Method for generating a drive voltage for a linear motor and associated device

Abstract

The application belongs to the technical field of linear motor driving, and provides a driving voltage generation method for linear motor and related device, aiming at using the driving voltage generated by the driving voltage generation method to effectively control the linear motor to express the vibration effect in a specific direction. The method of the application embodiment comprises the following steps: defining the displacement waveform of the vibrator of the linear motor in a preset period, wherein the displacement waveform is an asymmetric waveform; and calculating the corresponding voltage waveform of the linear motor in the preset period according to the displacement waveform.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of linear motor driving technology, and particularly relates to a driving voltage generation method of a linear motor and a related device. BACKGROUND

[0002] The existing technology tactile feedback plays an important role in the interactive experience of electronic products. The performance form of tactile feedback is often realized through the vibration of a linear motor, which can bring a real experience to the user. In the existing technology, the linear motor as a vibration effect generator is more and more widely used in high-end mobile phones. However, the application of the linear motor in the mobile phone at present only provides a vibration reminding function for the user, and the user cannot perceive the clear vibration direction.

[0003] Therefore, it is necessary to provide a method and related device for enabling the user to perceive the vibration direction of the linear motor. SUMMARY

[0004] The present application aims to provide a driving voltage generation method of a linear motor and a related device, which can effectively control the linear motor to express the vibration effect of a specific direction by using the driving voltage generation method.

[0005] The technical scheme of the present application is as follows:

[0006] The first aspect of the present application provides a driving voltage generation method of a linear motor, comprising:

[0007] defining a displacement waveform of a vibrator of the linear motor in a preset period, the displacement waveform being an asymmetric waveform;

[0008] calculating a corresponding voltage waveform of the linear motor in the preset period according to the displacement waveform.

[0009] Optionally, the step of defining the displacement waveform of the linear motor in the preset period, the displacement waveform being an asymmetric waveform, comprises:

[0010] defining a basic frequency waveform of the vibrator of the linear motor in the preset period, the basic frequency waveform being formed by splicing a first frequency waveform and a second frequency waveform, and the first frequency waveform and the second frequency waveform being opposite in direction and asymmetric;

[0011] taking the basic frequency waveform as the displacement waveform of the vibrator of the linear motor.

[0012] Optionally, the step of forming the basic frequency waveform by splicing the first frequency waveform and the second frequency waveform comprises:

[0013] The base frequency waveform is formed by sequentially splicing a first frequency waveform and a second frequency waveform, the first frequency waveform occupies a first time period of the preset period shorter than a second time period of the preset period occupied by the second frequency waveform, or the second time period of the preset period occupied by the second frequency waveform is shorter than the first time period of the preset period occupied by the first frequency waveform.

[0014] Optionally, the first time period of the preset period occupied by the first frequency waveform is shorter than the second time period of the preset period occupied by the second frequency waveform, comprising:

[0015] And

[0016] δ represents a frequency difference;

[0017] f1 represents a first frequency corresponding to the first frequency waveform;

[0018] f represents a base frequency corresponding to the base frequency waveform;

[0019] Or,

[0020] The second time period of the preset period occupied by the second frequency waveform is shorter than the first time period of the preset period occupied by the first frequency waveform, comprising:

[0021] And

[0022] δ represents a frequency difference;

[0023] f1 represents a first frequency corresponding to the first frequency waveform;

[0024] f represents a base frequency corresponding to the base frequency waveform.

[0025] Optionally, after the base frequency waveform is used as a displacement waveform of a vibrator of the linear motor, the method further comprises:

[0026] copying the displacement waveform several times to obtain several copied displacement waveforms;

[0027] splicing the displacement waveform and the several copied displacement waveforms to obtain a target displacement waveform;

[0028] The corresponding voltage waveform of the linear motor in the preset period is calculated according to the displacement waveform, comprising:

[0029] According to the target displacement waveform, a corresponding driving voltage waveform of the linear motor is calculated.

[0030] Optionally, after obtaining the target displacement waveform, the method further comprises:

[0031] Smoothly transitioning the first X displacement waveforms of the initial section and the last Y displacement waveforms of the ending section in the target displacement waveform to obtain an optimized target displacement waveform.

[0032] Optionally, after obtaining the optimized target displacement waveform, the method further comprises:

[0033] According to the target displacement waveform, a corresponding acceleration change rate waveform and a displacement change rate waveform are calculated.

[0034] It is judged whether the voltage amplitude of each period in the driving voltage waveform is equal to the maximum voltage value of the linear motor.

[0035] If the voltage amplitude of each period is equal to the maximum voltage value, the first difference value between the maximum acceleration change rate and the minimum acceleration change rate in the acceleration change rate waveform, the second difference value between the maximum displacement change rate and the minimum displacement change rate in the displacement change rate waveform, the vibration amount of the linear motor, the frequency difference, the first frequency, and the second frequency corresponding to the second frequency waveform of the linear motor are saved.

[0036] If the voltage amplitude of each period is not equal to the maximum voltage value, the frequency difference is gradually increased to obtain an increased frequency difference, and the step of sequentially splicing the first frequency waveform and the second frequency waveform to form the basic frequency waveform is triggered.

[0037] Optionally, after saving the first difference value between the maximum acceleration change rate and the minimum acceleration change rate in the acceleration change rate waveform, the second difference value between the maximum displacement change rate and the minimum displacement change rate in the displacement change rate waveform, the vibration amount of the linear motor, the frequency difference, the first frequency, and the second frequency corresponding to the second frequency waveform of the linear motor, the method further comprises:

[0038] The displacement amplitude of the displacement waveform is gradually increased to obtain an increased displacement waveform, and the step of smoothly transitioning the first X displacement waveforms of the initial section and the last Y displacement waveforms of the ending section in the target displacement waveform is triggered.

[0039] The second aspect of the present application provides a driving voltage generation device of a linear motor, comprising:

[0040] A definition unit is configured to define a displacement waveform of a vibrator of the linear motor in a preset period, and the displacement waveform is an asymmetric waveform.

[0041] A calculation unit is configured to calculate a corresponding voltage waveform of the linear motor in the preset period according to the displacement waveform.

[0042] Optionally, when the definition unit defines the displacement waveform of the linear motor in a preset period, the displacement waveform is an asymmetric waveform, the definition unit is specifically configured to:

[0043] define a basic frequency waveform of the vibrator of the linear motor in the preset period, the basic frequency waveform is formed by splicing a first frequency waveform and a second frequency waveform, and the first frequency waveform and the second frequency waveform are opposite in direction and asymmetric;

[0044] use the basic frequency waveform as the displacement waveform of the vibrator of the linear motor.

[0045] Optionally, the basic frequency waveform formed by splicing the first frequency waveform and the second frequency waveform specifically includes:

[0046] the basic frequency waveform is formed by sequentially splicing the first frequency waveform and the second frequency waveform, the first frequency waveform occupies a first time period of the preset period shorter than a second time period of the preset period occupied by the second frequency waveform, or the second time period of the preset period occupied by the second frequency waveform is shorter than the first time period of the preset period occupied by the first frequency waveform.

[0047] Optionally, the first time period of the preset period occupied by the first frequency waveform is shorter than the second time period of the preset period occupied by the second frequency waveform, and specifically includes:

[0048] and

[0049] δ represents a frequency difference;

[0050] f1 represents a first frequency corresponding to the first frequency waveform;

[0051] f represents a basic frequency corresponding to the basic frequency waveform;

[0052] or,

[0053] the second time period of the preset period occupied by the second frequency waveform is shorter than the first time period of the preset period occupied by the first frequency waveform, and specifically includes:

[0054] and

[0055] δ represents a frequency difference;

[0056] f1 represents a first frequency corresponding to the first frequency waveform;

[0057] f represents a base frequency corresponding to the base frequency waveform.

[0058] Optionally, the apparatus further comprises:

[0059] a copying unit, configured to copy the displacement waveform for a plurality of times to obtain a plurality of copied displacement waveforms;

[0060] a splicing unit, configured to splice the displacement waveform and the plurality of copied displacement waveforms to obtain a target displacement waveform;

[0061] When the computing unit calculates the voltage waveform corresponding to the linear motor in the preset period according to the displacement waveform, the computing unit is specifically configured to:

[0062] calculate the driving voltage waveform corresponding to the linear motor according to the target displacement waveform.

[0063] Optionally, the apparatus further comprises:

[0064] an optimization unit, configured to perform smooth transition processing on the first X displacement waveforms of a starting segment and the last Y displacement waveforms of an ending segment in the target displacement waveform to obtain an optimized target displacement waveform.

[0065] Optionally, the apparatus further comprises:

[0066] The computing unit is further configured to calculate an acceleration change rate waveform and a displacement change rate waveform according to the target displacement waveform.

[0067] a judging unit, configured to judge whether a voltage amplitude of each period in the driving voltage waveform is equal to a maximum voltage value of the linear motor;

[0068] a saving unit, configured to save, if the voltage amplitude of each period is equal to the maximum voltage value, a first difference between an acceleration change rate maximum value and an acceleration change rate minimum value in the acceleration change rate waveform, a second difference between a displacement change rate maximum value and a displacement change rate minimum value in the displacement change rate waveform, a vibration amount of the linear motor, the frequency difference, a second frequency corresponding to the first frequency waveform and the second frequency waveform.

[0069] a frequency increasing unit, configured to gradually increase the frequency difference to obtain an increased frequency difference, if the voltage amplitude of each period is not equal to the maximum voltage value.

[0070] a triggering unit, configured to trigger execution of the step of sequentially splicing the base frequency waveform formed by the first frequency waveform and the second frequency waveform.

[0071] Optionally, the apparatus further comprises:

[0072] an amplitude increasing unit, configured to gradually increase a displacement amplitude of the displacement waveform, to obtain an increased displacement waveform;

[0073] The trigger unit is further configured to trigger the step of performing the smooth transition processing on the first X displacement waveforms of the starting section and the last Y displacement waveforms of the ending section in the target displacement waveform.

[0074] The third aspect of the present application provides a computer device, comprising:

[0075] a processor, a memory, a bus, an input / output interface;

[0076] The processor is connected with the memory and the input / output interface through the bus;

[0077] The memory stores a program;

[0078] When the processor executes the program stored in the memory, the driving voltage generation method in any one of the first aspect is realized.

[0079] The fourth aspect of the present application provides a computer storage medium, the computer storage medium stores instructions, when the instructions are executed on a computer, the computer executes the driving voltage generation method in any one of the first aspect.

[0080] The fifth aspect of the present application provides a computer program product, when the computer program product is executed on a computer, the computer executes the voltage generation method in any one of the first aspect.

[0081] The beneficial effects of the present application are:

[0082] The driving voltage generation method of the linear motor defines the displacement waveform of the vibrator of the linear motor in a period, and the displacement waveform is an asymmetric waveform, which makes the reciprocating motion of the linear motor in the period asymmetric; that is, the forward speed of the vibrator of the linear motor in the period is faster than the return speed; or, the return speed of the vibrator of the linear motor in the period is faster than the forward speed; since people can clearly perceive strong vibration stimulation and cannot clearly perceive weak vibration stimulation when they are successively stimulated by strong and weak vibrations, when the corresponding voltage waveform of the linear motor in the preset period is calculated according to the above displacement waveform, and the linear motor is driven by using the voltage waveform, the vibration stimulation in a specific direction can be felt. BRIEF DESCRIPTION OF DRAWINGS

[0083] Figure 1 It is an embodiment flowchart of the driving voltage generation method of the linear motor of the present application;

[0084] Figure 2 This is a schematic flowchart of another embodiment of the method for generating the driving voltage of the linear motor according to the present invention;

[0085] Figure 3 This is a schematic diagram of the asymmetric displacement waveform of the oscillator of the linear motor of the present invention within one cycle.

[0086] Figure 4 This is a schematic diagram of the asymmetric displacement waveform of the fundamental frequency formed by splicing a first frequency waveform and a second frequency waveform according to the present invention.

[0087] Figure 5 To Figure 4 A schematic diagram of the asymmetric displacement waveform after the smooth transition between the start and end segments.

[0088] Figure 6 This is an example comparing the driving voltage waveform generated by the driving voltage generation method of the linear motor of the present invention with the target displacement of the oscillator and the acceleration of a 100g load;

[0089] Figure 7 for Figure 6 Example comparing the rate of change of acceleration and the rate of change of displacement of the oscillator of a linear motor under the action of the generated driving voltage waveform;

[0090] Figure 8 This is a schematic diagram of an embodiment of the drive voltage generation device for the linear motor of the present invention;

[0091] Figure 9 This is a schematic diagram of another embodiment of the drive voltage generation device for the linear motor of the present invention;

[0092] Figure 10 This is a schematic diagram of an embodiment of the computer device of the present invention.

Detailed Implementation Methods

[0093] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0094] First, it's important to note that human perception of vibration is non-linear. When a person experiences strong and weak vibrations sequentially within a short period, they will clearly perceive the strong vibrations but not the weak ones. Based on this, applying a strong vibration in a specific direction over a continuous time period can induce a tactile sensation of movement in that direction.

[0095] Please refer to the following: Figure 1 and Figure 3 An embodiment of the method for generating the drive voltage of the linear motor of the present invention includes:

[0096] 101. Define the displacement waveform of the oscillator of a linear motor within a preset period. The displacement waveform is an asymmetrical waveform.

[0097] As is well known, the motion of the oscillator in a linear motor is cyclic. This step only needs to define the displacement waveform of the oscillator within a preset period. Subsequent steps can then generate a voltage waveform for the linear motor based on this defined displacement waveform. This voltage waveform can then be used to control the oscillator's vibration along the trajectory of the displacement waveform. This step defines the displacement waveform of the linear motor's oscillator within a preset period as an asymmetrical waveform. For example, please refer to... Figure 3 An asymmetrical waveform refers to a situation where the time t1 required for the oscillator of a linear motor to move from one end to the other end is different from the time t2 required to move from the second end to the first end. This results in an asymmetrical displacement waveform within one period, hence the name asymmetrical waveform. Within a preset period T (corresponding to frequency f), the displacement of the oscillator of the linear motor is formed by sequentially splicing frequencies f1 (corresponding to period T1) and f2 (corresponding to period T2). This indicates that the motor oscillator moves rapidly from one end to the other in a short time t1, and then slowly returns to the initial position in a longer time t2, thus causing asymmetrical vibration acceleration.

[0098] T = t1 + t2

[0099]

[0100] Introducing frequency f1 and The difference, denoted as frequency difference δ, is then:

[0101] when At that time, the displacement is a sine wave; and This indicates asymmetrical displacements in opposite directions.

[0102] 102. Calculate the voltage waveform of the linear motor within a preset period based on the displacement waveform.

[0103] After obtaining the displacement waveform of the linear motor oscillator through step 101, and combining it with the inherent parameters of the linear motor, the voltage waveform that controls the oscillator of the linear motor to achieve the displacement waveform in step 101 can be obtained through simulation calculation using existing technology.

[0104] The displacement waveform of the vibrator of the linear motor in a period is defined in the method for generating driving voltage of the linear motor, and the displacement waveform is an asymmetric waveform, which makes the reciprocating motion of the linear motor in the period asymmetric; that is, the forward speed of the vibrator of the linear motor in the period is faster than the return speed; or the return speed of the vibrator of the linear motor in the period is faster than the forward speed; since a person can clearly perceive strong vibration stimulation and cannot clearly perceive weak vibration stimulation when the person is successively subjected to strong and weak vibration stimulation, when the corresponding voltage waveform of the linear motor in the preset period is calculated according to the above displacement waveform, and the linear motor is driven by using the voltage waveform, the vibration stimulation in a specific direction can be perceived by a person.

[0105] Referring to Figure 2 Another embodiment of the method for generating driving voltage of the linear motor comprises the following steps:

[0106] 201, a basic frequency waveform of the vibrator of the linear motor in a preset period is defined, the basic frequency waveform is formed by splicing a first frequency waveform and a second frequency waveform, and the first frequency waveform and the second frequency waveform are opposite in direction and asymmetric.

[0107] As can be known from the above embodiment, the motion of the vibrator of the linear motor is cyclic and reciprocating, and the basic frequency waveform of the vibrator of the linear motor in a preset period is defined in this embodiment, so that the displacement waveform of the vibrator of the linear motor can be correspondingly formed in the subsequent steps according to the defined basic waveform, and the voltage waveform of the linear motor can be further calculated according to the displacement waveform, so that the effect of using the voltage waveform to control the vibrator of the linear motor to vibrate along the trajectory of the displacement waveform can be achieved. The basic frequency waveform of the vibrator of the linear motor in a preset period is defined in this step, and the basic frequency waveform can be determined by determining the corresponding basic frequency and the amplitude range (for example, [0.05:0.05:1] mm) corresponding to the basic frequency waveform. The basic frequency waveform is formed by splicing a first frequency waveform and a second frequency waveform, and the first frequency waveform and the second frequency waveform are opposite in direction and asymmetric.

[0108] Preferably, the basic frequency waveform can be sequentially formed by splicing a first frequency waveform and a second frequency waveform. In one embodiment, the first time period occupied by the first frequency waveform in the preset period is shorter than the second time period occupied by the second frequency waveform in the preset period; that is, the first frequency corresponding to the first frequency waveform is greater than the second frequency corresponding to the second frequency waveform, that is, the first frequency is greater than half of the basic frequency of the entire preset period, as shown in the following formula:

[0109] And

[0110] δ represents the frequency difference.

[0111] f1 represents the first frequency corresponding to the first frequency waveform;

[0112] f represents the base frequency corresponding to the base frequency waveform.

[0113] In another embodiment, the second time period occupied by the second frequency waveform in the preset period can be shorter than the first time period occupied by the first frequency waveform in the preset period, that is, the second frequency corresponding to the second frequency waveform can be greater than the first frequency corresponding to the first frequency waveform, that is, the second frequency can be greater than half of the base frequency of the entire preset period, as shown in the following formula:

[0114] And

[0115] δ represents the frequency difference;

[0116] f1 represents the first frequency corresponding to the first frequency waveform;

[0117] f represents the base frequency corresponding to the base frequency waveform.

[0118] This step can define the frequency difference δ, and the value range of the frequency difference δ can be determined according to actual needs, for example

[0119] 202, taking the base frequency waveform as the displacement waveform of the vibrator of the linear motor.

[0120] 203, copying the displacement waveform for several times to obtain several copied displacement waveforms.

[0121] After obtaining the displacement waveform of the vibrator of the linear motor in a preset period in step 202, this step can copy the displacement waveform for several times according to actual needs to obtain several copied displacement waveforms. It can be understood that after determining the displacement waveform of the vibrator of the linear motor in step 202, the time occupied by the preset period corresponding to the displacement waveform can be changed as a whole, and then this step can copy the number of displacement waveforms according to the frequency expressed by the linear motor, for example, if a frequency of 70 Hz is required, 70 displacement waveforms can be formed in one second.

[0122] 204, splicing the displacement waveform with the several copied displacement waveforms to obtain a target displacement waveform.

[0123] Please refer to Figure 4 , an embodiment diagram of the present application for splicing the first frequency waveform and the second frequency waveform to form an asymmetric displacement waveform of the base frequency.

[0124] 205. Perform smooth transition processing on the first X displacement waveforms of the initial segment and the last Y displacement waveforms of the final segment in the target displacement waveform to obtain the optimized target displacement waveform.

[0125] The target displacement waveform formed in step 204 is low-pass filtered, and the first X displacement waveforms of the initial segment and the last Y displacement waveforms of the final segment are smoothed to obtain the optimized target displacement waveform. Here, X and Y are positive integers greater than 0, preferably X equal to Y, to achieve smooth start and stop of the linear motor and avoid potential motor casing defects caused by excessively high instantaneous voltage at the start and end segments. Please refer to [link to relevant documentation]. Figure 5 , Figure 5 To Figure 4 A schematic diagram of the asymmetric displacement waveform after the smooth transition between the start and end segments.

[0126] 206. Calculate the corresponding drive voltage waveform, acceleration rate of change waveform, and displacement rate of change waveform of the linear motor based on the target displacement waveform.

[0127] After obtaining the displacement waveform of the linear motor oscillator in step 205, and combining the inherent parameters of the linear motor, the driving voltage waveform that controls the oscillator of the linear motor to achieve the displacement waveform in step 205 can be obtained by simulation calculation using existing technology. At the same time, parameters such as the velocity change rate waveform and the displacement change rate waveform can be calculated.

[0128] 207. Determine whether the voltage amplitude of each cycle in the drive voltage waveform is equal to the maximum voltage value of the linear motor. If the voltage amplitude is equal to the maximum voltage value of the linear motor, proceed to step 208; if the voltage amplitude is not equal to the maximum voltage value of the linear motor, proceed to step 210.

[0129] 208. Save the first difference between the maximum and minimum acceleration rate of change waveforms, the second difference between the maximum and minimum displacement rate of change waveforms, the vibration amount of the linear motor, the frequency difference, the first frequency, and the second frequency corresponding to the second frequency waveform.

[0130] When step 207 determines that the voltage amplitude of each cycle in the drive voltage waveform is equal to the maximum voltage value of the linear motor, then in this step, the first difference between the maximum and minimum acceleration rate of change in the acceleration rate of change waveform calculated in step 206, the second difference between the maximum and minimum displacement rate of change in the displacement rate of change waveform, the vibration amount of the linear motor, the frequency difference, the first frequency, and the second frequency corresponding to the second frequency waveform are saved.

[0131] 209. Gradually increase the displacement amplitude of the displacement waveform to obtain the increased displacement waveform, triggering the execution of step 201.

[0132] After step 208, this step can gradually increase the displacement amplitude of the displacement waveform to obtain the increased displacement waveform, triggering the execution of step 201 until the amplitude range corresponding to the basic frequency waveform has been traversed. In step 208, the first difference between the maximum and minimum acceleration rate of change in the measured acceleration rate of change waveform, the second difference between the maximum and minimum displacement rate of change in the displacement rate of change waveform, the vibration amount of the linear motor, the frequency difference, the first frequency, and the second frequency corresponding to the second frequency waveform are saved. The driving voltage waveform corresponding to the above-mentioned data is the final optimal driving voltage waveform.

[0133] 210. Gradually increase the frequency difference to obtain the increased frequency difference, triggering the execution of step 201.

[0134] After step 207, if it is determined that the voltage amplitude of each cycle in the drive voltage waveform is not equal to the maximum voltage value of the linear motor, then the frequency difference is gradually increased in this step to obtain the increased frequency difference, triggering the execution of step 201, until the range of frequency difference values ​​is traversed.

[0135] Please see 6 and Figure 7 After actual testing, the waveform of the driving voltage generated by the linear motor driving voltage generation method of this invention is compared with the target displacement of the oscillator and the acceleration of a 100g load, as shown in the example below. Figure 6 As shown; Figure 7 for Figure 6 Example comparing the rate of change of acceleration and the rate of change of displacement of the oscillator of a linear motor under the action of the generated driving voltage waveform.

[0136] The above describes the method for generating the drive voltage of the linear motor of the present invention. The following describes the device for generating the drive voltage of the linear motor of the present invention. Please refer to [link / reference needed]. Figure 8 ,include:

[0137] Definition unit 801 is used to define the displacement waveform of the oscillator of the linear motor within a preset period, wherein the displacement waveform is an asymmetrical waveform;

[0138] The calculation unit 802 is used to calculate the voltage waveform of the linear motor within the preset period based on the displacement waveform.

[0139] The operation performed by the drive voltage generating device of the linear motor in this embodiment of the invention is the same as described above. Figure 1 The operations performed in the embodiments are similar and will not be described again here.

[0140] The drive voltage generating device of the linear motor defines a displacement waveform of the vibrator of the linear motor in a period, and the displacement waveform is an asymmetric waveform, which makes the reciprocating motion of the linear motor in the period asymmetric; that is, the forward speed of the vibrator of the linear motor in the period is faster than the return speed, or the return speed of the vibrator of the linear motor in the period is faster than the forward speed; since a person can clearly perceive strong vibration stimulation and cannot clearly perceive weak vibration stimulation when being stimulated by strong and weak vibration in turn, when the corresponding voltage waveform of the linear motor in the preset period is calculated according to the above displacement waveform, and the linear motor is driven by using the voltage waveform, the vibration stimulation in a specific direction can be felt by a person.

[0141] Please refer to Figure 9 Another embodiment of the voltage generating device of the linear motor of the present application comprises:

[0142] The definition unit 901 is configured to define a displacement waveform of the vibrator of the linear motor in a preset period, and the displacement waveform is an asymmetric waveform;

[0143] The calculation unit 902 is configured to calculate a corresponding voltage waveform of the linear motor in the preset period according to the displacement waveform.

[0144] Optionally, when defining the displacement waveform of the linear motor in a preset period, the definition unit 901 is specifically configured to:

[0145] define a basic frequency waveform of the vibrator of the linear motor in the preset period, the basic frequency waveform is formed by splicing a first frequency waveform and a second frequency waveform, and the first frequency waveform and the second frequency waveform are opposite and asymmetric;

[0146] The basic frequency waveform is used as the displacement waveform of the vibrator of the linear motor.

[0147] Optionally, the basic frequency waveform formed by splicing the first frequency waveform and the second frequency waveform specifically comprises:

[0148] The basic frequency waveform is formed by sequentially splicing the first frequency waveform and the second frequency waveform, the first frequency waveform occupies a first time period of the preset period shorter than a second time period of the preset period occupied by the second frequency waveform, or the second time period of the preset period occupied by the second frequency waveform is shorter than the first time period of the preset period occupied by the first frequency waveform.

[0149] Optionally, the first frequency waveform occupies the first time period of the preset period shorter than the second time period of the preset period occupied by the second frequency waveform, specifically comprising:

[0150] and

[0151] δ represents a frequency difference;

[0152] f1 represents a first frequency corresponding to the first frequency waveform;

[0153] f represents a base frequency corresponding to the base frequency waveform.

[0154] or,

[0155] The second frequency waveform occupies a second time period of the preset period, which is shorter than a first time period of the preset period occupied by the first frequency waveform, comprising:

[0156] and

[0157] δ represents a frequency difference;

[0158] f1 represents a first frequency corresponding to the first frequency waveform;

[0159] f represents a base frequency corresponding to the base frequency waveform.

[0160] Optionally, the apparatus further comprises:

[0161] The copying unit 903 is configured to copy the displacement waveform for a plurality of times to obtain a plurality of copied displacement waveforms.

[0162] The splicing unit 904 is configured to splice the displacement waveform and the plurality of copied displacement waveforms to obtain a target displacement waveform.

[0163] When the computing unit 902 calculates the voltage waveform corresponding to the linear motor in the preset period according to the displacement waveform, the computing unit 902 is specifically configured to:

[0164] According to the target displacement waveform, the corresponding driving voltage waveform of the linear motor is calculated.

[0165] Optionally, the apparatus further comprises:

[0166] The optimization unit 905 is configured to perform smooth transition processing on the first X displacement waveforms of the starting segment and the last Y displacement waveforms of the ending segment in the target displacement waveform to obtain an optimized target displacement waveform.

[0167] Optionally, the apparatus further comprises:

[0168] The computing unit 902 is further configured to calculate a corresponding acceleration change rate waveform and a displacement change rate waveform according to the target displacement waveform.

[0169] The judgment unit 906 is configured to judge whether the voltage amplitude of each period in the driving voltage waveform is equal to the maximum voltage value of the linear motor.

[0170] The saving unit 907 is configured to save the first difference between the maximum acceleration change rate and the minimum acceleration change rate in the acceleration change rate waveform, the second difference between the maximum displacement change rate and the minimum displacement change rate in the displacement change rate waveform, the vibration amount of the linear motor, the frequency difference, the first frequency corresponding to the first frequency waveform, and the second frequency corresponding to the second frequency waveform, if the voltage amplitude of each period is equal to the maximum voltage value.

[0171] The frequency increasing unit 908 is configured to gradually increase the frequency difference to obtain an increased frequency difference, if the voltage amplitude of each period is not equal to the maximum voltage value.

[0172] The triggering unit 909 is configured to trigger the step of sequentially splicing the first frequency waveform and the second frequency waveform to form the basic frequency waveform.

[0173] Optionally, the apparatus further comprises:

[0174] The amplitude increasing unit 910 is configured to gradually increase the displacement amplitude of the displacement waveform to obtain an increased displacement waveform.

[0175] The triggering unit 909 is further configured to trigger the step of performing the smooth transition processing on the first X displacement waveforms of the starting segment and the last Y displacement waveforms of the ending segment in the target displacement waveform.

[0176] The linear motor driving voltage generation apparatus performs operations similar to those performed by the linear motor driving voltage generation apparatus in the foregoing Figure 2 embodiments, which will not be described herein again.

[0177] The computer device in the embodiment of the present application will be described below. Please refer to Figure 10 One embodiment of the computer device in the embodiment of the present application comprises:

[0178] The computer device 1000 can include one or more processors (central processing units, CPUs) 1001 and memory 1002 in which one or more application programs or data are stored. The memory 1002 is volatile or persistent storage. The programs stored in the memory 1002 can include one or more modules, each of which can include a series of instruction operations in the computer device. Further, the processor 1001 can be configured to communicate with the memory 1002 to execute the series of instruction operations in the memory 1002 on the computer device 1000. The computer device 1000 can also include one or more wireless network interfaces 1003, one or more input / output interfaces 1004, and / or one or more operating systems, such as Windows Server, Mac OS, Unix, Linux, FreeBSD, etc. The processor 1001 can execute the operations performed in the embodiments shown above, and details are not repeated here. Figures 1 to 2 The operations performed in the embodiments shown above can be executed by the processor 1001, and details are not repeated here.

[0179] In several embodiments provided by the embodiments of the present application, those skilled in the art should understand that the disclosed system, device and method can be implemented by other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0180] In addition, each function unit in various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit. When the integrated unit is realized in the form of a software function 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 solutions of the present application, essentially or in the form of a contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, read-only memory), a random access memory (RAM, random access memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0181] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of generating a drive voltage for a linear motor, characterized by, The method comprises: defining a displacement waveform of a vibrator of the linear motor in a preset period, the displacement waveform being an asymmetric waveform; calculating a corresponding voltage waveform of the linear motor in the preset period according to the displacement waveform; the defining of the displacement waveform of the linear motor in the preset period, the displacement waveform being an asymmetric waveform, comprises: defining a basic frequency waveform of the vibrator of the linear motor in the preset period, the basic frequency waveform being formed by splicing a first frequency waveform and a second frequency waveform, and the first frequency waveform and the second frequency waveform being opposite and asymmetric; taking the basic frequency waveform as the displacement waveform of the vibrator of the linear motor.

2. The drive voltage generation method of a linear motor according to claim 1, characterized by, the basic frequency waveform being formed by splicing the first frequency waveform and the second frequency waveform comprises: the basic frequency waveform is formed by sequentially splicing the first frequency waveform and the second frequency waveform, the first frequency waveform occupying a first time period of the preset period being shorter than the second frequency waveform occupying a second time period of the preset period, or the second frequency waveform occupying the second time period of the preset period being shorter than the first frequency waveform occupying the first time period of the preset period.

3. The drive voltage generation method of a linear motor according to claim 2, characterized by, the first frequency waveform occupying the first time period of the preset period being shorter than the second frequency waveform occupying the second time period of the preset period comprises: , and ; represents a frequency difference; a first frequency indicative of a first frequency of the first frequency waveform; f a base frequency representing a base frequency to which the base frequency waveform corresponds; or, the second frequency waveform occupying the second time period of the preset period being shorter than the first frequency waveform occupying the first time period of the preset period comprises: , and ; represents the frequency difference; a first frequency corresponding to the first frequency waveform; f represents a base frequency corresponding to the base frequency waveform.

4. The drive voltage generation method of a linear motor according to claim 3, characterized by, after taking the basic frequency waveform as the displacement waveform of the vibrator of the linear motor, the method further comprises: copying the displacement waveform for several times to obtain several copied displacement waveforms; splicing the displacement waveform and the several copied displacement waveforms to obtain a target displacement waveform; the calculating of the corresponding voltage waveform of the linear motor in the preset period according to the displacement waveform comprises: calculating a corresponding driving voltage waveform of the linear motor according to the target displacement waveform.

5. The drive voltage generation method of a linear motor according to claim 4, characterized by, after obtaining the target displacement waveform, the method further comprises: performing smooth transition processing on the first X displacement waveforms of a starting segment and the last Y displacement waveforms of an ending segment in the target displacement waveform to obtain an optimized target displacement waveform.

6. The drive voltage generation method of a linear motor according to claim 5, characterized by, after obtaining the optimized target displacement waveform, the method further comprises: calculating a corresponding acceleration change rate waveform and a displacement change rate waveform according to the target displacement waveform; judging whether a voltage amplitude of each period in the driving voltage waveform is equal to a maximum voltage value of the linear motor; if the voltage amplitude of each period is equal to the maximum voltage value, saving a first difference value between an acceleration change rate maximum value and an acceleration change rate minimum value in the acceleration change rate waveform, a second difference value between a displacement change rate maximum value and a displacement change rate minimum value in the displacement change rate waveform, a vibration amount of the linear motor, the frequency difference, the first frequency, and a second frequency corresponding to the second frequency waveform. If the voltage amplitude of each cycle is not equal to the maximum voltage value, then the frequency difference is gradually increased to obtain an increased frequency difference; the step of sequentially splicing the first frequency waveform and the second frequency waveform to form the basic frequency waveform of the linear motor is triggered.

7. The drive voltage generation method of a linear motor according to claim 6, wherein After storing the first difference between the maximum acceleration change rate and the minimum acceleration change rate in the acceleration change rate waveform, the second difference between the maximum displacement change rate and the minimum displacement change rate in the displacement change rate waveform, the vibration amount of the linear motor, the frequency difference, the first frequency, and the second frequency corresponding to the second frequency waveform, the method further comprises: The displacement amplitude of the displacement waveform is gradually increased to obtain an increased displacement waveform, and the following steps are triggered: defining the basic frequency waveform of the vibrator of the linear motor in the preset period, the basic frequency waveform being formed by splicing the first frequency waveform and the second frequency waveform, and the first frequency waveform and the second frequency waveform being opposite in direction and asymmetric.

8. A drive voltage generating device for a linear motor, characterized by comprising: Comprise: The definition unit is configured to define a displacement waveform of the vibrator of the linear motor in a preset period, the displacement waveform being an asymmetric waveform; The calculation unit is configured to calculate a corresponding voltage waveform of the linear motor in the preset period according to the displacement waveform; When the definition unit defines the displacement waveform of the linear motor in a preset period, the displacement waveform being an asymmetric waveform, the definition unit is specifically configured to: Define a basic frequency waveform of the vibrator of the linear motor in the preset period, the basic frequency waveform being formed by splicing a first frequency waveform and a second frequency waveform, and the first frequency waveform and the second frequency waveform being opposite in direction and asymmetric; Take the basic frequency waveform as the displacement waveform of the vibrator of the linear motor.

9. A computer device, comprising: Comprise: A processor, a memory, a bus, an input / output interface; The processor is connected to the memory and the input / output interface through the bus; The memory stores a program; when the processor executes the program stored in the memory, the driving voltage generation method of any one of claims 1 to 7 is realized.

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