Resonant frequency detection method and device of linear actuator, chip and electronic equipment

Abstract

This application provides a method, apparatus, chip, and electronic device for detecting the resonant frequency of a linear actuator. The method includes: driving the linear actuator with a closed-loop drive waveform, and updating the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state; and determining the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state. The resonant frequency detection method provided in this application does not require stopping the driving of the linear actuator when detecting the closed-loop acceleration waveform, thus avoiding shortening the driving time of the linear actuator, increasing the vibration intensity of the linear actuator, and thereby improving the accuracy of the resonant frequency measurement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of linear actuator, and particularly relates to a resonance frequency detection method and device of a linear actuator, a chip and electronic equipment. BACKGROUND

[0002] Currently, many electronic devices integrate the function of haptic feedback, which can create a unique personalized tactile experience for human-computer interaction, thereby providing a more realistic feeling for consumers. The haptic feedback is generally realized through motor vibration. Currently, there are two common types of ERM and LRA. The ERM motor is an eccentric rotor motor, and the LRA is a linear resonant motor (linear resonant actuator or linear actuator).

[0003] The linear actuator includes a spring, a mass block with magnetism and a coil. When the current flowing through the coil changes, the direction and strength of the magnetic field also change, and the mass block moves up and down in the changing magnetic field. This movement is perceived by people to produce a haptic feedback effect. The traditional drive circuit drives at the design resonance frequency of the linear actuator. However, driving at the design resonance frequency may cause a certain deviation between the actual resonance frequency (also known as the eigenfrequency) of the linear actuator and the design resonance frequency, thereby causing the vibration amount of the linear actuator to change. In order to solve the above problem, the actual resonance frequency of the linear actuator is usually measured before driving, and then the measured resonance frequency is used for driving in actual driving.

[0004] However, the prior art still measures the actual resonance frequency of the linear actuator at the design resonance frequency. In the prior art, the back electromotive force needs to be measured in a high resistance state, and at this time, the linear actuator needs to be paused, so that the driving time of the linear actuator is shortened, resulting in an unsatisfactory vibration effect of the linear actuator, and thus reducing the resonance frequency detection accuracy. SUMMARY

[0005] Based on this, the present application provides a resonance frequency detection method and device of a linear actuator, a chip and electronic equipment to solve the above technical problems.

[0006] The present application provides a resonance frequency detection method of a linear actuator, including the following steps:

[0007] driving the linear actuator with a closed-loop driving waveform, and updating the closed-loop driving waveform according to a closed-loop acceleration waveform of the linear actuator in a closed-loop driving state; and

[0008] determining a target closed-loop resonance frequency of the linear actuator in the closed-loop driving state.

[0009] This application embodiment also provides a resonant frequency detection device for a linear actuator, including an analog drive circuit and a closed-loop control module;

[0010] The analog drive circuit is used to drive the linear actuator with a closed-loop drive waveform.

[0011] The closed-loop control module is used to update the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state, and to determine the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state.

[0012] This application also provides a chip, including a resonant frequency detection device for the linear actuator described in any of the above technical solutions.

[0013] This application also provides an electronic device, including a resonant frequency detection device for the linear actuator described in any of the above technical solutions.

[0014] The beneficial effects of this application are as follows: a linear actuator is driven by a closed-loop drive waveform, and the closed-loop drive waveform is updated according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state; and the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state is determined; through the above method, the linear actuator is driven in a closed loop, and it is not necessary to stop driving the linear actuator when detecting the closed-loop acceleration waveform, so as not to shorten the driving time of the linear actuator, increase the vibration intensity of the linear actuator, and thus improve the accuracy of the resonant frequency measurement. Attached Figure Description

[0015] Figure 1 This is a schematic flowchart of the resonant frequency detection method for a linear actuator according to an embodiment of this application;

[0016] Figure 2 This is a schematic diagram of the closed-loop drive waveform and closed-loop acceleration waveform in an embodiment of this application;

[0017] Figure 3 This is a block diagram of a resonant frequency detection device for a linear actuator according to an embodiment of this application;

[0018] Figure 4 This is another block diagram of the resonant frequency detection device for a linear actuator according to an embodiment of this application.

[0019] Figure reference numerals: 200 - Resonant frequency detection device for linear actuator; 201 - Analog drive circuit; 202 - Closed-loop control module; 203 - Accelerometer module; 204 - Open-loop control module; 205 - Main control module; 206 - Free oscillation control module; 207 - Fusion module. Detailed Implementation

[0020] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of this application.

[0021] In the embodiments of this application, "at least one" refers to one or more; "multiple" refers to two or more. In the description of this application, the terms "first," "second," "third," etc., are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0022] References such as "one embodiment" or "some embodiments" as used in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the terms "comprising," "including," "having," and variations thereof in this specification mean "including but not limited to," unless otherwise specifically emphasized.

[0023] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0025] Figure 1 This is a schematic flowchart of the resonant frequency detection method for a linear actuator according to an embodiment of this application. It should be noted that if substantially the same result is obtained, the resonant frequency detection method for the linear actuator in this application is not based on... Figure 1 The flowchart shown is for illustrative purposes only. Figure 1 As shown, the resonant frequency detection method for this linear actuator includes the following steps:

[0026] S101 drives the linear actuator with a closed-loop drive waveform, and updates the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state.

[0027] In some embodiments, a linear actuator is driven with a closed-loop drive waveform, and the closed-loop drive waveform is updated according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state, including:

[0028] A linear actuator is driven by a closed-loop drive waveform, and the closed-loop acceleration waveform of the linear actuator under the closed-loop drive waveform is obtained.

[0029] The current closed-loop drive waveform is updated cyclically based on the closed-loop acceleration waveform until the preset number of cycles is reached.

[0030] As one implementation method, the closed-loop acceleration waveform can be a sinusoidal AC signal, which has zero-crossing points, peaks, or troughs. By detecting the zero-crossing points, peaks, or troughs, the resonant frequency of the linear actuator can be directly obtained. For example, multiple peaks can be detected to calculate the frequency, or multiple troughs can be detected to calculate the frequency, or a combination of peaks, troughs, and zero-crossing points can be detected to calculate the frequency.

[0031] S102, determine the target closed-loop resonant frequency of the linear actuator in closed-loop drive state.

[0032] In this embodiment, the linear actuator is driven by a closed-loop drive waveform, and the closed-loop drive waveform is updated according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state; and the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state is determined; when detecting the closed-loop acceleration waveform, it is not necessary to stop driving the linear actuator, so as not to shorten the driving time of the linear actuator, increase the vibration intensity of the linear actuator, and thus improve the accuracy of the resonant frequency measurement.

[0033] In some embodiments, the current closed-loop drive waveform is cyclically updated based on the closed-loop acceleration waveform until a preset number of cycles is reached, including:

[0034] Determine the current closed-loop resonant frequency based on the current closed-loop acceleration waveform; and

[0035] The current closed-loop drive waveform is updated cyclically based on the current closed-loop resonant frequency until the preset number of cycles is reached.

[0036] In one implementation, the initial closed-loop resonant frequency of the linear actuator is obtained, and a closed-loop drive waveform is generated based on the initial closed-loop resonant frequency to drive the linear actuator in a closed-loop state. Then, the current closed-loop acceleration waveform of the linear actuator is obtained, and the current closed-loop resonant frequency is determined based on the current closed-loop acceleration waveform. The current closed-loop drive waveform is then adjusted and updated based on the current closed-loop resonant frequency, and the linear actuator is driven with the adjusted closed-loop drive waveform. Then, the current closed-loop acceleration waveform of the linear actuator under closed-loop drive with the adjusted closed-loop drive waveform is obtained again, and the current closed-loop resonant frequency is determined based on the current closed-loop acceleration waveform. The current closed-loop drive waveform is then adjusted, and the above process is repeated continuously, adjusting and updating the current closed-loop drive waveform, until a preset number of cycles is reached.

[0037] In some implementations, the acceleration data of the linear actuator can be sampled by an accelerometer, and then the acceleration data from the accelerometer can be acquired to generate the acceleration waveform of the linear actuator.

[0038] Since the acceleration waveform reflects the actual vibration of the linear actuator, the closed-loop resonant frequency of the linear actuator can be obtained by detecting the frequency of the closed-loop acceleration waveform. Specifically, at least one of the waveform parameters, such as the peak, trough, and zero point of the closed-loop acceleration waveform, can be obtained, and the closed-loop resonant frequency of the linear actuator can be determined based on these waveform parameters. Figure 2 The diagram illustrates the driving and acceleration waveforms of a linear actuator. The acceleration waveform typically differs from the driving waveform by π / 2 phase. By detecting the peak-to-peak, peak-to-trough, trough-to-trough, peak-to-zero, and zero-to-zero intervals of the closed-loop acceleration waveform, the period and frequency of the closed-loop acceleration waveform can be obtained, thus revealing the current closed-loop resonant frequency of the linear actuator. During closed-loop driving, the linear actuator does not need to be stopped when detecting its acceleration; that is, the closed-loop driving waveform can continuously drive the linear actuator without affecting its driving time, allowing the vibration intensity of the linear actuator to be maintained. Compared to existing technologies that require stopping the driving of the linear actuator when detecting back electromotive force, this embodiment effectively increases the vibration intensity of the linear actuator and improves the accuracy of resonant frequency detection.

[0039] In some embodiments, determining the target closed-loop resonant frequency of the linear actuator in a closed-loop drive state includes: obtaining a plurality of closed-loop resonant frequencies corresponding to a preset number of cycles in the closed-loop drive state, obtaining the average value of the plurality of closed-loop resonant frequencies, and using the average value as the target closed-loop resonant frequency of the linear actuator.

[0040] In one implementation method, under closed-loop drive mode, the closed-loop drive waveform is continuously adjusted based on a preset number of cycles. During this process, multiple closed-loop resonant frequencies corresponding to the preset number of cycles can be obtained. The preset number of cycles can be determined according to the actual situation, for example, 5-10 times.

[0041] In this embodiment, the average value of the acquired multiple closed-loop resonant frequencies is taken, and this average value is used as the target closed-loop resonant frequency of the linear actuator in closed-loop state. This target closed-loop resonant frequency is also the final measured resonant frequency. By calculating the average value of the acquired multiple closed-loop resonant frequencies, the accuracy of the final measured resonant frequency can be improved.

[0042] In some embodiments, determining the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state includes: using the last acquired closed-loop resonant frequency of the linear actuator under the closed-loop drive waveform as the target closed-loop resonant frequency of the linear actuator.

[0043] In one implementation, under closed-loop drive conditions, the closed-loop drive waveform is continuously adjusted based on a preset number of cycles. During this process, as the closed-loop drive waveform is adjusted, the obtained closed-loop resonant frequency gets closer to the actual resonant frequency of the linear actuator. In this implementation, based on the preset number of cycles, the closed-loop resonant frequency obtained by driving the linear actuator with the last adjusted closed-loop drive waveform is taken as the target closed-loop resonant frequency. This target closed-loop resonant frequency can more closely approximate the actual resonant frequency of the linear actuator, effectively improving the accuracy of the final measured resonant frequency.

[0044] The resonant frequency detection method for linear actuators provided in this embodiment does not require stopping the driving of the linear actuator when detecting the closed-loop acceleration waveform, thus not shortening the driving time of the linear actuator, increasing the vibration intensity of the linear actuator, and thereby improving the accuracy of the resonant frequency measurement.

[0045] In some embodiments, before driving the linear actuator with a closed-loop drive waveform and updating the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state, the method further includes:

[0046] An open-loop drive waveform is generated based on a preset resonant frequency, and the linear actuator is driven by the open-loop drive waveform.

[0047] The open-loop drive state is closed, and the initial closed-loop resonant frequency of the linear actuator is obtained based on the first oscillation acceleration waveform in the free oscillation state; and the linear actuator is put into the closed-loop drive state based on the initial closed-loop resonant frequency.

[0048] In open-loop mode, an open-loop drive waveform is generated at a preset resonant frequency to drive the linear actuator, causing it to oscillate. Then, the open-loop drive is turned off, and the first oscillation acceleration waveform is detected in free oscillation mode. The resonant frequency of the linear actuator in free oscillation mode is obtained from this waveform and used as the initial closed-loop resonant frequency to drive the linear actuator in closed-loop mode, thus putting it into closed-loop drive mode. It is understood that the initial closed-loop resonant frequency of the linear actuator can be derived from the waveform parameters of the first oscillation acceleration waveform, which will not be elaborated further.

[0049] In some implementations, the open-loop drive state may not be shut down. Instead, the acceleration waveform of the linear actuator is detected in the open-loop drive state, and the initial closed-loop resonant frequency is obtained based on this acceleration waveform. During this process, the linear actuator can directly switch from the closed-loop drive state to the closed-loop drive state.

[0050] As an example, the preset resonant frequency mentioned above is generally the nominal frequency of the linear actuator when it leaves the factory.

[0051] In some embodiments, generating an open-loop driving waveform according to a preset resonant frequency includes:

[0052] In response to the received open-loop mode trigger signal, the open-loop drive waveform of the linear actuator is generated according to the preset resonant frequency, the first preset duration parameter and the first preset level parameter.

[0053] In one implementation, an open-loop drive waveform for the linear actuator is generated based on a preset resonant frequency, a first preset duration parameter, and a first preset level parameter. Specifically, the first preset duration parameter is used as the number of cycles, the preset resonant frequency is used as the frequency, and the first preset level parameter is used to generate the open-loop drive waveform. The linear actuator is then driven by this open-loop drive waveform. At this time, the linear actuator is in an open-loop drive state, meaning that the drive waveform is not adjusted based on feedback or measurement values, but rather the linear actuator is driven by the preset open-loop drive waveform.

[0054] When driving a linear actuator with an open-loop drive waveform, the driving time and driving voltage can be configured according to the actual situation.

[0055] In some embodiments, the resonant frequency detection method for a linear actuator further includes:

[0056] After the linear actuator is driven by the closed-loop drive waveform, the linear actuator is allowed to oscillate freely.

[0057] The second oscillation acceleration waveform of the linear actuator is obtained under free oscillation conditions; and

[0058] The oscillation resonant frequency of the linear actuator under free oscillation is determined based on the second oscillation acceleration waveform.

[0059] As one implementation method, the detection is repeatedly performed to generate and update the closed-loop drive waveform until a preset number of executions is reached and a free oscillation mode trigger signal is detected. Then, the linear actuator is made to oscillate freely, the second oscillation acceleration waveform of the linear actuator is obtained, and the oscillation resonance frequency of the linear actuator under free oscillation is determined.

[0060] In some embodiments, determining the oscillation resonant frequency of the linear actuator under free oscillation based on the second oscillation acceleration waveform includes:

[0061] The second oscillating acceleration waveform of the linear actuator during multiple free oscillation periods is obtained, and multiple resonant frequencies of the linear actuator under free oscillation are determined based on the second oscillating acceleration waveform. The average of these multiple resonant frequencies is taken as the oscillation resonant frequency of the linear actuator under free oscillation. It is understood that the resonant frequency under free oscillation can be obtained from the waveform parameters of the second oscillating acceleration waveform, which will not be elaborated further.

[0062] In the above embodiments, the open-loop resonant frequency, the initial closed-loop resonant frequency, the final target closed-loop resonant frequency, and the oscillation resonant frequency are all resonant frequencies of the linear actuator under different conditions. The detection of the closed-loop acceleration waveform, the first oscillation acceleration waveform, or the second oscillation acceleration waveform can be continuous or intermittent.

[0063] The technical solution of this application embodiment drives a linear actuator with a closed-loop drive waveform, and updates the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state; and determines the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state; when detecting the closed-loop acceleration waveform, it is not necessary to stop driving the linear actuator, thereby not shortening the driving time of the linear actuator, increasing the vibration intensity of the linear actuator, and thus improving the accuracy of the resonant frequency measurement.

[0064] It should be noted that in the existing technology for measuring the actual resonant frequency of a linear actuator, if the designed resonant frequency deviates significantly from the actual resonant frequency, the vibration amplitude of the linear actuator will be relatively low, and the back electromotive force will also be relatively weak. At the same time, due to the presence of noise, the measurement accuracy of the actual resonant frequency of the linear actuator will be low. The embodiments of the present invention obtain the initial closed-loop resonant frequency of the linear actuator under the current closed-loop drive waveform in a loop, and update the current closed-loop drive waveform based on the initial closed-loop resonant frequency, thereby further improving the accuracy of the resonant frequency measurement.

[0065] The structural block diagram of the resonant frequency detection device for the linear actuator in this application embodiment is as follows: Figure 3 As shown, the resonant frequency detection device 200 of the linear actuator includes an analog drive circuit 201 and a closed-loop control module 202.

[0066] Analog drive circuit 201 is used to drive a linear actuator with a closed-loop drive waveform.

[0067] The closed-loop control module 202 is used to update the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state, and to determine the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state.

[0068] In some embodiments, such as Figure 4 As shown, the device also includes an accelerometer module 203, which is used to acquire the closed-loop acceleration waveform of the linear actuator under the closed-loop drive waveform; the closed-loop control module is also used to cyclically update the current closed-loop drive waveform according to the closed-loop acceleration waveform until a preset number of cycles is reached.

[0069] It should be noted that the accelerometer module 203 can be embedded in the driver chip or it can be independent of the driver chip. The driver chip includes an analog drive circuit 201 and a closed-loop control module 202. The analog drive circuit 201 is generally a high-drive-capability H-bridge or other circuit.

[0070] In some embodiments, the closed-loop control module 202 updates the current closed-loop drive waveform cyclically based on the closed-loop acceleration waveform until a preset number of cycles is reached, including:

[0071] Determine the current closed-loop resonant frequency based on the current closed-loop acceleration waveform; and

[0072] The current closed-loop drive waveform is updated cyclically based on the current closed-loop resonant frequency until the preset number of cycles is reached.

[0073] In some embodiments, the closed-loop control module 202 determines the current closed-loop resonant frequency based on the current closed-loop acceleration waveform, including:

[0074] Obtain the waveform parameters of the closed-loop acceleration waveform, including at least one of the following: peaks, troughs, and zeros; and

[0075] Determine the current closed-loop resonant frequency based on the waveform parameters.

[0076] In some embodiments, the closed-loop control module 202 determines the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state, including:

[0077] Obtain multiple closed-loop resonant frequencies corresponding to a preset number of cycles under closed-loop drive state, and obtain the average value of multiple closed-loop resonant frequencies, using the average value as the target closed-loop resonant frequency of the linear actuator.

[0078] In some embodiments, the closed-loop control module 202 determines the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state, including:

[0079] The closed-loop resonant frequency of the linear actuator under the last acquired closed-loop drive waveform is taken as the target closed-loop resonant frequency of the linear actuator.

[0080] In some embodiments, the resonant frequency detection device 200 for the linear actuator further includes an open-loop control module 204.

[0081] The open-loop control module 204 is used to generate an open-loop drive waveform according to a preset resonant frequency before the open-loop control module drives the linear actuator with a closed-loop drive waveform.

[0082] The analog drive circuit 201 is also used to drive a linear actuator with an open-loop drive waveform;

[0083] The closed-loop control module 202 is also used to obtain the initial closed-loop resonant frequency of the linear actuator based on the first oscillation acceleration waveform in the free oscillation state after the analog drive circuit 201 closes the open-loop drive state.

[0084] The analog drive circuit 201 is also used to put the linear actuator into a closed-loop drive state according to the initial closed-loop resonant frequency.

[0085] In some embodiments, the open-loop control module 204 generates an open-loop drive waveform according to a preset resonant frequency, including:

[0086] In response to the received open-loop mode trigger signal, the open-loop drive waveform of the linear actuator is generated according to the preset resonant frequency, the first preset duration parameter and the first preset level parameter.

[0087] As one implementation, the resonant frequency detection device 200 of the linear actuator also includes a main control module 205. The main control module 205 is also used to send a closed-loop mode trigger signal to the closed-loop control module 202. The closed-loop control module 202 is used to acquire the closed-loop acceleration waveform of the linear actuator after the open-loop drive waveform finishes driving the linear actuator and after receiving the closed-loop mode trigger signal, thereby determining the closed-loop resonant frequency.

[0088] As another implementation, an open-loop drive waveform of the linear actuator is generated based on a preset resonant frequency, a first preset duration parameter, and a first preset level parameter. The duration of the open-loop drive waveform is adjustable, and the open-loop drive waveform can be other shapes, such as a sine wave or a square wave.

[0089] In some embodiments, the resonant frequency detection device 200 for the linear actuator further includes a free oscillation control module 206.

[0090] The free oscillation control module 206 is used to enable the linear actuator to oscillate freely after the linear actuator is driven by the closed-loop drive waveform.

[0091] Accelerometer module 203 is used to acquire the second oscillatory acceleration waveform of the linear actuator in a free oscillation state;

[0092] The free oscillation control module 206 is also used to determine the oscillation resonance frequency of the linear actuator under free oscillation based on the second oscillation acceleration waveform.

[0093] In one implementation, the main control module 205 is also used to send a free oscillation mode trigger signal to the free oscillation control module 206.

[0094] In some embodiments, the free oscillation control module 206 determines the oscillation resonant frequency of the linear actuator under free oscillation based on the second oscillation acceleration waveform, including:

[0095] The second oscillation acceleration waveform of the linear actuator is obtained in multiple free oscillation cycles, and multiple resonant frequencies of the linear actuator under free oscillation are determined based on the second oscillation acceleration waveform. The average value of the multiple resonant frequencies is taken as the oscillation resonant frequency of the linear actuator under free oscillation.

[0096] In one implementation, the free oscillation control module 206 is also used to obtain the zero-crossing, peak, or trough points of the linear actuator in multiple free oscillation cycles based on the second oscillation acceleration waveform, determine multiple resonant frequencies of the linear actuator under free oscillation based on the zero-crossing, peak, or trough points of the linear actuator in multiple free oscillation cycles, and use the average value of the multiple resonant frequencies as the oscillation resonant frequency of the linear actuator under free oscillation.

[0097] In one implementation, the device further includes a fusion module 207, which selects one waveform from the waveforms generated by the open-loop control module 204, the closed-loop control module 202, and the free oscillation control module 206 and sends it to the analog drive circuit 201, which drives the linear actuator. Due to the presence of the main control module 205, at any given time, the open-loop control module 204, the closed-loop control module 202, and the free oscillation control module 206 generate only one waveform.

[0098] In some embodiments, the resonant frequency detection device 200 of the linear actuator further includes a low-pass filter, which is used to perform low-pass filtering on the closed-loop acceleration waveform, the first oscillating acceleration waveform, or the second oscillating acceleration waveform.

[0099] As one implementation, a low-pass filter can be added between the accelerometer module 203 and the main control module 205. The low-pass filter is used to filter out high-frequency noise in the accelerometer output signal (closed-loop acceleration waveform, first oscillating acceleration waveform, or second oscillating acceleration waveform).

[0100] In some embodiments, the resonant frequency detection device 200 for the linear actuator further includes an edge control module for edge processing of the closed-loop drive waveform. Edge processing can smooth the closed-loop drive waveform.

[0101] This application provides a chip that includes a resonant frequency detection device for the linear actuator of any of the above embodiments.

[0102] This application provides an electronic device including a resonant frequency detection device for the linear actuator of any of the above embodiments.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above embodiments merely illustrate preferred implementations of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for detecting the resonant frequency of a linear actuator, characterized in that, Includes the following steps: A linear actuator is driven by a closed-loop drive waveform, and the closed-loop drive waveform is updated according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state. as well as Determine the target closed-loop resonant frequency of the linear actuator under the closed-loop drive state.

2. The method for detecting the resonant frequency of a linear actuator according to claim 1, characterized in that, The step of driving a linear actuator with a closed-loop drive waveform and updating the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state includes: The linear actuator is driven by a closed-loop drive waveform, and the closed-loop acceleration waveform of the linear actuator under the closed-loop drive waveform is obtained. The current closed-loop drive waveform is updated cyclically based on the closed-loop acceleration waveform until a preset number of cycles is reached.

3. The method for detecting the resonant frequency of a linear actuator according to claim 2, characterized in that, The step of cyclically updating the current closed-loop drive waveform based on the closed-loop acceleration waveform until a preset number of cycles is reached includes: Determine the current closed-loop resonant frequency based on the current closed-loop acceleration waveform; and The current closed-loop drive waveform is updated cyclically based on the current closed-loop resonant frequency until the preset number of cycles is reached.

4. The method for detecting the resonant frequency of a linear actuator according to claim 3, characterized in that, The step of determining the current closed-loop resonant frequency based on the current closed-loop acceleration waveform includes: Obtain the waveform parameters of the closed-loop acceleration waveform, wherein the waveform parameters include at least one of peaks, troughs, and zeros; and The current closed-loop resonant frequency is determined based on the waveform parameters.

5. The method for detecting the resonant frequency of a linear actuator according to any one of claims 1 to 4, characterized in that, Determining the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state includes: Multiple closed-loop resonant frequencies corresponding to a preset number of cycles are obtained under the closed-loop drive state, and the average value of the multiple closed-loop resonant frequencies is obtained. The average value is used as the target closed-loop resonant frequency of the linear actuator.

6. The method for detecting the resonant frequency of a linear actuator according to any one of claims 1 to 4, characterized in that, Determining the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state includes: The closed-loop resonant frequency of the linear actuator under closed-loop drive waveform obtained in the last time is taken as the target closed-loop resonant frequency of the linear actuator.

7. The method for detecting the resonant frequency of a linear actuator according to any one of claims 1 to 4, characterized in that, Before driving the linear actuator with a closed-loop drive waveform and updating the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state, the method further includes: An open-loop drive waveform is generated according to a preset resonant frequency, and the linear actuator is driven by the open-loop drive waveform. With the open-loop drive state closed, the initial closed-loop resonant frequency of the linear actuator is obtained based on the first oscillation acceleration waveform under free oscillation state; and The linear actuator is put into closed-loop drive state according to the initial closed-loop resonant frequency.

8. The method for detecting the resonant frequency of a linear actuator according to claim 7, characterized in that, The step of generating an open-loop driving waveform based on a preset resonant frequency includes: In response to the received open-loop mode trigger signal, the open-loop drive waveform of the linear actuator is generated according to the preset resonant frequency, the first preset duration parameter and the first preset level parameter.

9. The method for detecting the resonant frequency of a linear actuator according to any one of claims 1 to 4, characterized in that, The method further includes: After the linear actuator is driven by the closed-loop drive waveform, the linear actuator is allowed to oscillate freely. The second oscillation acceleration waveform of the linear actuator is obtained under free oscillation conditions; and The oscillation resonant frequency of the linear actuator under free oscillation is determined based on the second oscillation acceleration waveform.

10. The method for detecting the resonant frequency of a linear actuator according to claim 9, characterized in that, Determining the oscillation resonant frequency of the linear actuator under free oscillation based on the second oscillation acceleration waveform includes: The second oscillation acceleration waveform of the linear actuator is obtained within multiple free oscillation cycles, and multiple resonant frequencies of the linear actuator under free oscillation are determined based on the second oscillation acceleration waveform. The average value of the multiple resonant frequencies is taken as the oscillation resonant frequency of the linear actuator under free oscillation.

11. A resonant frequency detection device for a linear actuator, characterized in that, Includes analog drive circuitry and closed-loop control module; The analog drive circuit is used to drive the linear actuator with a closed-loop drive waveform. The closed-loop control module is used to update the closed-loop drive waveform according to the closed-loop acceleration waveform of the linear actuator in the closed-loop drive state, and to determine the target closed-loop resonant frequency of the linear actuator in the closed-loop drive state.

12. The resonant frequency detection device for a linear actuator according to claim 11, characterized in that, The device further includes an accelerometer module, which is used to acquire the closed-loop acceleration waveform of the linear actuator under the closed-loop drive waveform; the closed-loop control module is also used to cyclically update the current closed-loop drive waveform according to the closed-loop acceleration waveform until a preset number of cycles is reached.

13. A chip, characterized in that, The resonant frequency detection device for the linear actuator as described in any one of claims 11-12.

14. An electronic device, characterized in that, The device includes the resonant frequency detection device of the linear actuator as described in any one of claims 11-12 or the chip as described in claim 13.

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