Driving Method of Force Feedback Device, Force Feedback Device and Computer Storage Medium

Abstract

The present invention discloses a driving method of a force feedback device, a force feedback device and a computer-readable storage medium, which are applied to a force feedback device internally configured with a mover, and include: detecting the stroke position of the mover, and determining a target resultant force value corresponding to the stroke position according to preset target force relationship data, wherein the target force relationship data is the relationship data between the target resultant force value and the stroke position; determining a target electric driving force value corresponding to the stroke position based on the preset calibration relationship data and the target resultant force value, and calculating a target current value corresponding to the stroke position according to the target electric driving force value and the calibration relationship data; detecting the actual current value in the force feedback device, and determining a duty ratio value based on the actual current value and the target current value; determining a target chopping voltage according to the duty ratio value, and performing a force feedback operation based on the target chopping voltage. The technical solution of the present invention can achieve the technical effect of enabling the force feedback device to achieve accurate force output.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic devices, and particularly to a driving method for a force feedback device, a force feedback device, and a computer-readable storage medium. Background Art

[0002] With the development of the metaverse technology, the demand for force feedback in devices such as gamepads, AR, and VR is increasing. Therefore, there have emerged force feedback devices using electromagnetic direct drive, DC motors combined with transmission mechanisms, or stepper motors combined with transmission mechanisms. Among them, the electromagnetic direct drive scheme is the simplest scheme for constructing a force feedback device. Moreover, the force feedback device constructed by the electromagnetic direct drive scheme also has advantages such as small volume and light weight. Thus, the electromagnetic direct drive structure is suitable for use in gamepads, AR, or VR devices where the internal installation space is extremely limited and the weight is relatively sensitive.

[0003] However, the electromagnetic direct drive structure consists of two parts: a mover and a stator. Thus, in the actual processing and production process, due to the differences between the movers, there will be certain differences between the force feedback devices, which in turn leads to the situation where the force feedback devices cannot achieve unified force feedback output. Summary of the Invention

[0004] Embodiments of the present invention aim to improve the control accuracy and response speed of a force feedback device by providing a driving method for a force feedback device, a force feedback device, and a computer-readable storage medium, so as to achieve accurate force output during force feedback.

[0005] The present invention provides a driving method for a force feedback device. The method is applied to a force feedback device internally configured with a mover, and the driving method of the force feedback device includes the following steps:

[0006] Detect the stroke position of the mover, and determine the target resultant force value corresponding to the stroke position according to the preset target force relationship data, where the target force relationship data is the relationship data between the target resultant force value and the stroke position;

[0007] Based on the preset calibration relationship data and the target resultant force value, determine the target electric driving force value corresponding to the stroke position, and calculate the target current value corresponding to the stroke position according to the target electric driving force value and the calibration relationship data;

[0008] Detect the actual current value in the force feedback device, and determine the duty ratio value based on the actual current value and the target current value;

[0009] Determine the target chopping voltage according to the duty ratio value, and perform a force feedback operation based on the target chopping voltage.

[0010] Further, the calibration relation data includes a calibrated spring force value. The step of determining the target electric drive force value corresponding to the stroke position based on the preset calibration relation data and the target resultant force value includes:

[0011] Determining the calibrated spring force value corresponding to the stroke position in the preset calibration relation data;

[0012] Calculating the target electric drive force value corresponding to the stroke position based on the calibrated spring force value and the target resultant force value.

[0013] Further, the calibration relation data further includes a calibrated electric drive force value. The step of calculating the target current value corresponding to the stroke position according to the target electric drive force value and the calibration relation data includes:

[0014] Determining the calibrated electric drive force value corresponding to the stroke position in the calibration relation data;

[0015] Determining the target current value based on the target electric drive force value, the calibrated electric drive force value, and the preset rated current value.

[0016] Further, the step of determining the duty ratio value based on the actual current value and the target current value includes:

[0017] Determining the current deviation value between the actual current value and the target current value;

[0018] Determining the duty ratio value according to the current deviation value and the preset proportional integral.

[0019] Further, after the step of determining the duty ratio value according to the current deviation value and the preset proportional integral, the method further includes:

[0020] Judging whether the amplitude of the duty ratio value is greater than 1;

[0021] If so, adjusting the amplitude of the duty ratio value to 1;

[0022] Or,

[0023] Judging whether the amplitude of the duty ratio value is less than -1;

[0024] If it is judged that the amplitude is less than -1, adjusting the amplitude of the duty ratio value to -1.

[0025] Further, the step of determining the target chopping voltage according to the duty ratio value includes:

[0026] Determining the target polarity and the target voltage value corresponding to the duty ratio value;

[0027] Generate a target chopping voltage according to the target polarity and the target voltage value.

[0028] Further, a calibration device is also arranged in the force feedback device. Before the step of detecting the stroke position of the mover, the method further includes:

[0029] Controlling the calibration device to calibrate the mover to obtain first relationship data, where the first relationship data is the relationship data between the stroke position and the calibrated spring force value;

[0030] Controlling the calibration device to calibrate the mover to obtain second relationship data, where the second relationship data is the relationship data between the stroke position and the calibrated resultant force value;

[0031] Determine third relationship data based on the first relationship data and the second relationship data, and determine the third relationship data as the calibration relationship data; where the third relationship data is the relationship data between the stroke position, the calibrated spring force value, and the calibrated electric driving force value.

[0032] Further, the step of determining third relationship data based on the first relationship data and the second relationship data includes:

[0033] Determine the calibrated spring force value and the calibrated resultant force value corresponding to the stroke position based on the first relationship data and the second relationship data;

[0034] Determine the calibrated electric driving force value corresponding to the stroke position according to the calibrated spring force value and the calibrated resultant force value, and determine the relationship data between the stroke position, the calibrated electric driving force value, and the calibrated spring force value as the third relationship data.

[0035] In addition, to achieve the above object, the present invention further provides a force feedback device, which includes: a memory, a processor, and a driving program of the force feedback device stored on the memory and executable on the processor. When the driving program of the force feedback device is executed by the processor, the steps of the driving method of the force feedback device as described above are implemented.

[0036] In addition, to achieve the above object, the present invention further provides a computer-readable storage medium, on which a driving program of the force feedback device is stored. When the driving program of the force feedback device is executed by a processor, the steps of the driving method of the force feedback device as described above are implemented.

[0037] The driving method, device, terminal device and computer-readable storage medium of the force feedback device provided by the embodiment of the present invention are applied to a force feedback device internally configured with a mover. By detecting the stroke position of the mover, the target resultant force value corresponding to the stroke position is determined according to the preset target force relationship data, where the target force relationship data is the relationship data between the target resultant force value and the stroke position; based on the preset calibration relationship data and the target resultant force value, the target electric driving force value corresponding to the stroke position is determined, and the target current value corresponding to the stroke position is calculated according to the target electric driving force value and the calibration relationship data; the actual current value in the force feedback device is detected, and the duty ratio value is determined based on the actual current value and the target current value; the target chopping voltage is determined according to the duty ratio value, and the force feedback operation is performed based on the target chopping voltage.

[0038] In this embodiment, when the force feedback device is running, it first receives the target force relationship data composed of the relationship data between the target resultant force value and the stroke position of the mover. The force feedback device detects the stroke position of the mover through a built-in position sensor, and determines the target resultant force value corresponding to the stroke position in the target force relationship data. Then, the force feedback device reads the storage device to obtain the calibration relationship data pre-stored by the technician, and determines the target electric driving force value corresponding to the stroke position according to the calibration relationship data and the target resultant force value. Furthermore, the target current value corresponding to the stroke position is calculated according to the calibration relationship data and the target electric driving force value. Then, the force feedback device calls the built-in current sensor to detect the actual current value in the built-in winding of the force feedback device, and determines the duty ratio value based on the target current value and the actual current value. Finally, the force feedback device determines the target polarity and target voltage value corresponding to the duty ratio value through the built-in controller, generates the target chopping voltage according to the target polarity and the target voltage value, and then performs the force feedback operation based on the target chopping voltage.

[0039] In this way, the present invention adopts the method of detecting the stroke position of the mover, then determining the target resultant force value corresponding to the stroke position, determining the target current value according to the target resultant force value and the calibration relationship data, and finally determining the target chopping voltage according to the target current value, and then performing the force feedback operation based on the target chopping voltage. That is, the present invention uses the calibration relationship data to eliminate the differences in the movers in each force feedback device caused by inconsistent processing processes, thereby achieving the technical effect of improving the control accuracy and response speed of the force feedback device, and further enabling the force feedback device to achieve accurate force output during force feedback. Description of the Drawings

[0040] Figure 1 is a structural schematic diagram of the force feedback device in the hardware operating environment related to the solution of the embodiment of the present invention;

[0041] Figure 2 It is a schematic flowchart of the first embodiment of the driving method of the force feedback device of the present invention;

[0042] Figure 3 It is a schematic flowchart of the second embodiment of the driving method of the force feedback device of the present invention;

[0043] Figure 4 It is a schematic flowchart of the calibration process involved in an embodiment of the driving method of the force feedback device of the present invention;

[0044] Figure 5 It is a schematic flowchart of the preferred embodiment process involved in an embodiment of the driving method of the force feedback device of the present invention;

[0045] Figure 6 It is a schematic detailed flowchart involved in an embodiment of the driving method of the force feedback device of the present invention.

[0046] The realization of the object, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] Please refer to Figure 1 , Figure 1 It is a schematic structural diagram of the force feedback device of the hardware operating environment involved in the embodiment solution of the present invention.

[0049] The force feedback device in the embodiment of the present invention may be a force feedback device including two parts, a mover and a stator, at least one of the mover and the stator includes a permanent magnet, at least one includes a coil, and the magnet and the coil are designed at the stator end; the mover and the stator are connected by a spring. Of course, it may also be other force feedback devices that can adopt the electromagnetic drive principle.

[0050] Such as Figure 1As shown in the figure, the force feedback device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (WI-FI) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the force feedback device, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0052] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a driver program for the force feedback device.

[0053] In Figure 1 the force feedback device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with users; the processor 1001 and the memory 1005 in the force feedback device of the present invention may be provided in the force feedback device. The force feedback device calls the driver program stored in the memory 1005 through the processor 1001 and executes the driving method of the force feedback device provided by the embodiments of the present invention.

[0054] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of the driving method of the force feedback device of the present invention.

[0055] It should be understood that although the logical order is shown in the flowchart, in some cases, the driving method of the force feedback device of the present invention may of course be executed in a different order from the steps shown or described here.

[0056] In this embodiment, the driving method of the force feedback device of the present invention may include the following steps:

[0057] Step S10: Detect the stroke position of the mover, and determine the target resultant force value corresponding to the stroke position according to the preset target force relationship data, where the target force relationship data is the relationship data between the target resultant force value and the stroke position;

[0058] In this embodiment, the stroke position is the position where the mover is located during movement. Specifically, it is not limited in this embodiment whether to use distance or percentage to represent it and the selection of the position reference. For example, in one implementation manner, a technician can set one end of the movable range of the mover as the starting point of the stroke, and the other end as the ending point, and define the ratio of the distance that the mover has traveled from the starting point to the current position to the total distance from the starting point to the ending point as the stroke position. Similarly, the target force relationship data is the relationship data between the stroke position of the mover and the target resultant force value. This target force relationship data is sent from the application terminal paired with the force feedback device to the force feedback device. The application terminal or the technician can also modify the target force relationship data according to the actual application scenario or requirements of the force feedback device. The present invention does not limit this. It should be noted that the maximum target force value included in the target force relationship data should not be higher than the rated output force value of the force feedback device. At the same time, the minimum target force value included in the target force relationship data should be greater than or equal to 0.

[0059] In addition, the target resultant force value is the value of the resultant force that the mover receives at the stroke position. It should be noted that in this embodiment, a technician can ignore the friction force received by the mover. That is, the resultant force can be composed of the electric driving force and the spring force. Of course, a technician can also detect in advance the target resultant force value including the friction force when the mover is at each stroke position. The present invention also does not limit this.

[0060] During the operation of the force feedback device, it first receives the above-mentioned target force relationship data sent by the application terminal matching the force feedback device, and calls the built-in controller to determine the maximum target force value and the minimum target force value in the target force relationship data. The controller sets the target maximum force value and the minimum target force value to make the target force relationship data correspond to the rated output force range of the force feedback device. At the same time, the force feedback device calls the built-in position sensor to detect the movement status of the mover to obtain the stroke position of the mover. The force feedback device then calls the controller to determine the target resultant force value corresponding to the stroke position in the target force relationship data.

[0061] Exemplarily, for example, during the operation of the force feedback device, first, it receives the first target force relationship data Ft1 sent by the host terminal that matches the configured force feedback device. At the same time, the force feedback determines the maximum target force value Ft included in the first target force relationship data Ft1 through the above-mentioned controller. max and the minimum target force value Ft min . At the same time, the force feedback device determines whether the maximum target force value Ft max is higher than the rated maximum output force of the force feedback device, and whether the minimum target force value Ft min is lower than the rated minimum output force of the force feedback device. When the controller determines that the maximum target force value Ft max is higher than the rated maximum output force of the force feedback device, or the minimum target force value Ft min is lower than the rated minimum output force of the force feedback device, the controller modifies the maximum target force value Ft max and the minimum target force value Ft min to within the rated output force value range of the force feedback device, thereby obtaining the second target force relationship data Ft2, and determining the second target force relationship data Ft2 as the above-mentioned target force relationship data. At the same time, the force feedback device calls the built-in Hall element to detect the position of the mover on the travel route, and then determines the stroke position S of the mover. After that, the force feedback device determines the target resultant force value Ft_S corresponding to the stroke position S in the above-mentioned target force relationship data.

[0062] It should be noted that when the application terminal determines that the force feedback device only needs to output one target force value, the target force relationship data in this embodiment can also be composed of one target resultant force value and one stroke position. Of course, there are many forms of composition of the target force relationship data, and the present invention does not limit this.

[0063] Step S20: Determine the target electric drive force value corresponding to the stroke position based on the preset calibration relationship data and the target resultant force value, and calculate the target current value corresponding to the stroke position according to the target electric drive force value and the calibration relationship data;

[0064] In this embodiment, the calibration relationship data is a curve composed of the stroke position of the mover, the calibration spring force value, and the calibration electric drive force value in the calibration state of the force feedback device. That is, the calibration relationship data represents the calibration spring force and calibration electric drive force that the mover should receive at different stroke positions in the calibration state. Of course, technicians can also add the friction force value to the calibration relationship data. Therefore, there are many forms of composition and contents included in the calibration relationship data, and the present invention does not limit this.

[0065] Exemplarily, for example, the force feedback device reads the built-in storage device to obtain the calibration relationship data pre-stored by the technician, and inputs the calibration relationship data into the above-mentioned controller. The controller determines the calibration spring force value corresponding to the above-mentioned stroke position from the calibration relationship data. Then, the controller further determines the target electric drive force value corresponding to the stroke position based on the above-mentioned target resultant force value and the calibration spring force value, and determines the target current value based on the calibration relationship data and the target electric drive force value.

[0066] Further, in a feasible embodiment, the step of "determining the target electric drive force value corresponding to the stroke position based on the preset calibration relationship data and the target resultant force value" in the above step S20 may specifically include:

[0067] Step S201: Determine the calibration spring force value corresponding to the stroke position in the preset calibration relationship data;

[0068] Step S202: Calculate the target electric drive force value corresponding to the stroke position based on the calibration spring force value and the target resultant force value;

[0069] In this embodiment, the calibration spring force value is the value corresponding to the calibration spring force, and the calibration spring force is the force exerted by the spring connected to the mover by the force feedback device on the mover in the calibration state. Similarly, the target electric drive force value is the value of the electric drive force received by the mover at the action position, and the electric drive force is the force generated by the force feedback device driven by voltage on the mover at the stroke position.

[0070] Exemplarily, for example, the force feedback device reads the above-mentioned storage device to obtain the above-mentioned calibration relationship data, and determines the calibration spring force value Fk corresponding to the above-mentioned stroke position S in the calibration relationship data. At the same time, the force feedback device calculates the difference between the target resultant force value Ft_S corresponding to the stroke position S and the calibration spring force value Fk through the above-mentioned controller, that is, the controller calculates the target electric drive force value Fe_S = the target resultant force value Ft_S - the calibration spring force value Fk.

[0071] Further, in a feasible embodiment, the step of "calculating the target current value corresponding to the stroke position based on the target electric drive force value and the calibration relationship data" in the above step S20 may specifically include:

[0072] Step S203: Determine the calibration electric drive force value corresponding to the stroke position in the calibration relationship data;

[0073] Step S204: Determine the target current value based on the target electric drive force value, the calibration electric drive force value and the preset rated current value;

[0074] In this embodiment, the calibrated electric drive force value is the value corresponding to the calibrated electric drive force, and the calibrated electric drive force is the electric drive force generated when the mover of the force feedback device is under the calibrated state and the force feedback device operates at a preset calibrated current value.

[0075] Exemplarily, for example, the force feedback device reads the above storage device to obtain the above calibration relationship data, and determines the calibrated electric drive force value Fe1 corresponding to the above stroke position S in the calibration relationship data. At the same time, the force feedback device obtains the rated current value iN preset by the technician through the above controller. After that, the control calculation calculates the target current value it_S for the calibrated electric drive force value Fe1, the above target electric drive force value Fe_S, and the rated current value it_S, that is, the target current value it_S = (Fe_S / Fe1_S) * iN.

[0076] Step S30: Detect the actual current value in the force feedback device, and determine the duty ratio value based on the actual current value and the target current value;

[0077] The actual current value is the current value of the actual current generated by the controller in the force feedback device through closed-loop control. In this embodiment, the force feedback device detects the above controller through an internally configured current sensor to obtain the actual current value in the force feedback device, and calls the controller to input the actual current value and the above target current value obtained according to the actual current value into the calculation to obtain the duty ratio value of the force feedback device when the mover is in the above stroke position.

[0078] Further, in a feasible embodiment, the step of "determining the duty ratio value based on the actual current value and the target current value" in the above step S30 may specifically include:

[0079] Step S301: Determine the current deviation value between the actual current value and the target current value;

[0080] Step S302: Determine the duty ratio value according to the current deviation value and the preset proportional integral;

[0081] Exemplarily, for example, the force feedback device detects the above controller through a built-in current sensor to obtain the actual current value ia in the force feedback device. The force feedback device calls the controller to calculate the difference between the actual current value ia and the above target current value it_S, that is, the controller calculates the current deviation value iDelta = it_S - ia. After that, the controller inputs the current deviation value iDelta into the PI regulator configured in the force feedback device, and the PI regulator calculates the duty ratio value D1 according to the current deviation value iDelta.

[0082] Further, in a feasible embodiment, after the above step S302, the driving method of the force feedback device of the present invention may further include:

[0083] Step A10: Determine whether the amplitude of the duty ratio value is greater than 1;

[0084] Step A20: If so, adjust the amplitude of the duty ratio value to 1;

[0085] Step A30: Determine whether the amplitude of the duty ratio value is less than -1;

[0086] Step A40: If it is determined that the amplitude is less than -1, adjust the amplitude of the duty ratio value to -1;

[0087] Exemplarily, for example, the force feedback device inputs the obtained duty ratio value D1 into the controller, and the controller determines the amplitude corresponding to the duty ratio value D1 and judges whether the amplitude is greater than 1. If the controller determines that the amplitude is greater than 1, it modifies the amplitude value to 1 and determines the modified duty ratio value as the second duty ratio value D2. Similarly, the controller can also judge whether the amplitude is less than -1. If the controller determines that the amplitude is less than -1, the controller modifies the amplitude to -1 to generate the second duty ratio value D2.

[0088] It can be understood that in this embodiment, the amplitude of the duty ratio value can also be a percentage value. Thus, the above controller can judge whether the amplitude value of the duty ratio value D1 is greater than 100% or less than -100%, and when it is determined that the amplitude is greater than 100%, modify the amplitude to 100%, or when it is determined that the amplitude is less than -100%, modify the amplitude to -100%.

[0089] Step S40: Determine the target chopping voltage according to the duty ratio value, and perform a force feedback operation based on the target chopping voltage;

[0090] In this embodiment, a person skilled in the art can change the input voltage into a pulsed voltage by periodically performing on and off operations, and then adjust the average value of the output voltage by changing the pulse width or frequency of the pulse train to obtain a chopping voltage with a PWM waveform. Of course, there are many ways to obtain this chopping voltage, and the present invention does not limit this.

[0091] Exemplarily, for example, the force feedback device inputs the duty ratio value into the controller, and the controller judges the polarity of the duty ratio value and obtains a judgment result. The controller then generates a target chopping voltage corresponding to the judgment result, and thus performs a force feedback operation through the force generated by the target chopping voltage.

[0092] Further, in a feasible embodiment, the step of "determining the target chopping voltage according to the duty cycle value" in the above step S40 may specifically include:

[0093] Step S401: Determine the target polarity and target voltage value corresponding to the duty cycle value;

[0094] Step S402: Generate a target chopping voltage according to the target polarity and the target voltage value;

[0095] Exemplarily, for example, the force feedback device inputs the above target duty cycle value D2 into the controller. The controller judges whether the amplitude of the duty cycle value is greater than to determine the target polarity. When the amplitude of the duty cycle value is less than 0, the controller determines that the target polarity is negative. Similarly, when the amplitude of the duty cycle value is greater than 0, the controller determines that the target polarity is positive. Then, the controller reads the amplitude |D2| corresponding to the duty cycle value D2 and determines the amplitude |D2| as the target voltage value, and further generates a PWM chopping voltage corresponding to the target polarity and the amplitude |D2|, and performs a force feedback operation based on the PWM chopping voltage.

[0096] In this embodiment, during the operation of the force feedback device, it first receives the above-mentioned target force relationship data sent by the application terminal matching the force feedback device, and calls the built-in controller to determine the maximum target force value and the minimum target force value in the target force relationship data. The controller sets the target maximum force value and the minimum target force value so that the target force relationship data corresponds to the rated output force range of the force feedback device. At the same time, the force feedback device calls the built-in position sensor to detect the motion state of the mover to obtain the stroke position of the mover. The force feedback device then calls the controller to determine the target resultant force value corresponding to the stroke position in the target force relationship data. After that, the force feedback device reads the built-in storage device to obtain the calibration relationship data pre-stored by the technician, and inputs the calibration relationship data into the above-mentioned controller. The controller determines the calibration spring force value corresponding to the stroke position in the calibration relationship data. The controller then determines the target electric drive force value corresponding to the stroke position according to the above-mentioned target resultant force value and the calibration spring force value, and determines the target current value according to the calibration relationship data and the target electric drive force value. Then, the force feedback device detects the above-mentioned controller through the internally configured current sensor to obtain the actual current value in the force feedback device, and calls the controller to input the actual current value and the above-mentioned target current value obtained according to the actual current value to calculate the duty cycle value of the force feedback device when the mover is in the above-mentioned stroke position. Finally, the force feedback device inputs the duty cycle value into the controller, and the controller makes a polarity judgment on the duty cycle value to obtain a judgment result. The controller then generates a target chopping voltage corresponding to the judgment result, so as to perform a force feedback operation through the force generated by the target chopping voltage.

[0097] In this way, the present invention adopts the method of detecting the stroke position of the mover, then determining the target resultant force value corresponding to the stroke position, and determining the target current value according to the target resultant force value and the calibration relationship data. Finally, the target chopping voltage is determined according to the target current value, and then the force feedback operation is performed based on the target chopping voltage. That is, the stroke position of the mover is detected, the resultant force value received by the mover when it is in this stroke position is determined, and then the component force values received by the mover at this stroke position are determined according to the calibration relationship data and the resultant force value to obtain the target current value that the force feedback device needs to output when the mover is in this stroke position. Finally, the target chopping voltage is determined according to the detected actual current value and the target current value, and then the force feedback operation is performed based on the target chopping voltage, achieving the technical effects of improving the control accuracy and response speed of the force feedback device, and thus enabling accurate force output during force feedback.

[0098] Further, based on the first embodiment of the driving method of the force feedback device of the present invention, a second embodiment of the driving method of the force feedback device of the present invention is proposed here.

[0099] Please refer to Figure 3 , Figure 3 the schematic flowchart of the second embodiment of the driving method of the force feedback device of the present invention. Before the above step S10, the driving method of the force feedback device of the present invention may further include:

[0100] Step B10: Control the calibration device to calibrate the mover to obtain first relationship data, where the first relationship data is the relationship data between the stroke position and the calibration spring force value;

[0101] In this embodiment, the force feedback device is first in an unpowered state. At this time, the force feedback device controls the calibration device to perform a uniform pressing operation on the mover configured in the force feedback device. At the same time, the calibration device records the stroke position of the mover and the calibration spring force value received by the mover at this stroke position, and then determines the first relationship data according to the relationship data between the stroke position and the calibration spring force value.

[0102] Exemplarily, for example, please refer to Figure 4 , Figure 4 the schematic flowchart of the calibration process involved in an embodiment of the driving method of the force feedback device of the present invention. When the force feedback device is not powered on, the force feedback device controls the calibration device to perform a uniform pressing operation on the mover configured in the force feedback device. At the same time, the calibration device records the change of the stroke of the mover from 0% - 100%. After that, the calibration device records the calibration spring force Fk received by the mover at each position point within this stroke. After that, the test device determines the relationship data between the stroke position and the calibration spring force value according to each position point within the stroke and the calibration spring force Fk corresponding to each position point, and determines this relationship data as the first relationship data.

[0103] Step B20: Control the calibration device to calibrate the mover to obtain second relationship data, where the second relationship data is the relationship data between the stroke position and the calibration resultant force value;

[0104] In this embodiment, when the force feedback device is in a state of passing the calibration current value, at this time, the force feedback device controls the calibration device to perform a uniform pressing operation on the mover configured in the force feedback device and records the stroke position of the mover and the calibration resultant force value received by the mover at this stroke position, and then determines the second relationship data according to the relationship data between the stroke position and the calibration resultant force value.

[0105] Exemplarily, for example, as Figure 4As shown, in a state where a calibration current value is applied to the force feedback device, the force feedback device controls the calibration device to perform a uniform pressing operation on the mover disposed in the force feedback device. At the same time, the calibration device records the change of the stroke of the mover from 0% to 100%. After that, the calibration device records the calibration resultant force value Fa received by the mover at each position point within the stroke. After that, the calibration device determines the relationship data between the stroke position and the calibration resultant force value based on the position points within the stroke and the calibration resultant force value Fa corresponding to each position point, and determines the relationship data as the second relationship data.

[0106] Step B30: Determine the third relationship data based on the first relationship data and the second relationship data, and determine the third relationship data as the calibration relationship data; wherein, the third relationship data is the relationship data between the stroke position, the calibration spring force value, and the calibration electric drive force value.

[0107] Exemplarily, for example, as Figure 4 shown, the force feedback device inputs the obtained first relationship data and second relationship data into the data processing device disposed in the force feedback device. The data processing device determines the calibration electric drive force value received by the mover in the force feedback device at each position point within the above stroke based on the first relationship data and the second relationship data. Furthermore, the third relationship data is determined based on the relationship data between the stroke position, the calibration electric drive force value, and the above calibration spring force value, and the third relationship data is determined as the above calibration relationship data.

[0108] Furthermore, in a feasible embodiment, the step of "determining the third data set of the force feedback device based on the first data set and the second data set" in the above step B30 may specifically include:

[0109] Step B301: Determine the calibration spring force value and the calibration resultant force value corresponding to the stroke position based on the first relationship data and the second relationship data.

[0110] Step B302: Determine the calibration electric drive force value corresponding to the stroke position according to the calibration spring force value and the calibration resultant force value, and determine the relationship data between the stroke position, the calibration electric drive force value, and the calibration spring force value as the third relationship data.

[0111] Exemplarily, for example, the force feedback device inputs the obtained first relationship data and second relationship data into a data processing device configured within the force feedback device. The data processing device determines the calibrated resultant force value Fa and the calibrated spring force value Fk respectively received by the mover within the force feedback device at each position point within the above-mentioned stroke position according to the first relationship data and the second relationship data, and calculates the difference between the calibrated resultant force value Fa and the calibrated spring force value Fk at each position point to obtain the calibrated electric drive force value Fe of the mover at each position point, that is, the data processing device calculates the calibrated electric drive force value Fe at each position point = calibrated resultant force value Fa - calibrated spring force value Fk. After that, the force feedback device determines the relationship data between the calibrated spring force value Fk, the calibrated electric drive force value Fe received by the mover at each position point and the stroke position, and further determines the relationship data between the stroke position, the calibrated electric drive force value and the above-mentioned calibrated spring force value as the third relationship data.

[0112] In this embodiment, the force feedback device is initially in a non-powered state. At this time, the force feedback device controls the calibration device to perform a uniform pressing operation on the mover configured within the force feedback device. At the same time, the calibration device records the stroke position of the mover and the calibrated spring force value received by the mover at this stroke position, and further determines the first relationship data according to the relationship data between the stroke position and the calibrated spring force value. After that, the force feedback device is in a state of passing the calibration current value. At this time, the force feedback device controls the calibration device to perform a uniform pressing operation on the mover configured within the force feedback device and records the stroke position of the mover and the calibrated resultant force value received by the mover at this stroke position, and further determines the second relationship data according to the relationship data between the stroke position and the calibrated resultant force value. Finally, the force feedback device inputs the obtained first relationship data and second relationship data into a data processing device configured within the force feedback device. The data processing device determines the calibrated electric drive force values respectively received by the mover within the force feedback device at each position point within the above-mentioned stroke according to the first relationship data and the second relationship data, and further determines the third relationship data according to the relationship data between the stroke position, the calibrated electric drive force value and the above-mentioned calibrated spring force value, and determines the third relationship data as the above-mentioned calibration relationship data.

[0113] Thus, the present invention calibrates the force feedback device in the non-powered state to obtain the calibrated spring force values of the mover at each stroke position, and calibrates the force feedback device in the powered state to obtain the calibrated resultant force values of the mover at each stroke position, and then obtains the calibrated electric driving force values of the mover at each stroke position, and determines the relationship data among the stroke position, the calibrated spring force value and the calibrated resultant force value as the calibration data, that is, obtains the spring force values received by the mover at each stroke position in the non-powered state, and obtains the resultant force values received by the mover at each stroke position in the powered state, calculates the electric driving force values received by the mover at each stroke position in the powered state according to the spring force values and the resultant force values, so as to determine the relationship data among the stroke position, the spring force value and the electric driving force value, achieving the purpose of providing a data basis for improving the control accuracy of the force feedback device.

[0114] Further, based on the second embodiment of the driving method of the force feedback device of the present invention, a preferred embodiment of the driving method of the force feedback device of the present invention is proposed herein.

[0115] Please refer to Figure 5 and Figure 6 , wherein, Figure 5 is a schematic diagram of the preferred embodiment process involved in an embodiment of the driving method of the force feedback device of the present invention, Figure 6 is a detailed schematic diagram of the process involved in an embodiment of the driving method of the force feedback device of the present invention.

[0116] In this embodiment, the force feedback device first receives a first target force curve Ft1 sent by an application terminal paired with the force feedback device, and sets the upper limit of the change rate included in the first target force curve Ft1 to generate a second target force curve Ft2. Then, the force feedback device detects the current stroke S of the mover through a built-in Hall element, and determines the target force single value Ft_S received by the mover at the current position S according to the second target force curve Ft2 and the current stroke S. At the same time, the force feedback device determines the calibrated spring force single value Fk_S corresponding to the current stroke S in the above calibration data set, and calculates the target electric drive force single value Fe_S = Ft_S - Fk_S corresponding to the current stroke S through the target force single value Ft_S and the calibrated spring force single value Fk_S. Then, the force feedback device determines the calibrated electric drive force single value Fe1_S corresponding to the current stroke S in the calibration data set, and calculates the target current value it_S = (Fe_S / Fe1_S) * iN based on the target electric drive force single value Fe_S, the calibrated electric drive force single value Fe1_S, and the rated current value iN of the force feedback device. Then, the force feedback device calls the above current sensor to detect the actual current value ia in the winding of the force feedback device, and obtains the current deviation value iDelta based on the target current value it_S and the actual current value ia. Furthermore, the first duty ratio D1 is obtained according to the current deviation value iDelta. The controller in the force feedback device then judges the amplitude of the first duty ratio D1. When the amplitude is greater than 100% or less than -100%, the amplitude is corrected to obtain a second duty ratio D2. Finally, the controller determines the target polarity and target amplitude of the second duty ratio D2, and then generates a target chopping voltage according to the target polarity and the target amplitude, and drives the force feedback device to execute the force feedback operation through the target chopping voltage.

[0117] It should be noted that, in this embodiment, the first target force curve Ft1 and the second target force curve Ft2 are the target force relationship data in each of the above embodiments of the driving method of the force feedback device of the present invention.

[0118] In addition, the present invention also provides a force feedback device, which has a driving program of the force feedback device that can run on a processor. When the force feedback device executes the driving of the force feedback device, the steps of the driving method of the force feedback device described in any of the above embodiments are realized.

[0119] The specific embodiments of the force feedback device of the present invention are basically the same as those of the above embodiments of the driving method of the force feedback device, and will not be described in detail here.

[0120] In addition, the present invention also provides a computer-readable storage medium, on which a driver program of a force feedback device is stored. When the driver program of the force feedback device is executed by a processor, the steps of the driving method of the force feedback device described in any of the above embodiments are implemented.

[0121] The specific embodiments of the computer-readable storage medium of the present invention are basically the same as those of the above embodiments of the driving method of the force feedback device, and will not be elaborated here.

[0122] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0123] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0124] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal device (which may be a force feedback device including two parts, a mover and a stator, at least one of the mover and the stator includes a permanent magnet, at least one includes a coil, and the magnetic steel and the coil are designed at the stator end; the mover and the stator are connected by a spring. Of course, it can also be other force feedback devices that can adopt the electromagnetic drive principle, etc.) to execute the methods described in the various embodiments of the present invention.

[0125] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A driving method of a force feedback device, characterized in that, The method is applied to a force feedback device internally configured with a mover. The driving method of the force feedback device includes the following steps: Detect the stroke position of the mover, and determine the target resultant force value corresponding to the stroke position according to preset target force relationship data, where the target force relationship data is the relationship data between the target resultant force value and the stroke position; Determine the target electric driving force value corresponding to the stroke position based on the preset calibration relationship data and the target resultant force value, and calculate the target current value corresponding to the stroke position according to the target electric driving force value and the calibration relationship data; Detect the actual current value in the force feedback device, and determine the duty ratio value based on the actual current value and the target current value; Determine the target chopping voltage according to the duty ratio value, and perform a force feedback operation based on the target chopping voltage.

2. The driving method of the force feedback device according to claim 1, characterized in that, The calibration relationship data includes a calibrated spring force value. The step of determining the target electric driving force value corresponding to the stroke position based on the preset calibration relationship data and the target resultant force value includes: Determine the calibrated spring force value corresponding to the stroke position in the preset calibration relationship data; Calculate the target electric driving force value corresponding to the stroke position based on the calibrated spring force value and the target resultant force value.

3. The driving method of the force feedback device according to claim 2, characterized in that, The calibration relationship data further includes a calibrated electric driving force value. The step of calculating the target current value corresponding to the stroke position according to the target electric driving force value and the calibration relationship data includes: Determine the calibrated electric driving force value corresponding to the stroke position in the calibration relationship data; Determine the target current value based on the target electric driving force value, the calibrated electric driving force value, and a preset rated current value.

4. The driving method of the force feedback device according to claim 1, characterized in that, The step of determining the duty ratio value based on the actual current value and the target current value includes: Determine the current deviation value between the actual current value and the target current value; Determine the duty ratio value according to the current deviation value and a preset proportional integral.

5. The driving method of the force feedback device according to claim 4, wherein, After the step of determining the duty ratio value according to the current deviation value and the preset proportional integral, the method further includes: Judge whether the amplitude of the duty ratio value is greater than 1; If so, adjust the amplitude of the duty ratio value to 1; Or, Judge whether the amplitude of the duty ratio value is less than -1; If it is judged that the amplitude is less than -1, adjust the amplitude of the duty ratio value to -1.

6. The driving method of the force feedback device according to claim 1, characterized in that, The step of determining the target chopping voltage according to the duty ratio value includes: Determine the target polarity and target voltage value corresponding to the duty ratio value; Generate the target chopping voltage according to the target polarity and the target voltage value.

7. The driving method of the force feedback device according to any one of claims 1 to 6, characterized in that, A calibration device is further configured in the force feedback device. Before the step of detecting the stroke position of the mover, the method further includes: Control the calibration device to calibrate the mover to obtain first relationship data, where the first relationship data is the relationship data between the stroke position and the calibrated spring force value; Control the calibration device to calibrate the mover to obtain second relationship data, where the second relationship data is the relationship data between the stroke position and the calibrated resultant force value; Determine third relationship data based on the first relationship data and the second relationship data, and determine the third relationship data as the calibration relationship data; wherein the third relationship data is the relationship data between the stroke position, the calibrated spring force value, and the calibrated electric drive force value.

8. The driving method of the force feedback device according to claim 7, characterized in that, The step of determining third relationship data based on the first relationship data and the second relationship data includes: Determine the calibrated spring force value and the calibrated resultant force value corresponding to the stroke position based on the first relationship data and the second relationship data; Determine the calibrated electric drive force value corresponding to the stroke position according to the calibrated spring force value and the calibrated resultant force value, and determine the relationship data between the stroke position, the calibrated electric drive force value, and the calibrated spring force value as the third relationship data.

9. A force feedback device, characterized in that, The force feedback device includes: a memory, a processor, and a driver program of the force feedback device stored on the memory and executable on the processor. When the driver program of the force feedback device is executed by the processor, the steps of the driving method of the force feedback device according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that, A driver program of a force feedback device is stored on the computer-readable storage medium. When the driver program of the force feedback device is executed by a processor, the steps of the driving method of the force feedback device according to any one of claims 1 to 8 are implemented.

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