Displacement control method, device, terminal equipment and medium of linear motor vibrator

Abstract

The present invention discloses a displacement control method, device, terminal equipment and computer-readable storage medium for a linear motor vibrator, comprising: obtaining each driving voltage signal input into a target linear motor and each motor parameter of the target linear motor, and calculating each vibrator motion parameter prediction value in the target linear motor according to each driving voltage signal and each motor parameter; calculating a generalized damping coefficient according to each vibrator motion parameter prediction value, each driving voltage signal and each motor parameter, and obtaining a control judgment result according to the generalized damping coefficient and each vibrator motion parameter prediction value, and then determining whether the control judgment result matches a preset displacement control condition; if it is determined that the control judgment result matches the displacement control condition, calculating a target protection voltage value according to each motor parameter and each vibrator motion parameter prediction value, and inputting the target protection voltage value into the target linear motor to control the displacement of the vibrator in the target linear motor.

Description

Technical Field

[0001] The present invention relates to the field of linear motor technology, and in particular to a displacement control method, device, terminal equipment and computer-readable storage medium for a linear motor vibrator. Background Art

[0002] With the development of the consumer electronics industry, linear resonant actuators (LRA) have been widely used in various occasions that require vibration feedback through consumer electronic products due to their advantages of strong, rich, crisp vibration and low energy consumption. Especially in AR (Augmented Reality) / VR (Virtual Reality) products, linear motors can achieve very rich, real and strong vibration feedback by constructing diverse driving voltage signals.

[0003] However, since technical personnel often cannot accurately know the specific physical characteristics and control algorithms of linear motors, they cannot ensure that the designed driving voltage can keep the vibrator in the linear motor within the maximum displacement range allowed by the linear motor hardware design when constructing the driving voltage signal. Especially in some application scenarios with large vibration requirements, AR / VR products often increase the driving voltage amplitude to improve the vibration feedback of the linear motor. In this way, it is easy for the vibrator in the linear motor to exceed the displacement range limited by the hardware of the linear motor itself during movement. Once the above situation occurs, the vibrator is prone to mechanical collision with the housing of the linear motor, thereby reducing the motor performance, generating vibration noise or affecting the normal vibration output of the linear motor, and even directly causing damage to the linear motor. Therefore, how to prevent the vibrator in the linear motor from colliding with the housing of the linear motor during movement has become an urgent problem to be solved in the industry. Summary of the invention

[0004] The embodiments of the present invention provide a displacement control method, apparatus, terminal device and computer-readable storage medium for a linear motor vibrator, so as to enable the terminal device to perform intervention protection during the driving process of the linear motor, thereby preventing the vibrator in the linear motor from colliding with the motor housing during movement, thereby preventing the linear motor from experiencing performance degradation, abnormal vibration, loud vibration noise or motor damage during the driving process.

[0005] To achieve the above object, the present invention provides a displacement control method for a linear motor vibrator, the displacement control method for a linear motor vibrator comprising the following steps:

[0006] Acquire each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate the predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter;

[0007] A generalized damping coefficient is calculated according to the predicted values ​​of the vibrator motion parameters, the driving voltage signals and the motor parameters, and a control judgment result is obtained according to the generalized damping coefficient and the predicted values ​​of the vibrator motion parameters, and then it is determined whether the control judgment result matches the preset displacement control condition;

[0008] If it is determined that the control judgment result matches the displacement control condition, a critical damping voltage value is calculated according to each of the motor parameters and each of the vibrator motion parameter prediction values, and a target adjustment voltage value is calculated according to the critical damping voltage value and a preset critical damping voltage weight coefficient;

[0009] The target adjustment voltage value is processed to obtain a target protection voltage value, and the target protection voltage value is input into the target linear motor to control the displacement of a vibrator in the target linear motor.

[0010] Further, the vibrator motion parameter prediction value includes a target vibrator displacement prediction value, a target vibrator velocity prediction value and a target vibrator energy prediction value;

[0011] The step of calculating the predicted value of each vibrator motion parameter in the target linear motor according to each of the driving voltage signals and each of the motor parameters comprises:

[0012] Determining each historical driving voltage signal within the nth moment to the nmth moment and each historical vibrator displacement prediction value within the nth moment to the nmth moment in each driving voltage signal;

[0013] Calculating each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on a preset first prediction value calculation formula to obtain a target vibrator displacement prediction value;

[0014] Calculating each of the historical vibrator displacement prediction values ​​based on a preset second prediction value calculation formula to obtain the target vibrator velocity prediction value;

[0015] The target vibrator energy prediction value is obtained by calculating the target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters based on a preset third prediction value calculation formula.

[0016] Furthermore, before the step of obtaining a control judgment result according to the generalized damping coefficient and the predicted values ​​of each of the vibrator motion parameters, the method further includes:

[0017] Determining the maximum threshold of the vibrator displacement and the spring stiffness coefficient included in each of the motor parameters;

[0018] The maximum energy value of the system is obtained by calculating the maximum threshold of the vibrator displacement and the spring stiffness coefficient based on a preset energy calculation formula.

[0019] Furthermore, the step of obtaining a control judgment result according to the generalized damping coefficient and the predicted values ​​of each of the vibrator motion parameters, and then determining whether the control judgment result matches a preset displacement control condition, includes:

[0020] Comparing the maximum energy value of the system with the predicted energy value of the target vibrator to obtain a first comparison result, and determining whether the generalized damping coefficient is greater than 0 to obtain a first determination result;

[0021] The first comparison result and the first judgment result are integrated to obtain a control judgment result. When the control judgment result is that the predicted value of the target vibrator energy is greater than the maximum energy value of the system and the generalized damping coefficient is less than 0, it is determined that the control judgment result matches the preset displacement control condition.

[0022] Furthermore, the step of calculating the critical damping voltage value according to the motor parameters and the predicted values ​​of the vibrator motion parameters comprises:

[0023] Obtain a preset critical damping voltage calculation formula;

[0024] The critical damping voltage value is obtained by calculating the predicted values ​​of each motor parameter and each vibrator motion parameter using the critical damping voltage calculation formula.

[0025] Further, the step of calculating the target adjustment voltage value according to the critical damping voltage value and a preset critical damping voltage weight coefficient includes:

[0026] Obtaining a preset critical damping voltage weight coefficient;

[0027] The critical damping voltage weight coefficient and the critical damping voltage value are calculated according to a preset target voltage calculation formula to obtain a target adjustment voltage value.

[0028] Furthermore, the step of processing the target adjustment voltage value to obtain a target protection voltage value includes:

[0029] determining a target frequency component of the target adjustment voltage value that exceeds a bandwidth range corresponding to the target linear motor;

[0030] A smoothing filtering operation is performed on the target frequency component to generate a target protection voltage value.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also provides a displacement control device for a linear motor vibrator, the device comprising:

[0032] a parameter prediction unit, configured to obtain each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate a predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter;

[0033] a condition judgment unit, configured to calculate a generalized damping coefficient according to the predicted values ​​of the vibrator motion parameters, the driving voltage signals and the motor parameters, and obtain a control judgment result according to the generalized damping coefficient and the predicted values ​​of the vibrator motion parameters, and further determine whether the control judgment result matches a preset displacement control condition;

[0034] a voltage calculation unit, configured to calculate a critical damping voltage value according to each of the motor parameters and each of the vibrator motion parameter prediction values ​​if it is determined that the control judgment result matches the displacement control condition, and to calculate a target adjustment voltage value according to the critical damping voltage value and a preset critical damping voltage weight coefficient;

[0035] The voltage output unit is used to process the target adjustment voltage value to obtain a target protection voltage value, and input the target protection voltage value into the target linear motor to control the displacement of a vibrator in the target linear motor.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes: a memory, a processor, and a displacement control program of a linear motor vibrator stored in the memory and executable on the processor, and when the displacement control program of the linear motor vibrator is executed by the processor, the steps of the displacement control method of the linear motor vibrator as described above are implemented.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a displacement control program of a linear motor vibrator is stored. When the displacement control program of the linear motor vibrator is executed by a processor, the steps of the displacement control method of the linear motor vibrator as described above are implemented.

[0038] The displacement control method, device, terminal device and computer-readable storage medium of a linear motor vibrator provided by an embodiment of the present invention obtain each driving voltage signal input into a target linear motor and each motor parameter of the target linear motor, and calculate each predicted value of the vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter; calculate a generalized damping coefficient according to each predicted value of the vibrator motion parameter, each driving voltage signal and each motor parameter, and obtain a control judgment result according to the generalized damping coefficient and each predicted value of the vibrator motion parameter, and then determine whether the control judgment result matches the preset displacement control condition; if it is determined that the control judgment result matches the displacement control condition, calculate a critical damping voltage value according to each motor parameter and each predicted value of the vibrator motion parameter, and calculate a target adjustment voltage value according to the critical damping voltage value and a preset critical damping voltage weight coefficient; process the target adjustment voltage value to obtain a target protection voltage value, and input the target protection voltage value into the target linear motor to control the displacement of the vibrator in the target linear motor.

[0039] In this embodiment, when the terminal device is running, it first obtains each driving voltage signal input into the target linear motor. At the same time, the terminal device reads the storage device in the target linear motor to obtain each motor parameter of the target linear motor. The terminal device then inputs the obtained driving voltage signals and motor parameters into a data processing device configured in the terminal device. The data processing device calculates the predicted values ​​of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter. After that, the data processing device further calculates the predicted values ​​of each vibrator motion parameter, each driving voltage signal and each motor parameter according to a preset generalized damping coefficient calculation formula to obtain a generalized damping coefficient, and calculates the control judgment result according to the generalized damping coefficient and the predicted values ​​of each vibrator motion parameter. At the same time, the data processing device obtains the preset displacement control condition in the terminal device, and inputs the control condition into the data processing device. The control judgment result is compared with the displacement control condition to determine whether the control judgment result matches the displacement control condition. When the data processing device determines that the control judgment result matches the displacement control condition, the data processing device further calculates the predicted values ​​of each motor parameter and each vibrator motion parameter according to a preset critical damping voltage calculation formula to obtain a critical damping voltage value, and obtains a preset critical damping voltage weight coefficient in the terminal device, and then calculates a target adjustment voltage value according to the critical damping voltage value and the critical damping voltage weight coefficient data. Finally, the terminal device smoothes and filters the target adjustment voltage value through a built-in low-pass filtering device to obtain a target protection voltage value, and inputs the target protection voltage value into the target linear motor after amplifying the target protection voltage value through an internally configured signal amplification device to control the displacement of the vibrator in the target linear motor.

[0040] In this way, the present invention adopts a method of obtaining predicted values ​​of vibrator motion parameters according to each driving voltage signal input into the linear motor and each motor parameter of the linear motor, determining the generalized damping coefficient corresponding to the predicted value of each vibrator motion parameter, and calculating the generalized damping coefficient and the predicted value of each vibrator motion parameter to determine whether to trigger the preset displacement control condition, thereby solving the problem of being unable to determine whether the vibrator is likely to collide with the shell during the motor driving process; and by calculating the generalized damping coefficient and the predicted value of each vibrator motion parameter to determine different target protection voltage values ​​when determining the triggering displacement control condition, and inputting the target protection voltage into the target linear motor to control the displacement of the vibrator of the target linear motor, thereby achieving the technical effect of allowing the terminal device to intervene in the linear motor driving process for protection, thereby preventing the vibrator in the linear motor from colliding with the motor shell during movement, and further achieving the problem of preventing the linear motor from performance degradation, abnormal vibration, loud vibration noise or motor damage during the driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure of a terminal device in a hardware operating environment involved in an embodiment of the present invention;

[0042] Figure 2 It is a flow chart of a first embodiment of a displacement control method of a linear motor vibrator according to the present invention;

[0043] Figure 3 A schematic flow chart of a preferred embodiment of a displacement control method for a linear motor vibrator according to the present invention;

[0044] Figure 4 A schematic diagram of a driving voltage signal waveform involved in an embodiment of a displacement control method for a linear motor vibrator of the present invention;

[0045] Figure 5 A schematic diagram of a waveform of a predicted target vibrator displacement value involved in an embodiment of a linear motor vibrator displacement control method of the present invention;

[0046] Figure 6 A schematic diagram of a waveform of a target vibrator energy prediction value involved in an embodiment of a linear motor vibrator displacement control method of the present invention;

[0047] Figure 7 A schematic diagram of displacement control timing involved in an embodiment of a displacement control method for a linear motor vibrator of the present invention;

[0048] Figure 8 A schematic diagram of a target adjustment voltage value waveform according to an embodiment of a displacement control method for a linear motor vibrator of the present invention;

[0049] Fig. 9 A schematic diagram of a target protection voltage value waveform according to an embodiment of a displacement control method for a linear motor vibrator of the present invention;

[0050] Fig.10 A schematic diagram of a displacement change waveform involved in an embodiment of a displacement control method for a linear motor vibrator of the present invention;

[0051] Fig.11 It is a schematic diagram of functional modules involved in an embodiment of a displacement control method of a linear motor vibrator of the present invention. DETAILED DESCRIPTION

[0052] 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.

[0053] Please refer to Figure 1 , Figure 1 A schematic diagram of the terminal device structure of the hardware operating environment involved in the embodiment of the present invention.

[0054] It should be noted that Figure 1The terminal device of the embodiment of the present invention may be a device for executing the displacement control method of the linear motor vibrator of the present invention, and the terminal device may be a mobile terminal, a data storage control terminal, a PC or a portable computer.

[0055] like Figure 1 As shown, the terminal 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 (Display), an input unit such as a keyboard (Keyboard), and the optional 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 (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0056] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the terminal device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0057] like Figure 1 As 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 displacement control program of a linear motor vibrator.

[0058] exist Figure 1 In the terminal 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 the user; the processor 1001 and the memory 1005 in the terminal device of the present invention can be set in the terminal device, and the terminal device calls the displacement control program of the linear motor vibrator stored in the memory 1005 through the processor 1001, and executes the displacement control method of the linear motor vibrator provided in the embodiment of the present invention.

[0059] Based on the above-mentioned terminal device, various embodiments of the displacement control method of the linear motor vibrator of the present invention are provided.

[0060] Please refer to Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a displacement control method for a linear motor vibrator according to the present invention.

[0061] It should be understood that although a logical sequence is shown in the flowchart, in some cases, the displacement control method of the linear motor vibrator of the present invention can of course execute the steps shown or described in a different order than here.

[0062] In this embodiment, the displacement control method of the linear motor vibrator of the present invention may include the following steps:

[0063] Step S10: acquiring each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculating predicted values ​​of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter;

[0064] It should be noted that the driving voltage signal is a broadband signal generated by an AR or VR terminal device connected to a target linear motor according to an actual application scenario, or is a broadband signal generated by processing the sound effects actually output by a game application by an AR / VR terminal device; similarly, the motor parameters can be composed of the hardware-related parameters of the motor itself and the parameter indicators corresponding to the vibrator contained in the motor. It can be understood that the motor parameters can be stored in the terminal device or the target linear motor by a technician before the terminal device leaves the factory, so that the terminal device can directly read the storage device to obtain them when needed. Of course, there are many ways to set and store motor parameters, and the present invention is not limited to this.

[0065] In this embodiment, when the terminal device is running, it first obtains each driving voltage signal input into the target linear motor. At the same time, the terminal device reads the storage device in the target linear motor to obtain each motor parameter of the target linear motor. The terminal device then inputs the obtained driving voltage signals and motor parameters into a data processing device configured in the terminal device, and the data processing device calculates the predicted values ​​of the vibrator motion parameters in the target linear motor according to the driving voltage signals and the motor parameters.

[0066] For example, see Figure 4 , Figure 4 FIG. 1 is a schematic diagram of a driving voltage signal waveform involved in an embodiment of a displacement control method for a linear motor vibrator of the present invention. When the terminal device is running, the driving voltage signal sent by the VR device connected to the terminal device is first obtained, and the driving voltage signal is generated according to the following example: Figure 4The waveform diagram shown in FIG. 1 determines the driving voltage signal u1(n) corresponding to each moment. At the same time, the terminal device reads the storage device of the target linear motor to obtain the motor parameters pre-stored by the technician, and determines the bandwidth range [f aL , f aH ], the mass of the vibrator in the motor m, the magnetic field strength B1, the spring constant k, the damping coefficient r, the coil DC resistance R e , the maximum displacement threshold of the vibrator x hmax and the maximum output voltage u of the terminal equipment max The terminal device then obtains each driving voltage signal u1(t), bandwidth range [f aL , f aH ], the mass m of the vibrator in the motor, the magnetic field strength Bl, the spring stiffness k, the damping coefficient r, the coil DC resistance Re, the maximum displacement threshold x of the vibrator hmax and the maximum output voltage u of the terminal equipment max The data is input to a data processing device configured in the terminal device, and the data processing device calculates the predicted values ​​of the vibrator motion parameters of the vibrator in the target linear motor when it is in motion based on the driving voltage signals u1(n) and the motor parameters.

[0067] Further, in a feasible embodiment, the predicted value of the vibrator motion parameter includes a predicted value of a target vibrator displacement, a predicted value of a target vibrator velocity, and a predicted value of a target vibrator energy;

[0068] The step of "calculating predicted values ​​of motion parameters of each vibrator in the target linear motor according to each of the driving voltage signals and each of the motor parameters" in the above step S10 may specifically include:

[0069] Step S101: determining each historical driving voltage signal within the nth moment to the nmth moment and each historical vibrator displacement prediction value within the nth moment to the nmth moment in each driving voltage signal;

[0070] In this embodiment, after acquiring each of the above-mentioned driving voltage signals, the terminal device first determines in each of the driving voltage signals the historical driving voltage signals at the current nth moment and at m moments before the nth moment, and determines the historical vibrator displacement prediction values ​​corresponding to each of the historical driving voltage signals.

[0071] Step S102: calculating each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on a preset first prediction value calculation formula to obtain a target vibrator displacement prediction value;

[0072] In this embodiment, the terminal device inputs the acquired historical driving voltage signals and the historical vibrator displacement prediction values ​​into the above-mentioned data processing device, and the data processing device calculates each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on an internally preset first prediction value calculation formula to obtain a target vibrator displacement prediction value.

[0073] Step S103: calculating each of the historical vibrator displacement prediction values ​​based on a preset second prediction value calculation formula to obtain the target vibrator velocity prediction value;

[0074] In this embodiment, the terminal device inputs the acquired historical vibrator displacement prediction values ​​into the data processing device, and the data processing device calculates the target vibrator speed prediction value based on the internally preset second prediction value calculation formula for each historical vibrator displacement prediction value.

[0075] Step S104: calculating the target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters based on a preset third prediction value calculation formula to obtain the target vibrator energy prediction value;

[0076] In this embodiment, the terminal device inputs the acquired target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the above-mentioned motor parameters into the above-mentioned data processing device, and the data processing device calculates the target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters based on an internally preset third prediction value calculation formula to obtain a target vibrator energy prediction value.

[0077] Exemplarily, for example, after the terminal device obtains each of the above-mentioned driving voltage signals u1(n) input into the target linear motor, it first determines in each of the driving voltage signals u1(n) the voltage values ​​u corresponding to each of the historical driving voltage signals u1(n) at the current nth moment, the n-1th moment and the n-2th moment, and the historical vibrator displacement prediction values ​​x1(n-1) and x1(n-2) corresponding to each of the historical driving voltage signals at the n-1th moment and the n-2th moment. After that, the terminal device inputs the obtained historical driving voltage signals and the historical vibrator displacement prediction values ​​into the above-mentioned data processing device, and the data processing device calculates the first prediction value based on the first prediction value calculation formula preset by the technician:

[0078]

[0079] The historical driving voltage signals and the historical oscillator displacement predictions are calculated to obtain the target oscillator displacement prediction value x1(n) at the current nth moment, and the following is generated based on the target oscillator displacement prediction values: Figure 5 The target vibrator displacement prediction value waveform diagram shown;

[0080] Similarly, after obtaining the target vibrator displacement prediction value x1(n), the data processing device brings the initial vibrator displacement prediction value x1(n) and the historical vibrator displacement prediction value x1(n-1) at the n-1th moment into the second prediction value calculation formula preset by the technician:

[0081]

[0082] Thus, the target oscillator velocity prediction value v1(n) at the nth moment is obtained;

[0083] Similarly, the data processing device further brings the target vibrator displacement prediction value x1(n), the target vibrator velocity prediction value v1(n), the motor vibrator mass value m and the spring stiffness coefficient k at the nth moment into the third prediction value calculation formula preset by the technician:

[0084]

[0085] The initial oscillator energy prediction value E1(n) at the nth time is calculated, and the following is generated based on the target oscillator energy prediction value: Figure 6 Schematic diagram of the target oscillator energy prediction value waveform shown.

[0086] It should be noted that, in this embodiment, the first prediction value calculation formula a1=(2ω c 2 T 2 -8), b0=KT 2 , b1=2KT 2 , b2=KT 2 , T is the sampling period of signal processing.

[0087] Step S20: calculating a generalized damping coefficient according to the predicted values ​​of the vibrator motion parameters, the driving voltage signals and the motor parameters, and obtaining a control judgment result according to the generalized damping coefficient and the predicted values ​​of the vibrator motion parameters, and then determining whether the control judgment result matches a preset displacement control condition;

[0088] The damping coefficient refers to the ratio of the rated load impedance of the linear motor to the actual impedance of the power amplifier. The larger the damping coefficient, the shorter the response time of the system acceleration response in the linear motor, but the smaller the steady-state amplitude. Similarly, the smaller the damping coefficient, the longer the response time of the system acceleration response, but the larger the steady-state amplitude. It can be understood that when the AR / VR device connected to the target linear motor sends a driving voltage signal to drive the target linear motor, the damping coefficient is also affected by the driving voltage signal sent by the AR / VR device, and can therefore be defined as a generalized damping coefficient.

[0089] In this embodiment, the data processing device further calculates the predicted values ​​of each vibrator motion parameter, each driving voltage signal and each motor parameter according to a preset generalized damping coefficient calculation formula to obtain a generalized damping coefficient, and calculates a control judgment result based on the generalized damping coefficient and the predicted values ​​of each vibrator motion parameter. At the same time, the data processing device obtains a preset displacement control condition in the terminal device, and compares the control judgment result with the displacement control condition to determine whether the control judgment result matches the displacement control condition.

[0090] Exemplarily, for example, the data processing device obtains a preset generalized damping coefficient calculation formula in the terminal device, and based on the generalized damping coefficient calculation formula:

[0091]

[0092] The obtained target oscillator velocity prediction value v1(n), the drive voltage signal u1(n), the magnetic field strength B1 included in each motor parameter, the coil DC resistance R e The generalized damping coefficient r is calculated by using the damping coefficient r a (n), at the same time, the data processing device calculates the predicted values ​​of each motor parameter and each oscillator motion parameter to obtain the maximum energy value E of the system max , then, the data processing device processes the generalized damping coefficient r a (n) and the maximum energy value of the system E max After obtaining the control judgment result, the data processing device obtains the preset displacement control condition in the terminal device, and compares the obtained control judgment result with the displacement control condition to determine whether the control judgment result matches the displacement control condition.

[0093] Furthermore, in a feasible embodiment, before the step of "obtaining a control judgment result according to the generalized damping coefficient and the predicted values ​​of each of the vibrator motion parameters" in the above step S20, the displacement control method of the linear motor vibrator of the present invention may also include:

[0094] Step A10: determining the maximum threshold of the vibrator displacement and the spring stiffness coefficient included in each of the motor parameters;

[0095] Step A20: Calculating the maximum threshold of the vibrator displacement and the spring stiffness coefficient based on a preset energy calculation formula to obtain a maximum energy value of the system;

[0096] Exemplarily, for example, the data processing device first determines the maximum threshold value x of the vibrator displacement in each motor parameter. hmax And the spring stiffness coefficient k, and according to the preset energy calculation formula:

[0097]

[0098] The maximum threshold value x for the oscillator displacement hmax The maximum energy value E of the system is calculated by calculating the spring stiffness coefficient k. max .

[0099] Further, in a feasible embodiment, the step of "obtaining a control judgment result according to the generalized damping coefficient and the predicted values ​​of each of the vibrator motion parameters, and then determining whether the control judgment result matches the preset displacement control condition" in the above step S20 may specifically include:

[0100] Step S201: comparing the maximum energy value of the system with the predicted energy value of the target oscillator to obtain a first comparison result, and determining whether the generalized damping coefficient is greater than 0 to obtain a first determination result;

[0101] Step S202: Integrate the first comparison result and the first judgment result to obtain a control judgment result. When the control judgment result is that the target vibrator energy prediction value is greater than the system maximum energy value and the generalized damping coefficient is less than 0, determine that the control judgment result matches the preset displacement control condition;

[0102] For example, the data processing device obtains the maximum energy value E of the system max Compare with the obtained target oscillator energy prediction value E1(n) and determine the system maximum energy value E max The numerical relationship between the target vibrator energy prediction value E1(n) and the system maximum energy value E1(n) is as follows: when the target vibrator energy prediction value is greater than the system maximum energy value, the data processing device obtains the first comparison result that the target vibrator energy prediction value E1(n)> the system maximum energy value E1(n) max Similarly, the data processing device obtains the generalized damping coefficient r a (n) is compared with 0, and the data processing device determines that the generalized damping coefficient r a When (n) < 0, the first judgment result is r a (n)<0, then, the data processing device integrates the first comparison result and the first judgment result to obtain a control judgment result, that is, the control judgment result is the target oscillator energy prediction value E1(n)>the system maximum energy value E max , and the generalized damping coefficient r a (n)<0, then, the data processing device obtains the preset displacement control condition in the terminal device, and determines that the displacement control condition is when the target oscillator energy prediction value E1(n)>the system maximum energy value E max , and the generalized damping coefficient r a(n)<0 performs displacement control operation, the data processing device determines that the control judgment result matches the displacement control condition, and when the target oscillator energy prediction value E1(n) in the control judgment result is less than or equal to the system maximum energy value E max , or the generalized damping coefficient r in the control judgment result a When (n) is greater than or equal to 0, the data processing device determines that the control judgment result does not match the displacement control condition. Finally, the data processing device generates the following according to the matching results corresponding to each control judgment result at each time. Figure 7 Schematic diagram of displacement control timing shown;

[0103] It can be understood that in this embodiment, by Figure 7 With the above Figure 5 and Figure 6 By comparing and observing, it can be clearly observed that in the interval from t = 1.25s to t = 1.5s, the normalized value result E corresponding to the target oscillator energy prediction value E1(n) 1_1FS is greater than 1 many times, that is, when the normalized value result E corresponding to the energy prediction value E1(n) 1_1FS When it is greater than 1, it indicates that the energy prediction value E1(n) is greater than the system maximum energy value E max , and, in Figure 6 It can be clearly observed that the normalized value result x corresponding to the target oscillator displacement prediction value x1(n) in the interval t = 1.25s to t = 1.5s 1_1FS (n) is also greater than 1 many times, that is, when the normalized value result x corresponding to the target oscillator displacement prediction value x1(n) 1_1FS When (n) is greater than 1, it indicates that there is a risk of collision between the vibrator in the target linear motor and the housing. 1_1FS With x 1_1FS (n) are greater than 1, by observing Figure 7 It can be clearly seen that the control opportunity En value is 1, which indicates that the terminal device can perform a displacement control operation when a corresponding collision risk occurs.

[0104] Step S30: if it is determined that the control judgment result matches the displacement control condition, a critical damping voltage value is calculated according to each of the motor parameters and each of the vibrator motion parameter prediction values, and a target adjustment voltage value is calculated according to the critical damping voltage value and a preset critical damping voltage weight coefficient, and then the target adjustment voltage value is uploaded to the terminal device;

[0105] It should be noted that the critical damping voltage weight coefficient k r is the weight coefficient corresponding to the generalized damping coefficient above, and the critical damping voltage weight coefficient k r Should be greater than 0, and the critical damping voltage weight coefficient k rThe same as the generalized damping coefficient in k r The larger the value, the faster the energy decays and the faster the system responds. r The closer the value of is to 0, the closer the system is to the critical damping state, the slower the energy decay is, and the slower the system response speed is. In this embodiment, the critical damping voltage weight coefficient k r The value of is set to 5. Of course, the critical damping voltage weight coefficient k r The numerical value can also be modified by technicians according to actual needs, and the present invention is not limited to this.

[0106] In this embodiment, when the data processing device determines that the control judgment result matches the displacement control condition, the data processing device further calculates the predicted values ​​of each motor parameter and each vibrator motion parameter according to a preset critical damping voltage calculation formula to obtain a critical damping voltage value, and obtains a preset critical damping voltage weight coefficient in the terminal device, and then calculates the target adjustment voltage value according to the critical damping voltage value and the critical damping voltage weight coefficient data.

[0107] For example, when the data processing device determines that the control judgment result matches the displacement control condition, the data processing device obtains the critical damping voltage calculation formula preset by the technician in the terminal device, and calculates the predicted values ​​of each motor parameter and each vibrator motion parameter through the critical damping voltage calculation formula to obtain the critical damping voltage value u r (n), then, the data processing device obtains the preset critical damping voltage weight coefficient k in the terminal device. r , and according to the critical damping voltage value u r (n) and the critical damping voltage weight coefficient k r Determine the target adjustment voltage value u2(n), and generate the following based on each target adjustment voltage value u2(n): Figure 8 Schematic diagram of the target adjustment voltage value waveform shown.

[0108] Understandably, please refer to Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 ,Will Figure 5 , Figure 6 , Figure 7 and Figure 8By comparison, it can be clearly observed that at the moment when the above-mentioned target vibrator displacement prediction value and the target vibrator energy prediction value are both greater than 1 and at the moment corresponding to the displacement control time En=1, the waveform corresponding to the target adjustment voltage value u2(n) is significantly different from the above-mentioned driving voltage signal u1(n). That is to say, the terminal device can perform a displacement control operation at the moment when the target vibrator displacement prediction value and the target vibrator energy prediction value are both greater than 1 to modify the driving voltage signal u1(n) and generate the target adjustment voltage value u2(n).

[0109] Further, in a feasible embodiment, the step of "calculating the critical damping voltage value according to the motor parameters and the predicted values ​​of the vibrator motion parameters" in the above step S30 may specifically include:

[0110] Step S301: obtaining a preset critical damping voltage calculation formula;

[0111] Step S302: Calculating the predicted values ​​of each motor parameter and each vibrator motion parameter using the critical damping voltage calculation formula to obtain a critical damping voltage value;

[0112] For example, the data processing device first determines the magnetic field intensity Bl, the damping coefficient r and the coil DC resistance R among the motor parameters. e At the same time, the data processing device obtains the critical damping voltage calculation formula preset by the technician in the terminal device:

[0113]

[0114] Based on the critical damping voltage calculation formula, the obtained magnetic field intensity Bl, damping coefficient r, coil DC resistance R e and the target oscillator velocity prediction value v1(n) to calculate the critical damping voltage value u r (n).

[0115] Further, in a feasible embodiment, the step of "calculating the target adjustment voltage value according to the critical damping voltage value and the preset critical damping voltage weight coefficient" in the above step S30 may specifically include:

[0116] Step S303: obtaining a preset critical damping voltage weight coefficient;

[0117] In this embodiment, the terminal device reads the storage device to obtain the critical damping voltage weight coefficient preset by the technician, and inputs the critical damping voltage weight coefficient into the data processing device.

[0118] Step S304: Calculating the critical damping voltage weight coefficient and the critical damping voltage value according to a preset target voltage calculation formula to obtain a target adjustment voltage value;

[0119] In this embodiment, the data processing device brings the acquired critical damping voltage weight coefficient and the acquired critical damping voltage value into a preset target voltage calculation formula, and calculates the target adjustment voltage value through the target voltage calculation formula.

[0120] For example, the terminal device first reads the storage device to obtain the critical damping voltage weight coefficient k preset by the technician. r =5, and the critical damping voltage weight coefficient k r =5 is input to the data processing device, and the data processing device converts the critical damping voltage weight coefficient k r =5 and the obtained critical damping voltage value u r (n) Substitute the preset target voltage calculation formula: u2(n) = (1-k r ) r (n), and calculate the target adjusted voltage value u2(n), and then upload the target adjusted voltage value u2(n) to the terminal device.

[0121] Step S40: Processing the target adjustment voltage value to obtain a target protection voltage value, and inputting the target protection voltage value into the target linear motor to control the displacement of the vibrator in the target linear motor;

[0122] In this embodiment, the terminal device performs smoothing filtering on the target adjustment voltage value through a built-in low-pass filtering device to obtain a target protection voltage value, and after amplifying the target protection voltage value through an internally configured signal amplification device, the target protection voltage value is input into the target linear motor to control the displacement of the vibrator in the target linear motor.

[0123] For example, after obtaining the target adjustment voltage value u2(n), the terminal device calls a low-pass filter device and adjusts the voltage according to the cutoff frequency f of the low-pass filter device. LP The target adjustment voltage u2(n) is smoothed and filtered to obtain the target protection voltage value u3(n), and then the following is generated according to each target protection voltage value u3(n): Fig. 9 The target protection voltage value waveform diagram is shown. After that, the terminal device amplifies the target protection voltage value u3(n) through the above-mentioned signal amplification device, and inputs the target protection voltage value u3(n) into the target linear motor to control the displacement of the vibrator in the target linear motor.

[0124] Understandably, please refer to Figure 8 and Fig. 9 ,Will Figure 8 and Fig. 9 By comparison, it can be clearly observed that after the target adjustment voltage value u2(n) is smoothed and filtered, Fig. 9 There is no voltage waveform jump problem in the waveform diagram corresponding to the target protection voltage value u3(n) shown in the figure, and the overall voltage waveform avoids jump points and glitches.

[0125] It should be noted that, in this embodiment, the signal amplifying device is specifically an amplifier that performs power matching on the input signal, and can specifically be a common class A, class B, class AB, or class D driver. It can be understood that the input signal can be an analog signal or a digital signal.

[0126] Furthermore, in a feasible embodiment, the above step S40 may specifically include:

[0127] Step S401: determining a target frequency component in the target adjustment voltage value that exceeds a bandwidth range corresponding to the target linear motor;

[0128] In this embodiment, the terminal device calls the above-mentioned low-pass filtering device to determine each target frequency component within the above-mentioned target adjustment voltage value that exceeds the bandwidth range of the motor within the above-mentioned motor parameters.

[0129] Step S402: performing a smoothing filter operation on the target frequency component to generate a target protection voltage value;

[0130] In this embodiment, the low-pass filter device performs a smoothing filtering operation on each of the above target frequency components, so that each target frequency component is within the bandwidth range of the above linear motor, and determines the target adjustment voltage value after completing the smoothing filtering operation as the target protection voltage value.

[0131] Exemplarily, for example, the terminal device calls the low-pass filter device to determine the motor bandwidth frequency upper limit f in the target adjustment voltage value u2(n) that exceeds the motor parameter. aH Each target frequency component is obtained by performing a smoothing filtering operation on each target frequency component through the low-pass filtering device, so that each target frequency component is within the upper frequency limit f of the bandwidth. aH and the target adjusted voltage value after the smoothing filtering operation is determined as the target protection voltage value u3(n).

[0132] It can be understood that, in this embodiment, in order to ensure that the smoothing filtering operation of the low-pass filtering device can completely perform a smoothing filtering operation on the target adjustment voltage value u2(n), the cutoff frequency f of the low-pass filtering device can be set to LP In the above target linear motor bandwidth frequency upper limit f aHAbove, for example, let f LP =2f aH Of course, there are many specific setting methods and setting ranges for the cutoff frequency, and the present invention does not limit this.

[0133] In this embodiment, when the terminal device is running, it first obtains each driving voltage signal input into the target linear motor. At the same time, the terminal device reads the storage device in the target linear motor to obtain each motor parameter of the target linear motor. The terminal device then inputs the obtained driving voltage signals and motor parameters into a data processing device configured in the terminal device. The data processing device calculates the predicted values ​​of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter. After that, the data processing device further calculates the predicted values ​​of each vibrator motion parameter, each driving voltage signal and each motor parameter according to a preset generalized damping coefficient calculation formula to obtain a generalized damping coefficient, and calculates a control judgment result according to the generalized damping coefficient and the predicted values ​​of each vibrator motion parameter. At the same time, the data processing device obtains a preset displacement control condition in the terminal device, and compares the control judgment result with the displacement control condition. The data processing device compares the control judgment result with the displacement control condition to determine whether it matches. After that, when the data processing device determines that the control judgment result matches the displacement control condition, the data processing device further calculates the predicted values ​​of each motor parameter and each vibrator motion parameter according to a preset critical damping voltage calculation formula to obtain a critical damping voltage value, and obtains a preset critical damping voltage weight coefficient in the terminal device, and then calculates a target adjustment voltage value according to the critical damping voltage value and the critical damping voltage weight coefficient data, and then uploads the target adjustment voltage value to the terminal device. Finally, the terminal device smoothes and filters the target adjustment voltage value through a built-in low-pass filtering device to obtain a target protection voltage value, and after amplifying the target protection voltage value through an internally configured signal amplification device, the target protection voltage value is input into the target linear motor to control the displacement of the vibrator in the target linear motor.

[0134] In this way, the present invention adopts a method of obtaining predicted values ​​of vibrator motion parameters according to each driving voltage signal input into the linear motor and each motor parameter of the linear motor, determining the generalized damping coefficient corresponding to the predicted value of each vibrator motion parameter, and calculating the generalized damping coefficient and the predicted value of each vibrator motion parameter to determine whether to trigger the preset displacement control condition, thereby solving the problem of being unable to determine whether the vibrator is likely to collide with the shell during the motor driving process; and by calculating the generalized damping coefficient and the predicted value of each vibrator motion parameter to determine different target protection voltage values ​​when determining the triggering displacement control condition, and inputting the target protection voltage into the target linear motor to control the displacement of the vibrator of the target linear motor, thereby achieving the technical effect of allowing the terminal device to intervene in the linear motor driving process for protection, thereby preventing the vibrator in the linear motor from colliding with the motor shell during movement, and further achieving the problem of preventing the linear motor from performance degradation, abnormal vibration, loud vibration noise or motor damage during the driving process.

[0135] Furthermore, based on the first embodiment of the displacement control method of the linear motor vibrator of the present invention, a preferred embodiment of the displacement control method of the linear motor vibrator of the present invention is proposed herein.

[0136] Please refer to Figure 3 , Figure 3 Schematic diagram of a flow chart of a preferred embodiment of a displacement control method for a linear motor vibrator according to the present invention.

[0137] In this embodiment, the VR / AR device connected to the terminal device first inputs a preset driving voltage signal into the terminal device. After that, the terminal device calculates the target vibrator displacement prediction value, the target vibrator velocity prediction value and the target vibrator energy prediction value corresponding to the driving voltage point by point through an internally configured data processor, and calculates the generalized damping coefficient based on the preset formula:

[0138]

[0139] The obtained target vibrator speed prediction value, the drive voltage signal u1(n), the magnetic field strength B1 included in each motor parameter, the coil DC resistance R e The generalized damping coefficient r is calculated by using the damping coefficient r a (n), at the same time, the data processing device calculates the maximum energy value E of the system based on the obtained target vibrator energy prediction value and each motor parameter max , and based on the generalized damping coefficient r a (n) and the maximum energy value E max Determine the displacement control timing, and then, the data processing device performs the displacement control operation according to the displacement control timing, and calculates the predicted values ​​of each motor parameter and each vibrator motion parameter through a preset critical damping voltage calculation company to obtain the critical damping voltage value ur (n), and then combined with the critical damping voltage weight coefficient k preset by the technical personnel r The target adjustment voltage value u2(n) is calculated, and finally, the data processing device uploads the target adjustment voltage value u2(n) to the terminal device, which calls the above-mentioned low-pass filtering device to perform a smoothing filtering operation on the target adjustment voltage to generate a target protection voltage value u3(n), and performs a signal amplification operation on the target protection voltage value u3(n) through the internal amplification device to control the displacement of the vibrator in the target linear motor.

[0140] In addition, the present invention also provides a displacement control device for a linear motor vibrator, please refer to Fig.11 , Fig.11 FIG. 1 is a schematic diagram of functional modules involved in an embodiment of a displacement control method for a linear motor vibrator of the present invention. Fig.11 As shown, the displacement control device of the linear motor vibrator of the present invention includes:

[0141] A parameter prediction unit 10, used to obtain each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate the predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter;

[0142] A condition judgment unit 20, configured to calculate a generalized damping coefficient according to the predicted values ​​of the vibrator motion parameters, the driving voltage signals and the motor parameters, and obtain a control judgment result according to the generalized damping coefficient and the predicted values ​​of the vibrator motion parameters, and further determine whether the control judgment result matches a preset displacement control condition;

[0143] a voltage calculation unit 30, configured to calculate a critical damping voltage value according to each of the motor parameters and each of the vibrator motion parameter prediction values ​​if it is determined that the control judgment result matches the displacement control condition, and to calculate a target adjustment voltage value according to the critical damping voltage value and a preset critical damping voltage weight coefficient;

[0144] The voltage output unit 40 is used to process the target adjustment voltage value to obtain a target protection voltage value, and input the target protection voltage value into the target linear motor to control the displacement of the vibrator in the target linear motor.

[0145] Furthermore, the predicted values ​​of the vibrator motion parameters include a predicted value of a target vibrator displacement, a predicted value of a target vibrator velocity, and a predicted value of a target vibrator energy; the parameter prediction unit 10 comprises:

[0146] A first extraction unit is used to determine each historical driving voltage signal within the nth moment to the nmth moment and each historical vibrator displacement prediction value within the nth moment to the nmth moment in each driving voltage signal;

[0147] A first prediction unit, configured to calculate each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on a preset first prediction value calculation formula to obtain a target vibrator displacement prediction value;

[0148] A second prediction unit, configured to calculate each of the historical vibrator displacement prediction values ​​based on a preset second prediction value calculation formula to obtain the target vibrator velocity prediction value;

[0149] The third prediction unit is used to calculate the target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters based on a preset third prediction value calculation formula to obtain the target vibrator energy prediction value.

[0150] Furthermore, the condition judgment unit 20 includes:

[0151] A second extraction unit, used to determine the maximum threshold of the vibrator displacement and the spring stiffness coefficient contained in each of the motor parameters;

[0152] The energy calculation unit is used to calculate the maximum threshold of the vibrator displacement and the spring stiffness coefficient based on a preset energy calculation formula to obtain the maximum energy value of the system.

[0153] Furthermore, the condition judgment unit 20 further includes:

[0154] A data comparison unit, configured to compare the maximum energy value of the system with the predicted energy value of the target vibrator to obtain a first comparison result, and to determine whether the generalized damping coefficient is greater than 0 to obtain a first determination result;

[0155] A condition matching unit is used to integrate the first comparison result and the first judgment result to obtain a control judgment result. When the control judgment result is that the target vibrator energy prediction value is greater than the system maximum energy value and the generalized damping coefficient is less than 0, it is determined that the control judgment result matches the preset displacement control condition.

[0156] Furthermore, the voltage calculation unit 30 comprises:

[0157] A first formula calculation unit, used to obtain a preset critical damping voltage calculation formula;

[0158] The first voltage calculation unit is used to calculate the predicted values ​​of each motor parameter and each vibrator motion parameter by using the critical damping voltage calculation formula to obtain a critical damping voltage value.

[0159] Furthermore, the voltage calculation unit 30 further includes:

[0160] A second formula acquisition unit, used to acquire a preset critical damping voltage weight coefficient;

[0161] The second voltage calculation unit is used to calculate the critical damping voltage weight coefficient and the critical damping voltage value according to a preset target voltage calculation formula to obtain a target adjustment voltage value.

[0162] Furthermore, the voltage output unit 40 includes:

[0163] a voltage detection unit, configured to determine a target frequency component of the target adjustment voltage value that exceeds a bandwidth range corresponding to the target linear motor;

[0164] The smoothing filter unit is used to perform a smoothing filter operation on the target frequency component to generate a target protection voltage value.

[0165] In addition, the present invention also provides a terminal device having a displacement control method for a linear motor vibrator that can be run on a processor, and when the terminal device executes the displacement control method for the linear motor vibrator, the steps of the displacement control method for the linear motor vibrator as described in any of the above embodiments are implemented.

[0166] The specific embodiments of the terminal device of the present invention are basically the same as the embodiments of the displacement control method of the linear motor vibrator described above, and will not be described in detail here.

[0167] In addition, the present invention also provides a computer-readable storage medium, which stores a displacement control method for a linear motor vibrator. When the displacement control method for a linear motor vibrator is executed by a processor, the steps of the displacement control method for a linear motor vibrator described in any of the above embodiments are implemented.

[0168] The specific embodiments of the computer-readable storage medium of the present invention are basically the same as the embodiments of the displacement control method of the linear motor vibrator described above, and are not described in detail here.

[0169] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0170] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, including a number of instructions for enabling a terminal device (which can be a device that executes the displacement control method of the linear motor vibrator of the present invention, and the terminal device can specifically be a mobile terminal, a data storage control terminal, a PC or a portable computer, etc.) to execute the methods described in each embodiment of the present invention.

[0172] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A displacement control method for a linear motor vibrator, characterized in that: The displacement control method of the linear motor vibrator comprises the following steps: Acquire each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate the predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter; A generalized damping coefficient is calculated according to the predicted values ​​of the vibrator motion parameters, the driving voltage signals and the motor parameters, and a control judgment result is obtained according to the generalized damping coefficient and the predicted values ​​of the vibrator motion parameters, and then it is determined whether the control judgment result matches the preset displacement control condition; The step of calculating the generalized damping coefficient according to the predicted values ​​of the vibrator motion parameters, the driving voltage signals and the motor parameters comprises: Obtain a preset generalized damping coefficient calculation formula, and calculate the generalized damping coefficient for each of the vibrator motion parameter prediction values, each of the driving voltage signals, and each of the motor parameters according to the generalized damping coefficient calculation formula, wherein the generalized damping coefficient calculation formula is: , is the magnetic field strength included in the motor parameters, is the predicted value of the oscillator motion parameter, is the driving voltage signal, is the DC resistance of the coil, r is the damping coefficient; If it is determined that the control judgment result matches the displacement control condition, a critical damping voltage value is calculated according to each of the motor parameters and each of the vibrator motion parameter prediction values, and a target adjustment voltage value is calculated according to the critical damping voltage value and a preset critical damping voltage weight coefficient; The step of calculating the critical damping voltage value according to the motor parameters and the predicted values ​​of the vibrator motion parameters comprises: Obtain a preset critical damping voltage calculation formula, wherein the critical damping voltage calculation formula is: ; The critical damping voltage value is obtained by calculating the predicted values ​​of each motor parameter and each vibrator motion parameter using the critical damping voltage calculation formula; The step of calculating the target adjustment voltage value according to the critical damping voltage value and a preset critical damping voltage weight coefficient comprises: Obtaining a preset critical damping voltage weight coefficient; The target voltage adjustment value is obtained by calculating the critical damping voltage weight coefficient and the critical damping voltage value according to a preset target voltage calculation formula, wherein the target voltage calculation formula is: , is the critical damping voltage weight coefficient; The target adjustment voltage value is processed to obtain a target protection voltage value, and the target protection voltage value is input into the target linear motor to control the displacement of a vibrator in the target linear motor.

2. The displacement control method of a linear motor vibrator according to claim 1, characterized in that: The vibrator motion parameter prediction values ​​include a target vibrator displacement prediction value, a target vibrator velocity prediction value and a target vibrator energy prediction value; The step of calculating the predicted value of each vibrator motion parameter in the target linear motor according to each of the driving voltage signals and each of the motor parameters comprises: Determining each historical driving voltage signal within the nth moment to the nmth moment and each historical vibrator displacement prediction value within the nth moment to the nmth moment in each driving voltage signal; The target vibrator displacement prediction value is obtained by calculating each of the historical driving voltage signals and each of the historical vibrator displacement prediction values ​​based on a preset first prediction value calculation formula, wherein the first prediction value calculation formula is: , , , , , , , , , , T is the sampling period of signal processing, is the spring stiffness coefficient, is the mass of the vibrator in the target linear motor, is the DC coil resistance, is the historical driving voltage signal; The target vibrator velocity prediction value is obtained by calculating each of the historical vibrator displacement prediction values ​​based on a preset second prediction value calculation formula, wherein the second prediction value calculation formula is: ; The target vibrator displacement prediction value, the target vibrator velocity prediction value and each of the motor parameters are calculated based on a preset third prediction value calculation formula to obtain the target vibrator energy prediction value, wherein the third prediction value calculation formula is: .

3. The displacement control method of a linear motor vibrator according to claim 2, characterized in that: Before the step of obtaining a control judgment result according to the generalized damping coefficient and the predicted values ​​of each of the vibrator motion parameters, the method further includes: Determining the maximum threshold of the vibrator displacement and the spring stiffness coefficient included in each of the motor parameters; The maximum energy value of the system is obtained by calculating the maximum threshold of the vibrator displacement and the spring stiffness coefficient based on a preset energy calculation formula, wherein the energy calculation formula is: ,in, is the maximum threshold of the vibrator displacement included in each of the motor parameters.

4. The displacement control method of a linear motor vibrator according to claim 3, characterized in that: The step of obtaining a control judgment result according to the generalized damping coefficient and the predicted values ​​of each of the vibrator motion parameters, and then determining whether the control judgment result matches a preset displacement control condition, comprises: Comparing the maximum energy value of the system with the predicted energy value of the target vibrator to obtain a first comparison result, and determining whether the generalized damping coefficient is greater than 0 to obtain a first determination result; The first comparison result and the first judgment result are integrated to obtain a control judgment result. When the control judgment result is that the predicted value of the target vibrator energy is greater than the maximum energy value of the system and the generalized damping coefficient is less than 0, it is determined that the control judgment result matches the preset displacement control condition.

5. A displacement control device for a linear motor vibrator, characterized in that: The device comprises: a parameter prediction unit, configured to obtain each driving voltage signal input into the target linear motor and each motor parameter of the target linear motor, and calculate a predicted value of each vibrator motion parameter in the target linear motor according to each driving voltage signal and each motor parameter; a condition judgment unit, configured to calculate a generalized damping coefficient according to the predicted values ​​of the vibrator motion parameters, the driving voltage signals and the motor parameters, and obtain a control judgment result according to the generalized damping coefficient and the predicted values ​​of the vibrator motion parameters, and further determine whether the control judgment result matches a preset displacement control condition; The condition judgment unit is further used to obtain a preset generalized damping coefficient calculation formula, and calculate the generalized damping coefficient for each of the vibrator motion parameter prediction values, each of the driving voltage signals and each of the motor parameters according to the generalized damping coefficient calculation formula, wherein the generalized damping coefficient calculation formula is: , is the magnetic field strength included in the motor parameters, is the predicted value of the oscillator motion parameter, is the driving voltage signal, is the DC resistance of the coil, r is the damping coefficient; a voltage calculation unit, configured to calculate a critical damping voltage value according to each of the motor parameters and each of the vibrator motion parameter prediction values ​​if it is determined that the control judgment result matches the displacement control condition, and to calculate a target adjustment voltage value according to the critical damping voltage value and a preset critical damping voltage weight coefficient; The voltage calculation unit is further used to obtain a preset critical damping voltage calculation formula, wherein the critical damping voltage calculation formula is: ; The critical damping voltage value is obtained by calculating the predicted values ​​of each motor parameter and each vibrator motion parameter using the critical damping voltage calculation formula; The voltage calculation unit is further used to obtain a preset critical damping voltage weight coefficient; The target voltage adjustment value is obtained by calculating the critical damping voltage weight coefficient and the critical damping voltage value according to a preset target voltage calculation formula, wherein the target voltage calculation formula is: , is the critical damping voltage weight coefficient; The voltage output unit is used to process the target adjustment voltage value to obtain a target protection voltage value, and input the target protection voltage value into the target linear motor to control the displacement of the vibrator in the target linear motor.

6. A terminal device, characterized in that: The terminal device includes: a memory, a processor, and a displacement control program for a linear motor vibrator stored in the memory and executable on the processor. When the displacement control program for the linear motor vibrator is executed by the processor, the steps of the displacement control method for a linear motor vibrator as described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a displacement control program for a linear motor vibrator, and when the displacement control program for the linear motor vibrator is executed by a processor, the steps of the displacement control method for a linear motor vibrator according to any one of claims 1 to 4 are implemented.

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