motor vibration when the external load of the motor changes, and realize efficient and stable control of the motor. It is particularly suitable for various application scenarios with high requirements for motor vibration consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present disclosure. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0012] Figure 1 4 is a process flow chart of a motor driving method according to an exemplary embodiment of the present disclosure.

[0013] Figure 2 FIG. 1 is a schematic diagram showing the adjustment effect of the motor drive signal.

[0014] Figure 3 This is a process flow chart of a motor driving method according to another exemplary embodiment of the present disclosure.

[0015] Figure 4 Schematic diagram of the adjustment effect of the motor drive signal in the pulse width modulation wave control scenario.

[0016] Figure 5 FIG. 1 is a schematic diagram of a motor driving device according to an exemplary embodiment of the present disclosure.

[0017] Figure 6 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and detailedly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in the embodiments of the present invention should fall within the scope of protection of the embodiments of the present invention.

[0019] In the following detailed description, reference is made to the accompanying drawings, which form a part of the detailed description and illustrate exemplary embodiments. In addition, it should be understood that other embodiments may be utilized and structural and / or logical changes may be made without departing from the scope of the claimed subject matter. It should also be noted that directions and references (e.g., up, down, top, bottom, etc.) may be used merely to facilitate the description of features in the drawings. Therefore, the following detailed description is not to be construed in a limiting sense, and the scope of the claimed subject matter is limited only by the appended claims and their equivalents.

[0020] In the following description, numerous details are set forth. However, it will be apparent to those skilled in the art that the embodiments herein may be practiced without these specific details. In some cases, well-known methods and apparatus are shown in block diagram form rather than in detail to avoid blurring the embodiments herein. References throughout this specification to "an embodiment" or "one embodiment" or "some embodiments" mean that the specific features, structures, functions, or characteristics described in conjunction with the embodiment are included in at least one embodiment herein. Therefore, the phrases "in an embodiment" or "in one embodiment" or "some embodiments" appearing throughout this specification do not necessarily refer to the same embodiment. In addition, in one or more embodiments, specific features, structures, functions, or characteristics may be combined in any suitable manner. For example, the first embodiment may be combined with the second embodiment in any case where the specific features, structures, functions, or characteristics associated with the two embodiments are not mutually exclusive.

[0021] As used in the description and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0022] The terms "coupled" and "connected," along with their derivatives, may be used herein to describe functional or structural relationships between components. It should be understood that these terms are not intended to be synonymous with each other. On the contrary, in certain embodiments, "connected" may be used to indicate that two or more elements are in direct physical, optical, or electrical contact with each other. "Coupled" may be used to indicate that two or more elements are in direct or indirect (with other intermediate elements between them) physical or electrical contact with each other, and / or that two or more elements collaborate or interact with each other (e.g., as in a cause-and-effect relationship).

[0023] As used herein, the terms "above," "below," "between," and "on" refer to the relative position of one component or material with respect to other components or materials where such physical relationship is significant. For example, in the context of materials, a material or materials positioned above or below another material may be in direct contact or may have one or more intervening materials. Moreover, a material positioned between two materials or materials may be in direct contact with both layers or may have one or more intervening layers. In contrast, a first material or materials "above" a second material or materials is in direct contact with the second material or materials. Similar distinctions apply in the context of component assembly.

[0024] As used throughout this description and in the claims, a list of items linked by the term "at least one of" or "one or more of" may mean any combination of the listed items. For example, the phrase "at least one of A, B, or C" may mean A; B; C; A and B; A and C; B and C; or A, B, and C.

[0025] The term "circuit" or "module" may refer to one or more passive and / or active components that are arranged to cooperate with each other to provide a desired functionality. The term "signal" may refer to at least one current signal, voltage signal, or magnetic signal. The terms "substantially," "close to," "approximately," "close to," and "approximately" generally refer to within + / - 10% of a target value.

[0026] In the application scenarios of reciprocating motion products such as razors or wipers, when the external load changes, the amplitude of the motor will change accordingly, resulting in unstable motor vibration and causing differences in the user's perceived experience.

[0027] For example, in an electric shaver, the motor can be driven to vibrate the blade at a high frequency, causing the blade to move back and forth quickly to cut beards. However, in actual use, beard hairs that fall into the blades will increase the load on the motor, causing the amplitude of the motor vibration to fluctuate, thereby affecting the shaving effect. If the amplitude is too large, the shaver may vibrate excessively on the face, affecting the user's comfort; if the amplitude is too small, the beard cannot be effectively cut, reducing shaving efficiency.

[0028] For example, in windshield wiper applications, when the wipers encounter foreign objects such as leaves, ice, and snow, the motor load will also change. This can cause the wipers to swing erratically, making it impossible to evenly remove rain and foreign objects, seriously affecting the driver's vision and posing a threat to driving safety.

[0029] Existing control technologies for linear motors have limitations when it comes to external load variations. Traditional motor drive control solutions drive the motor solely based on preset parameters and are unable to sense and respond to changes in external load in real time. Consequently, in actual use, any changes in external load significantly impact motor performance. Consequently, existing technologies struggle to meet practical requirements for control accuracy and response speed when dealing with complex and variable load conditions, impacting the user experience.

[0030] In summary, there is a need for an efficient, precise, and cost-effective linear motor drive control technology that can dynamically adjust the various drive parameters of the motor drive signal in response to changes in the motor's external load to ensure consistent motor vibration. This has important practical significance for improving the performance of related products and the user experience.

[0031] The specific implementation of each embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0032] Motor drive method

[0033] Figure 1 The flowchart of the motor driving method according to the exemplary embodiment of the present disclosure mainly includes the following steps:

[0034] Step 102: Obtain driving signal parameters corresponding to the current vibration cycle of the driving signal, and determine the driving phase of the current vibration cycle and the detection phase following the driving phase.

[0035] In some embodiments, the vibration cycle includes an initial vibration cycle and a non-initial vibration cycle of the motor, wherein the initial vibration cycle is used to identify the period between the time point when the motor starts vibrating and the time point when the motor enters a stable vibration state.

[0036] In this embodiment, the driving signal parameters of the current vibration cycle may include the signal frequency, signal amplitude, and signal duration of the driving signal.

[0037] In some embodiments, when the current vibration cycle is the initial vibration cycle, the signal frequency, signal amplitude, and signal duration of the driving signal corresponding to the initial vibration cycle may be determined by:

[0038] According to the initial resonant frequency of the motor, the signal frequency of the driving signal corresponding to the initial vibration period is determined. According to the rated voltage of the motor, the signal amplitude of the driving signal corresponding to the initial vibration period is determined. According to the initial resonant period and initial duration coefficient of the motor, the signal duration of the driving signal corresponding to the initial vibration period is determined.

[0039] In this embodiment, the signal duration of the initial vibration period is at least 5 times the initial resonance period of the motor (for example, the signal duration of the initial vibration period is set to 10 times the initial resonance period of the motor) to achieve the effect of rapid motor start-up.

[0040] In this embodiment, the initial vibration cycle does not include a detection phase. That is, no detection tasks are performed during the motor's initial vibration cycle (startup phase). Specifically, to reduce the time it takes for the motor vibration to reach a steady state (i.e., a state where the vibration velocity remains substantially constant), motor vibration parameter detection may not be performed during the entire initial vibration phase. Therefore, in this embodiment, the initial vibration cycle only includes the drive phase and does not include the detection phase.

[0041] Step 104 : During the driving phase of the current vibration cycle, the motor is driven to vibrate according to the driving signal, and during the detection phase of the current vibration cycle, the back electromotive force of the motor corresponding to the current vibration cycle is obtained.

[0042] In this embodiment, the motor can be driven to vibrate using a driving signal during the driving phase of the current vibration cycle (i.e., within the first T1 period of the current vibration cycle), and the driving signal can be paused during the detection phase to obtain the back electromotive force (BEMF) of the motor by collecting the electromotive force at both ends of the motor.

[0043] Step 106 : Obtain drive signal parameters for the vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, and obtain a drive phase for the vibration cycle to be executed and a detection phase subsequent to the drive phase.

[0044] In this embodiment, the vibration cycle to be executed is a vibration cycle to be executed following the current vibration cycle. For example, when the current vibration cycle is the i-th vibration cycle, the vibration cycle to be executed is the (i+1)-th vibration cycle.

[0045] In this embodiment, the driving signal parameters of the vibration cycle to be executed may include the signal frequency, signal amplitude, and signal duration of the driving signal.

[0046] Since the motor's back EMF can be expressed as the product of the magnetic coefficient and the vibrator velocity, and for a single motor, the magnetic coefficient remains essentially constant, the motor's vibration state can be measured based on the motor's back EMF. Specifically, when the motor's back EMF remains constant during operation, the motor's vibration velocity remains constant; when the motor's back EMF decreases, the motor's vibration velocity also decreases. Based on this principle, in some embodiments, the motor's resonant frequency and back EMF peak value for the current vibration cycle can be derived from the motor's back EMF for the current vibration cycle.

[0047] In this embodiment, the motor resonant frequency corresponding to the current vibration cycle of the motor can be obtained according to the time interval between two adjacent zero-crossing points of the back electromotive force of the motor corresponding to the current vibration cycle.

[0048] Specifically, the time interval between two adjacent zero-crossing points of the back electromotive force can be substituted into the motor resonant frequency conversion formula to obtain the motor resonant frequency corresponding to the current vibration cycle of the motor.

[0049] The motor resonant frequency conversion formula can be expressed as the following formula 1:

[0050]

[0051] In formula 1, represents the motor resonant frequency corresponding to the i-th vibration cycle (the current vibration cycle), Indicates the time interval between two adjacent zero-crossing points of the back electromotive force in the i-th vibration cycle (the current vibration cycle).

[0052] In this embodiment, the peak value of the back electromotive force of the motor corresponding to the current vibration cycle can be determined based on the maximum absolute value of the back electromotive force in the time interval between two adjacent zero-crossing points of the back electromotive force, which is marked as B. max .

[0053] In some embodiments, the signal frequency, signal amplitude and signal duration of the driving signal of the vibration cycle to be executed can be adjusted according to the back electromotive force of the motor corresponding to the current vibration cycle, the motor resonant frequency and the back electromotive force peak value.

[0054] In some embodiments, the motor resonant frequency corresponding to the current vibration cycle of the motor can be determined as the signal frequency of the driving signal of the vibration cycle to be executed. According to the time interval between two adjacent zero-crossing points of the back electromotive force and a given duration adjustment coefficient, the signal duration of the driving signal of the vibration cycle to be executed is obtained, and according to the ratio of the back electromotive force peak value of the motor corresponding to the current vibration cycle and the target back electromotive force value, the driving voltage adjustment coefficient is obtained. According to the peak value of each voltage value of the driving signal corresponding to the current vibration cycle and the driving voltage adjustment coefficient, the signal amplitude of the driving signal of the vibration cycle to be executed is obtained.

[0055] Specifically, regarding the adjustment of the motor's resonant frequency, the motor's resonant frequency F0 affects the detection time of the back EMF zero crossing. Specifically, when the motor drive signal's signal frequency is fixed and the motor's resonant frequency F0 increases, the motor's back EMF zero crossing may not be detected. Therefore, it is necessary to dynamically adjust the drive signal's signal frequency for the upcoming vibration cycle based on the motor's resonant frequency F0 corresponding to the current vibration cycle. In this embodiment, the motor resonant frequency of the motor corresponding to the current vibration cycle is determined as the drive signal's signal frequency for the upcoming vibration cycle.

[0056] Furthermore, the duration of the driving signal can be adjusted based on the product of the time interval between two adjacent zero-crossing points of the back electromotive force and a given duration adjustment coefficient to obtain the signal duration of the driving signal for the vibration cycle to be executed, referring to the following formula 2:

[0057]

[0058] In formula 2, The duration of the driving signal of the i+1th vibration cycle (vibration cycle to be executed) is represented by It represents the time interval between two adjacent zero-crossing points of the back electromotive force of the i-th vibration cycle (the current vibration cycle), and W represents the given time adjustment coefficient.

[0059] In this embodiment, the given duration adjustment coefficient may be between 0.5 and 1 (inclusive).

[0060] For example, the given duration adjustment coefficient may be set to 7 / 8.

[0061] In addition, for adjusting the amplitude of the driving signal, the ratio of the motor's back electromotive force peak value corresponding to the current vibration cycle to the target back electromotive force value can be calculated to determine the driving voltage adjustment coefficient for the current vibration cycle (see Formula 3 below). The peak voltage of the driving signal for the vibration cycle to be executed is obtained by multiplying the peak voltage of the driving signal corresponding to the current vibration cycle by the driving voltage adjustment coefficient (see Formula 4 below), and the signal amplitude of the driving signal for the vibration cycle to be executed is determined accordingly:

[0062] V scale(i) =B max(i) / V s (Formula 3)

[0063] In Formula 3, V scale(i) Indicates the driving voltage adjustment coefficient of the i-th vibration cycle (current vibration cycle), B max(i) Indicates the back electromotive force peak value of the i-th vibration cycle (current vibration cycle), V s Indicates the target back EMF value.

[0064] In this embodiment, the target back electromotive force value V s It is divided into multiple gears to represent different amplitudes. Among them, the target back electromotive force value V s The correspondence between each gear and each amplitude can be set according to the actual use requirements of the motor, and this disclosure does not impose any restrictions on this.

[0065] V p(i+1) =V p(i) ×V scale(i) (Formula 4)

[0066] In Formula 4, V p(i+1) Indicates the voltage peak value of the i+1th vibration cycle (vibration cycle to be executed), V p(i) Indicates the voltage peak value of the i-th vibration cycle (current vibration cycle), V scale(i) Indicates the drive voltage adjustment coefficient of the i-th vibration cycle (the current vibration cycle).

[0067] In this embodiment, except for the initial vibration period, each of the other vibration periods is divided into a driving phase and a detection phase following the driving phase.

[0068] In some embodiments, a driving phase of a vibration cycle to be executed and a detection phase following the driving phase may be determined based on a motor resonant frequency of the motor corresponding to a current vibration cycle.

[0069] In some embodiments, the motor resonant frequency corresponding to the previous vibration cycle may be substituted into the driving duration conversion formula to obtain the maximum duration of the driving phase of the current vibration cycle.

[0070] For example, the driving time conversion formula can be expressed as the following formula 5:

[0071]

[0072] In formula 5, Indicates the maximum duration of the motor's driving phase corresponding to the i+1th vibration cycle (vibration cycle to be executed), Indicates the motor resonant frequency corresponding to the i-th vibration cycle (the current vibration cycle).

[0073] The specific duration of the driving phase can be determined based on the maximum duration calculated according to Formula 5. It is only necessary to ensure that the zero-crossing point of the motor's back electromotive force can be collected in the subsequent detection phase.

[0074] In some embodiments, after executing step 106 , the method of this embodiment further includes updating the vibration cycle to be executed to a new current vibration cycle, and returning to execute step 102 , and repeating the process to form a closed-loop control of the motor drive.

[0075] For example, when the vibration cycle to be executed is the i+1th vibration cycle, when the i+1th vibration cycle is updated to the new current vibration cycle, the ith vibration cycle will be updated to the previous vibration cycle, and the i+2th vibration cycle will be updated to the vibration cycle to be executed.

[0076] Figure 3 This is a processing flow of a motor driving method according to another exemplary embodiment of the present disclosure. This embodiment shows a specific adjustment scheme of the above step 106 when the driving signal is controlled by a pulse width modulation wave. Figure 4 The example shown is used to describe the specific implementation of this embodiment in detail. Figure 3 As shown, this embodiment mainly includes the following steps:

[0077] Step 302: Obtain the motor resonance frequency and back electromotive force peak value corresponding to the current vibration period of the motor based on the back electromotive force of the motor corresponding to the current vibration period.

[0078] Specifically, the motor resonant frequency corresponding to the current vibration cycle can be obtained based on the time interval between two adjacent zero-crossing points of the motor's back electromotive force corresponding to the current vibration cycle, and the peak value of the motor's back electromotive force corresponding to the current vibration cycle can be determined based on the maximum absolute value of the back electromotive force within the time interval.

[0079] For the specific implementation of this step, please refer to the relevant description of step 106 above.

[0080] Step 304: Determine the motor resonance frequency corresponding to the current vibration cycle as the signal frequency of the driving signal of the vibration cycle to be executed.

[0081] Specifically, when the motor drive signal frequency is fixed and the motor resonant frequency F0 increases, the zero-crossing point of the motor's back EMF may not be captured. Therefore, the drive signal frequency for the next vibration cycle needs to be dynamically adjusted based on the motor resonant frequency F0 of the motor corresponding to the current vibration cycle. In this embodiment, the motor resonant frequency of the motor corresponding to the current vibration cycle is directly determined as the drive signal frequency for the next vibration cycle.

[0082] Step 306: Calculate the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed based on the time interval between two adjacent zero crossing points of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave, and obtain the signal duration of the driving signal of the vibration cycle to be executed.

[0083] Specifically, the number of pulses (or PWM number) of the pulse width modulation wave corresponding to the vibration cycle to be executed needs to be adjusted according to the motor resonance frequency, so that the driving signal is consistent with the movement direction of the motor.

[0084] In some embodiments, the time interval between two adjacent zero-crossing points of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave can be substituted into the pulse number conversion formula to calculate the number of pulses (PWM number) of the pulse width modulation wave corresponding to the vibration cycle to be executed.

[0085] In this embodiment, the pulse number conversion formula can be expressed as the following formula 6:

[0086]

[0087] in, Indicates the number of pulses of the pulse width modulation wave corresponding to the i+1th vibration cycle, Indicates the time interval between two adjacent zero crossing points of the back electromotive force of the i-th vibration cycle, PWM eff Indicates the driving frequency of the pulse width modulation wave, PWM freq Indicates the driving efficiency of the pulse width modulation wave, Indicates rounding up.

[0088] The driving frequency and driving efficiency of the pulse width modulation wave are both given values.

[0089] Step 308: Calculate the duty cycle of the pulse width modulation wave based on the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed, the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle, the target back electromotive force value, and the peak back electromotive force of the motor corresponding to the current vibration cycle to obtain the signal amplitude of the drive signal for the vibration cycle to be executed.

[0090] In this embodiment, the signal amplitude of the driving signal can be characterized according to the calculated PWM duty cycle to obtain the constant swing amplitude (or back electromotive force) of the motor vibrator. In practical applications, the back electromotive force peak value B detected by the back electromotive force BEFM can be used to determine the back electromotive force peak value B. max , the PWM duty cycle is determined by the PID controller.

[0091] Specifically, the pulse number adjustment factor of the pulse width modulated wave can be obtained based on the ratio of the number of pulses of the pulse width modulated wave corresponding to the vibration cycle to be executed and the number of pulses of the pulse width modulated wave corresponding to the current vibration cycle (see Formula 7 below). The pulse number adjustment factor, the target back electromotive force value, and the peak back electromotive force of the motor corresponding to the current vibration cycle are substituted into the duty cycle conversion formula (see Formula 8 and Formula 9 below) to calculate the duty cycle (or PWM duty cycle) of the pulse width modulated wave corresponding to the vibration cycle to be executed:

[0092] PWM num_changefactor =PWM num(i) / PWM num(i+1) (Formula 7)

[0093] In Equation 7, PWM num_changefactor Indicates the pulse number adjustment factor of the pulse width modulation wave, PWM num(i) Indicates the number of pulses of the pulse width modulation wave corresponding to the i-th vibration cycle, PWM num(i+1) Indicates the number of pulses in the pulse width modulation wave corresponding to the (i+1)th vibration period.

[0094]

[0095]

[0096] In Formula 8 and Formula 9, PWM_duty (%) i+1 Indicates the duty cycle of the pulse width modulation wave corresponding to the i+1th vibration period, Kp represents the proportional coefficient, Ki represents the integral coefficient, Kd represents the differential coefficient, V s represents the target back EMF value, It represents the peak value of the back electromotive force of the motor corresponding to the i-th vibration cycle.

[0097] In practical applications, the duty cycle of the pulse-width modulation wave (PWM duty cycle) must be neither too large nor too small. If the PWM duty cycle is too low, the motor cannot vibrate properly. Conversely, if the PWM duty cycle is too high, the motor's oscillator's swing amplitude exceeds its maximum position, causing damage. Therefore, upper and lower limits must be set for the PWM duty cycle to ensure proper motor operation.

[0098] In this embodiment, the duty cycle of the pulse width modulation wave can be set to a lower limit of 30% and an upper limit of 80%. If the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is greater than the upper limit, the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is updated to 80%. Similarly, if the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is less than the lower limit, the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is updated to 30%.

[0099] To sum up, the motor driving method of this embodiment detects the motion state of the motor corresponding to the current vibration cycle, and adjusts the signal frequency, signal amplitude and signal duration of the driving signal of the vibration cycle to be executed accordingly, so as to realize dynamic adjustment of the driving signal parameters through real-time asynchronous closed-loop control. It can ensure the stability of motor vibration when the external load changes, and is suitable for motor drive control under variable load scenarios.

[0100] The motor driving method of this embodiment determines the frequency, amplitude, and duration of the motor drive signal during the initial vibration cycle based on the motor's initial resonant frequency, rated voltage, and initial resonant cycle, enabling the motor to quickly reach a stable vibration state. Furthermore, by eliminating the detection phase during the initial vibration cycle, the time it takes for the motor vibration to reach a stable state is reduced, improving the efficiency of drive signal adjustment.

[0101] The motor driving method provided in this embodiment determines the maximum duration of the driving phase of the current vibration cycle based on the motor resonant frequency of the motor corresponding to the previous vibration cycle, which can ensure that the zero crossing point of the motor's back electromotive force can be successfully collected during the detection phase, thereby ensuring the smooth execution of the driving signal adjustment.

[0102] The motor driving method provided in this embodiment determines the vibration state of the motor by non-sensingly detecting the motor back electromotive force, thereby realizing closed-loop control and driving of the motor. It has low requirements on the computing power of the MCU, can be applied to motor drive control in various scenarios, and has high versatility.

[0103] The motor driving method provided in this embodiment calculates the motor resonant frequency and back electromotive force peak value corresponding to the current vibration cycle of the motor based on the motor back electromotive force detection results, and adjusts the signal frequency, signal amplitude and signal duration of the driving signal of the vibration cycle to be executed accordingly. It has the advantage of strong robustness to ensure that the motor amplitude remains stable.

[0104] Motor drive unit

[0105] Figure 5 The motor driving device 500 of this embodiment mainly includes a parameter determination module 502 , a parameter update module 504 , and a signal adjustment module 506 .

[0106] The parameter determination module 502 is configured to obtain a driving signal parameter corresponding to a current vibration cycle, and determine a driving phase of the current vibration cycle and a detection phase following the driving phase.

[0107] a parameter updating module 504 configured to drive the motor to vibrate according to the driving signal during a driving phase of the current vibration cycle, and to obtain a back electromotive force of the motor corresponding to the current vibration cycle during a detection phase of the current vibration cycle;

[0108] The signal adjustment module 506 is used to obtain the drive signal parameters of the vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, and obtain the drive phase of the vibration cycle to be executed and the detection phase following the drive phase.

[0109] The vibration cycle to be executed is a vibration cycle to be executed subsequent to the current vibration cycle.

[0110] In some embodiments, the current vibration cycle includes one of an initial vibration cycle and a non-initial vibration cycle.

[0111] In some embodiments, the driving signal parameters of the current vibration cycle and the to-be-executed vibration cycle respectively include signal frequency, signal amplitude, and signal duration.

[0112] In some embodiments, when the current vibration cycle is the initial vibration cycle, the parameter determination module 502 determines the drive signal parameters of the drive signal corresponding to the initial vibration cycle in the following manner: determining the signal frequency of the drive signal corresponding to the initial vibration cycle based on the initial resonant frequency of the motor; determining the signal amplitude of the drive signal corresponding to the initial vibration cycle based on the rated voltage of the motor; and determining the signal duration of the drive signal corresponding to the initial vibration cycle based on the initial resonant period of the motor.

[0113] In some embodiments, the duration of the signal of the initial vibration period is at least five times the initial resonance period of the motor; and the initial vibration period does not include a detection phase.

[0114] In some embodiments, when the current vibration cycle is not an initial vibration cycle, the method includes:

[0115] During the driving phase of the current vibration cycle, the driving signal is started to drive the motor to vibrate; during the detection phase of the current vibration cycle, the driving signal is paused, and the back electromotive force of the motor corresponding to the current vibration cycle is obtained by collecting the electromotive force at both ends of the motor.

[0116] In some embodiments, the signal adjustment module 506 is used to: obtain the motor resonant frequency and back electromotive force peak value of the motor corresponding to the current vibration cycle based on the back electromotive force of the motor corresponding to the current vibration cycle; and adjust the signal frequency, signal amplitude and signal duration of the driving signal of the vibration cycle to be executed based on the back electromotive force, motor resonant frequency and back electromotive force peak value of the motor corresponding to the current vibration cycle.

[0117] In some embodiments, the signal adjustment module 506 is used to: obtain the motor resonant frequency of the motor corresponding to the current vibration cycle based on the time interval between two adjacent zero-crossing points of the back electromotive force of the motor corresponding to the current vibration cycle; and determine the peak value of the back electromotive force of the motor corresponding to the current vibration cycle based on the maximum absolute value of the back electromotive force within the time interval.

[0118] In some embodiments, the signal adjustment module 506 is configured to: substitute the time interval into a motor resonant frequency conversion formula to obtain the motor resonant frequency of the motor corresponding to the current vibration cycle;

[0119] The motor resonant frequency conversion formula is expressed as:

[0120]

[0121] in, represents the motor resonant frequency corresponding to the i-th vibration period, Represents the time interval between two adjacent zero-crossing points of the back electromotive force in the i-th vibration cycle.

[0122] In some embodiments, the signal adjustment module 506 is used to: determine the motor resonant frequency of the motor corresponding to the current vibration cycle as the signal frequency of the driving signal of the vibration cycle to be executed; obtain the signal duration of the driving signal of the vibration cycle to be executed based on the time interval between two adjacent zero-crossing points of the back electromotive force and a given duration adjustment coefficient; obtain the driving voltage adjustment coefficient based on the ratio of the back electromotive force peak value of the motor corresponding to the current vibration cycle and the target back electromotive force value; and obtain the signal amplitude of the driving signal of the vibration cycle to be executed based on the voltage peak value of the driving signal corresponding to the current vibration cycle and the driving voltage adjustment coefficient.

[0123] In some embodiments, the given duration adjustment coefficient is greater than or equal to 0.5 and less than or equal to 1.

[0124] In some embodiments, when the driving signal is controlled by a pulse width modulation wave, the signal adjustment module 506 is used to: determine the motor resonance frequency of the motor corresponding to the current vibration cycle as the signal frequency of the driving signal of the vibration cycle to be executed; calculate the number of vibration cycles to be executed corresponding to the pulse width modulation wave according to the time interval between two adjacent zero-crossing points of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave, and obtain the signal duration of the driving signal of the vibration cycle to be executed; calculate the duty cycle of the pulse width modulation wave according to the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed, the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle, the target back electromotive force value, and the back electromotive force peak value of the motor corresponding to the current vibration cycle, and obtain the signal amplitude of the driving signal of the vibration cycle to be executed.

[0125] In some embodiments, the signal adjustment module 506 is configured to: substitute the time interval between two adjacent zero-crossing points of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave into a pulse quantity conversion formula to calculate the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed;

[0126] The pulse number conversion formula is expressed as:

[0127]

[0128] in, represents the number of pulses of the pulse width modulation wave corresponding to the i+1th vibration period, Indicates the time interval between two adjacent zero crossing points of the back electromotive force of the i-th vibration cycle, PWM eff Indicates the driving frequency of the pulse width modulation wave, PWM freqrepresents the driving efficiency of the pulse width modulation wave, Indicates rounding up.

[0129] In some embodiments, the signal adjustment module 506 is configured to: obtain a pulse number adjustment factor of the pulse width modulation wave based on a ratio of the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed to the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle; and substitute the pulse number adjustment factor, the target back electromotive force value, and the peak back electromotive force of the motor corresponding to the current vibration cycle into a duty cycle conversion formula to calculate the duty cycle of the pulse width modulation wave corresponding to the vibration cycle to be executed:

[0130] The duty cycle conversion formula is expressed as:

[0131]

[0132] Among them, PWM_duty (%) i+1 Indicates the duty cycle of the pulse width modulation wave corresponding to the i+1th vibration cycle, PWM num_changefactor represents the pulse quantity adjustment factor, Kp represents the proportional coefficient, Ki represents the integral coefficient, Kd represents the differential coefficient, V s represents the target back EMF value, It represents the peak value of the back electromotive force of the motor corresponding to the i-th vibration cycle.

[0133] In some embodiments, the signal adjustment module 506 is further configured to: substitute the motor resonant frequency corresponding to the current vibration cycle into the driving duration conversion formula to obtain the maximum duration of the driving phase of the vibration cycle to be executed;

[0134] The driving time conversion formula is expressed as:

[0135]

[0136] in, represents the maximum duration of the driving phase of the motor corresponding to the i+1th vibration cycle, represents the motor resonant frequency corresponding to the i-th vibration period.

[0137] In some embodiments, the signal adjustment module 506 is further configured to, after obtaining the driving signal parameters of the vibration cycle to be executed, and obtaining the driving phase of the vibration cycle to be executed and the detection phase following the driving phase, update the vibration cycle to be executed to a new current vibration cycle and transmit it to the parameter determination module 502.

[0138] electronic devices

[0139] Reference Figure 6 , shows a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0140] like Figure 6 As shown, the electronic device may include: a processor (processor) 602 , a communication interface (Communications Interface) 604 , a memory (memory) 606 , and a communication bus 608 .

[0141] in:

[0142] The processor 602 , the communication interface 604 , and the memory 606 communicate with each other via a communication bus 608 .

[0143] The communication interface 604 is used to communicate with other electronic devices or servers.

[0144] The processor 602 is configured to execute a program 610 , and specifically to execute the relevant steps in the above-mentioned motor driving method embodiment.

[0145] Specifically, the program 610 may include program codes, which include computer operation instructions.

[0146] The processor 602 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs, or processors of different types, such as one or more CPUs and one or more ASICs.

[0147] The memory 606 is used to store the program 610. The memory 606 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0148] The program 610 may include multiple computer instructions. Specifically, the program 610 may enable the processor 602 to execute operations corresponding to the motor driving method described in any of the aforementioned method embodiments through the multiple computer instructions.

[0149] The specific implementation of each step in program 610 can refer to the corresponding description of the corresponding steps and units in the above-mentioned method embodiment, and has corresponding beneficial effects, which will not be repeated here. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working process of the above-mentioned devices and modules can refer to the corresponding process description in the above-mentioned method embodiment, and will not be repeated here.

[0150] The present application also provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the aforementioned method embodiments. The computer storage medium includes, but is not limited to, a compact disc read-only memory (CD-ROM), random access memory (RAM), a floppy disk, a hard disk, or a magneto-optical disk.

[0151] An embodiment of the present application further provides a computer program product, including computer instructions, which instruct a computing device to execute operations corresponding to the motor driving method described in any of the above embodiments.

[0152] In addition, it should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data used to train the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0153] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0154] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor or programmable or dedicated hardware (such as an application-specific integrated circuit (ASIC) or a field programmable gate array (FPGA)). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., random access memory (RAM), read-only memory (ROM), flash memory, etc.) that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown here.

[0155] Those skilled in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of this application.

[0156] The above implementation methods are only used to illustrate the embodiments of the present application, and are not intended to limit the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims

1. A motor driving method, comprising: Obtaining drive signal parameters corresponding to a current vibration cycle of the drive signal, and determining a drive phase of the current vibration cycle and a detection phase following the drive phase; During the driving phase of the current vibration cycle, the motor is driven to vibrate according to the driving signal, and during the detection phase of the current vibration cycle, a back electromotive force of the motor corresponding to the current vibration cycle is obtained; Obtaining drive signal parameters for a vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, and obtaining a drive phase of the vibration cycle to be executed and a detection phase following the drive phase; The vibration cycle to be executed is a vibration cycle to be executed subsequent to the current vibration cycle.

2. The method according to claim 1, wherein The current vibration cycle includes one of an initial vibration cycle and a non-initial vibration cycle; The driving signal parameters of the current vibration cycle and the vibration cycle to be executed respectively include signal frequency, signal amplitude and signal duration.

3. The method according to claim 2, wherein: In the case where the current vibration cycle is an initial vibration cycle, the drive signal parameters of the drive signal corresponding to the initial vibration cycle are determined in the following manner: determining, according to the initial resonant frequency of the motor, a signal frequency of the drive signal corresponding to the initial vibration period; determining, based on the rated voltage of the motor, a signal amplitude of the drive signal corresponding to the initial vibration period; According to the initial resonance period of the motor, a signal duration of the driving signal corresponding to the initial vibration period is determined.

4. The method according to claim 3, wherein: The duration of the signal is at least 5 times the initial resonance period; The initial vibration period does not include a detection phase.

5. The method according to claim 2, wherein: In a case where the current vibration cycle is not an initial vibration cycle, the method includes: In the driving phase of the current vibration cycle, starting the driving signal to drive the motor to vibrate; During the detection phase of the current vibration cycle, the driving signal is suspended, and the back electromotive force of the motor corresponding to the current vibration cycle is obtained by collecting the electromotive force at both ends of the motor.

6. The method according to claim 5, wherein: The step of obtaining the drive signal parameters for the vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle includes: Obtaining a motor resonant frequency and a back electromotive force peak value of the motor corresponding to the current vibration cycle according to the back electromotive force of the motor corresponding to the current vibration cycle; The signal frequency, signal amplitude and signal duration of the driving signal of the vibration cycle to be executed are adjusted according to the back electromotive force, motor resonant frequency and back electromotive force peak of the motor corresponding to the current vibration cycle.

7. The method according to claim 6, wherein: The obtaining, based on the back electromotive force of the motor corresponding to the current vibration cycle, a motor resonant frequency and a back electromotive force peak value of the motor corresponding to the current vibration cycle includes: Obtaining a motor resonant frequency corresponding to the current vibration cycle of the motor according to a time interval between two adjacent zero-crossing points of the back electromotive force of the motor corresponding to the current vibration cycle; A peak value of the back electromotive force of the motor corresponding to the current vibration cycle is determined according to the maximum absolute value of the back electromotive force within the time interval.

8. The method according to claim 7, wherein: Obtaining the motor resonant frequency corresponding to the current vibration cycle of the motor according to the time interval between two adjacent zero-crossing points of the back electromotive force of the motor corresponding to the current vibration cycle includes: Substituting the time interval into a motor resonant frequency conversion formula to obtain the motor resonant frequency of the motor corresponding to the current vibration cycle; The motor resonant frequency conversion formula is expressed as: in, represents the motor resonant frequency corresponding to the i-th vibration period, Represents the time interval between two adjacent zero-crossing points of the back electromotive force in the i-th vibration cycle.

9. The method according to any one of claims 6 to 8, wherein The step of adjusting the signal frequency, signal amplitude, and signal duration of the driving signal for the vibration cycle to be executed according to the back electromotive force, motor resonant frequency, and back electromotive force peak value of the motor corresponding to the current vibration cycle includes: determining the motor resonant frequency of the motor corresponding to the current vibration cycle as the signal frequency of the driving signal of the vibration cycle to be executed; Obtaining a signal duration of the drive signal of the vibration cycle to be executed according to a time interval between two adjacent zero-crossing points of the back electromotive force and a given duration adjustment coefficient; The driving voltage adjustment coefficient is obtained based on the ratio of the back electromotive force peak value of the motor corresponding to the current vibration cycle and the target back electromotive force value, and the signal amplitude of the driving signal of the vibration cycle to be executed is obtained based on the voltage peak value of the driving signal corresponding to the current vibration cycle and the driving voltage adjustment coefficient.

10. The method according to claim 9, wherein: The given duration adjustment coefficient is greater than or equal to 0.5 and less than or equal to 1.

11. The method according to any one of claims 6 to 8, wherein In the case where the driving signal is controlled by a pulse width modulation wave, adjusting the signal frequency, signal amplitude, and signal duration of the driving signal for the vibration cycle to be executed according to the back electromotive force, motor resonant frequency, and back electromotive force peak value of the motor corresponding to the current vibration cycle includes: determining the motor resonant frequency of the motor corresponding to the current vibration cycle as the signal frequency of the driving signal of the vibration cycle to be executed; Calculating the number of vibration cycles to be executed corresponding to the pulse width modulation wave according to the time interval between two adjacent zero crossing points of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave, and obtaining the signal duration of the driving signal of the vibration cycle to be executed; The duty cycle of the pulse width modulated wave is calculated based on the number of pulses of the pulse width modulated wave corresponding to the vibration cycle to be executed, the number of pulses of the pulse width modulated wave corresponding to the current vibration cycle, the target back electromotive force value, and the peak back electromotive force of the motor corresponding to the current vibration cycle to obtain the signal amplitude of the drive signal of the vibration cycle to be executed.

12. The method according to claim 11, wherein The step of calculating the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed based on the time interval between two adjacent zero-crossing points of the back electromotive force, the driving frequency and the driving efficiency of the pulse width modulation wave comprises: Substituting the time interval between two adjacent zero-crossing points of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave into the pulse number conversion formula, the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed is calculated; The pulse number conversion formula is expressed as: in, represents the number of pulses of the pulse width modulation wave corresponding to the i+1th vibration period, Indicates the time interval between two adjacent zero crossing points of the back electromotive force of the i-th vibration cycle, PWM eff Indicates the driving frequency of the pulse width modulation wave, PWM freq represents the driving efficiency of the pulse width modulation wave, Indicates rounding up.

13. The method according to claim 10, wherein: Calculating the duty cycle of the pulse width modulation wave according to the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed, the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle, a target back electromotive force value, and a peak back electromotive force value of the motor corresponding to the current vibration cycle includes: obtaining a pulse number adjustment factor of the pulse width modulation wave according to a ratio of the number of pulses of the pulse width modulation wave corresponding to the to-be-executed vibration cycle to the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle; Substitute the pulse quantity adjustment factor, the target back electromotive force value, and the peak back electromotive force of the motor corresponding to the current vibration cycle into the duty cycle conversion formula to calculate the duty cycle of the pulse width modulation wave corresponding to the vibration cycle to be executed: The duty cycle conversion formula is expressed as: Among them, PWM_duty (%) i+1 Indicates the duty cycle of the pulse width modulation wave corresponding to the i+1th vibration cycle, PWM num_changefactor represents the pulse quantity adjustment factor, Kp represents the proportional coefficient, Ki represents the integral coefficient, Kd represents the differential coefficient, V s represents the target back EMF value, It represents the peak value of the back electromotive force of the motor corresponding to the i-th vibration cycle.

14. The method according to claim 6, wherein The step of obtaining the driving phase of the vibration cycle to be executed and the detection phase following the driving phase based on the back electromotive force of the motor corresponding to the current vibration cycle includes: Substituting the motor resonant frequency corresponding to the current vibration cycle into the driving duration conversion formula to obtain the maximum duration of the driving phase of the vibration cycle to be executed; The driving time conversion formula is expressed as: in, represents the maximum duration of the driving phase of the motor corresponding to the i+1th vibration cycle, represents the motor resonant frequency corresponding to the i-th vibration period.

15. The method according to claim 1, wherein After obtaining the drive signal parameters of the vibration cycle to be executed, and obtaining the drive phase of the vibration cycle to be executed and the detection phase following the drive phase, the method further includes: The vibration cycle to be executed is updated to a new current vibration cycle, and the step of obtaining the driving signal parameters corresponding to the current vibration cycle is returned to be executed.

16. A motor drive device comprising: a parameter determination module, configured to obtain a drive signal parameter corresponding to a current vibration cycle of the drive signal, and determine a drive phase of the current vibration cycle and a detection phase following the drive phase; a parameter updating module, configured to drive the motor to vibrate according to the driving signal during a driving phase of the current vibration cycle, and to obtain a back electromotive force of the motor corresponding to the current vibration cycle during a detection phase of the current vibration cycle; a signal adjustment module, configured to obtain drive signal parameters for a vibration cycle to be executed based on a back electromotive force of the motor corresponding to a current vibration cycle, and to obtain a drive phase of the vibration cycle to be executed and a detection phase following the drive phase; The vibration cycle to be executed is a vibration cycle to be executed subsequent to the current vibration cycle.

17. An electronic device comprising: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, where the executable instruction enables the processor to execute the method according to any one of claims 1 to 15.

18. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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