Vibration control methods, devices, terminal equipment, and computer media for motors

Abstract

This invention discloses a vibration control method, device, terminal equipment, and computer medium for a motor, comprising: determining a target directional tactile scene among preset directional tactile scenes, and determining an ideal waveform group corresponding to the target directional tactile scene; determining basic waveforms corresponding to the target directional tactile scene, adjusting each basic waveform to obtain target waveforms, and combining the target waveforms to obtain a target waveform group consistent with the ideal waveform group; calculating a driving voltage corresponding to the target waveform group based on the target waveform group and the motor parameters of the target motor, and outputting the driving voltage to cause the target motor to perform vibration operation according to the target waveform group. This invention enables the generation of a controllable target waveform group, thereby enabling the target motor to perform vibration operation according to the target waveform group, providing users with rich tactile feedback.

Description

Technical Field

[0001] This invention relates to the field of linear motor technology, and in particular to a vibration control method, apparatus, terminal device, and computer-readable storage medium for a motor. Background Technology

[0002] With the continuous development of linear resonant actuators, linear resonant actuators have become the mainstream haptic feedback motors due to their advantages such as strong, rich, crisp vibration and low energy consumption. In order to meet people's needs for different types of haptic experience in daily life, current haptic feedback motors mainly use waveforms such as equal amplitude sine waves, rectangular waves, triangular waves or sawtooth waves as basic units, and flip the negative half-cycle of the waveform to the positive half-cycle every cycle, so as to construct a directional vibration waveform with equal positive and negative amplitudes but different densities, allowing users to experience different types of vibration.

[0003] However, since the negative area of ​​the acceleration waveform constructed by the current haptic feedback motor is significantly larger than the positive area, the velocity waveform obtained by integrating the acceleration waveform will continue to increase negatively. As a result, when the haptic feedback motor integrates the velocity again to obtain the displacement waveform, the displacement waveform will also continue to increase negatively. That is, the velocity and displacement corresponding to the acceleration waveform diverge infinitely. Furthermore, since the internal space of the haptic feedback motor is limited and the amplitude of the control voltage that the hardware circuit can apply is also limited, the acceleration waveform constructed by the current haptic feedback motor is not controllable. Summary of the Invention

[0004] The main objective of this invention is to provide a vibration control method, device, terminal equipment, and computer-readable storage medium for a motor, which is designed to generate a controllable set of target waveforms, thereby enabling the target motor to perform vibration operations according to the target waveform set to provide the user with rich tactile feedback.

[0005] To achieve the above objectives, the present invention provides a vibration control method for a motor, the vibration control method comprising the following steps:

[0006] In the preset directional tactile scenes, a target directional tactile scene is determined, and an ideal waveform group corresponding to the target directional tactile scene is determined;

[0007] Determine each basic waveform corresponding to the target directional tactile scene, adjust each basic waveform to obtain each target waveform, and combine each target waveform to obtain a target waveform group that is consistent with the ideal waveform group;

[0008] The driving voltage corresponding to the target waveform group is calculated based on the target waveform group and the parameters of each motor of the target motor, and the driving voltage is output to cause the target motor to perform vibration operation according to the target waveform group.

[0009] Furthermore, the step of determining the basic waveforms corresponding to the target directional tactile scene includes:

[0010] Obtain a preset scene waveform correspondence, wherein the scene waveform correspondence includes each directional tactile scene and the basic waveform corresponding to each directional tactile scene;

[0011] Based on the target directional tactile scene, the waveform correspondence of the scene is filtered to determine the basic waveforms corresponding to the target directional tactile scene.

[0012] Furthermore, the step of adjusting each of the basic waveforms to obtain each target waveform includes:

[0013] Obtain the preset waveform constraints;

[0014] Each of the basic waveforms is adjusted according to the waveform constraints to obtain each prototype waveform, and the prototype waveforms are then adjusted to obtain each target waveform.

[0015] Furthermore, the step of adjusting the prototype waveform to obtain each target waveform includes:

[0016] Determine the waveform parameter groups corresponding to the ideal waveform group;

[0017] Each target waveform is obtained by adjusting each prototype waveform according to each set of waveform parameters.

[0018] Furthermore, after the step of adjusting each of the basic waveforms to obtain each target waveform, the method further includes:

[0019] Each of the target waveforms is input into the filtering device to perform a smoothing filtering operation on each of the target waveforms.

[0020] Further, the step of calculating the driving voltage corresponding to the target waveform group based on the target waveform group and the parameters of each motor of the target motor includes:

[0021] Obtain the parameters of each motor in the target motor;

[0022] The driving voltage corresponding to the target waveform group is calculated by calculating the target waveform group and each motor parameter according to the preset calculation formula.

[0023] Furthermore, the step of calculating the driving voltage corresponding to the target waveform group based on the target waveform group and the parameters of each motor of the target motor further includes:

[0024] Acquire the voltage and current signals within the target motor;

[0025] The motor parameters corresponding to the target motor are determined based on the voltage and current signals, and the driving voltage is calculated based on the target waveform group and the motor parameters.

[0026] Furthermore, to achieve the above objectives, the present invention also provides a vibration control device for a motor, the device comprising:

[0027] The waveform determination module is used to determine a target directional tactile scene in preset directional tactile scenes, and to determine an ideal waveform group corresponding to the target directional tactile scene;

[0028] The waveform adjustment module is used to determine each basic waveform corresponding to the target directional tactile scene, adjust each basic waveform to obtain each target waveform, and combine each target waveform to obtain a target waveform group that is consistent with the ideal waveform group.

[0029] The waveform output module is used to calculate the driving voltage corresponding to the target waveform group based on the target waveform group and the motor parameters of the target motor, and output the driving voltage to cause the target motor to perform vibration operation according to the target waveform group.

[0030] In addition, to achieve the above objectives, the present invention also provides a terminal device, the terminal device comprising: a memory, a processor, and a motor vibration control program stored in the memory and executable on the processor, wherein when the motor vibration control program is executed by the processor, it implements the steps of the motor vibration control method as described above.

[0031] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a vibration control program for a motor, wherein when the vibration control program for the motor is executed by a processor, the motor vibration control program implements the steps of the motor vibration control method described above.

[0032] The vibration control method, apparatus, terminal device, and computer-readable storage medium for a motor provided in this invention determine a target directional tactile scene from preset directional tactile scenes, and determine an ideal waveform group corresponding to the target directional tactile scene; determine each basic waveform corresponding to the target directional tactile scene, adjust each basic waveform to obtain each target waveform, and combine each target waveform to obtain a target waveform group consistent with the ideal waveform group; calculate the driving voltage corresponding to the target waveform group based on the target waveform group and each motor parameter of the target motor, and output the driving voltage to cause the target motor to perform vibration operation according to the target waveform group.

[0033] In this embodiment, when the terminal device is running, it first determines a target directional tactile scene that matches the user-selected directional tactile scene from the preset tactile scene library, and determines the ideal waveform group corresponding to the target directional tactile scene. Then, the terminal device calls the internally configured collaborative control module to determine the basic waveforms corresponding to the target directional tactile scene from the prototype waveform library, and controls the internally configured parameter adjustment module to adjust the waveforms according to preset waveform constraints and...

[0034] The waveform parameter groups corresponding to the ideal waveform group adjust the basic waveforms to obtain the target waveforms. The terminal device then combines the target waveforms to obtain a target waveform group that is consistent with the ideal waveform group. After that, the terminal device calculates the drive voltage required for the output target waveform group according to the target waveform group and the motor parameters of the target motor through the voltage calculation module configured in the controller. The terminal device then outputs the drive voltage signal to make the target motor perform vibration operation according to the target waveform group.

[0035] Thus, this invention employs a method of determining an ideal waveform set corresponding to a target directional tactile scene, identifying the necessary basic waveforms from a pre-set prototype waveform library, and then adjusting each basic waveform based on the waveform parameter set corresponding to the ideal waveform set and pre-set waveform constraints to obtain the target waveform set. Based on the motor parameters and the target waveform set, the required drive voltage is determined, and finally, the motor is controlled to perform vibration operations according to the target waveform set based on the drive voltage. In other words, this invention is based on ideal waveforms...

[0036] The corresponding waveform parameter group and waveform constraint conditions are used to adjust the basic waveform to obtain a target waveform that corresponds to the target directional tactile scene and does not diverge indefinitely, thereby making the acceleration waveform controllable.

[0037] This technology solves the problem that the velocity and displacement corresponding to the acceleration waveform diverge infinitely in the current technology, and realizes the technical effect of generating a controllable target waveform group, so that the target motor can perform vibration operation according to the target waveform group, bringing rich tactile feedback to the user. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the terminal device in the hardware operating environment involved in the embodiments of the present invention;

[0039] Figure 2 This is a flowchart illustrating the first embodiment of the vibration control method for the motor of the present invention.

[0040] Figure 3 This is a schematic diagram of the system structure involved in an embodiment of the vibration control method for the motor of the present invention;

[0041] Figure 4 This is a schematic diagram of a motor array according to an embodiment of the vibration control method for the motor of the present invention; Figure 5 This is a schematic diagram of the functional modules involved in one embodiment of the vibration control method for the motor of the present invention.

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0044] Reference Figure 1 , Figure 1 This is a schematic diagram of the terminal device structure of the hardware operating environment involved in the embodiments of the present invention.

[0045] It should be noted that, Figure 1 This can be a structural diagram of the hardware operating environment of the terminal device. In this embodiment of the invention, the terminal device can be a terminal device for executing the vibration control method for the motor provided by this invention. Specifically, the terminal device can be a data storage control terminal, a PC, or a portable computer, etc.

[0046] like Figure 1As 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. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the terminal device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0048] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and a vibration control program for a motor.

[0049] 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 memory 1005 in the terminal device of the present invention can be set in the terminal device, and the terminal device calls the motor vibration control program stored in the memory 1005 through the processor 1001 and performs the following operations:

[0050] In the preset directional tactile scenes, a target directional tactile scene is determined, and an ideal waveform group corresponding to the target directional tactile scene is determined;

[0051] Determine each basic waveform corresponding to the target directional tactile scene, adjust each basic waveform to obtain each target waveform, and combine each target waveform to obtain a target waveform group that is consistent with the ideal waveform group;

[0052] The driving voltage corresponding to the target waveform group is calculated based on the target waveform group and the parameters of each motor of the target motor, and the driving voltage is output to cause the target motor to perform vibration operation according to the target waveform group.

[0053] Furthermore, the processor 1001 calls the motor vibration control program stored in the memory 1005 and performs the following operations:

[0054] Obtain a preset scene waveform correspondence, wherein the scene waveform correspondence includes each directional tactile scene and the basic waveform corresponding to each directional tactile scene;

[0055] Based on the target directional tactile scene, the waveform correspondence of the scene is filtered to determine the basic waveforms corresponding to the target directional tactile scene.

[0056] Furthermore, the processor 1001 calls the motor vibration control program stored in the memory 1005 and performs the following operations:

[0057] Obtain the preset waveform constraints;

[0058] Each of the basic waveforms is adjusted according to the waveform constraints to obtain each prototype waveform, and the prototype waveforms are then adjusted to obtain each target waveform.

[0059] Furthermore, the processor 1001 calls the motor vibration control program stored in the memory 1005 and performs the following operations:

[0060] Determine the waveform parameter groups corresponding to the ideal waveform group;

[0061] Each target waveform is obtained by adjusting each prototype waveform according to each set of waveform parameters.

[0062] Furthermore, the processor 1001 calls the motor vibration control program stored in the memory 1005 and performs the following operations:

[0063] Each of the target waveforms is input into the filtering device to perform a smoothing filtering operation on each of the target waveforms.

[0064] Furthermore, the processor 1001 calls the motor vibration control program stored in the memory 1005 and performs the following operations:

[0065] Obtain the parameters of each motor in the target motor;

[0066] The driving voltage corresponding to the target waveform group is calculated by calculating the target waveform group and each motor parameter according to the preset calculation formula.

[0067] Furthermore, the processor 1001 calls the motor vibration control program stored in the memory 1005 and performs the following operations:

[0068] Acquire the voltage and current signals within the target motor;

[0069] The motor parameters corresponding to the target motor are determined based on the voltage and current signals, and the driving voltage is calculated based on the target waveform group and the motor parameters.

[0070] Based on the aforementioned terminal device, various embodiments of the vibration control method for the motor of the present invention are provided.

[0071] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the vibration control method for the motor of the present invention.

[0072] It should be understood that although the logical order is shown in the flowchart, in some cases the vibration control method of the motor of the present invention may of course perform the steps shown or described in a different order than that shown here.

[0073] In this embodiment, the vibration control method for the motor of the present invention may include the following steps:

[0074] Step S10: Determine the target directional tactile scene in the preset directional tactile scenes, and determine the ideal waveform group corresponding to the target directional tactile scene;

[0075] In this embodiment, when the terminal device is running, it first determines the target directional tactile scene to be output from the directional tactile scenes contained in the internally configured tactile scene library, and then determines the ideal waveform group corresponding to the target directional tactile scene to be output.

[0076] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram of the system structure involved in an embodiment of the vibration control method for the motor of the present invention. When a user selects the car steering wheel rotation scene in a preset scene such as a car steering wheel rotation scene, a fish twisting scene, a caterpillar crawling scene, a gravity change scene, or other built-in scenes through a VR / AR device, the terminal device is internally configured with, as shown in the following... Figure 3 The haptic scene library shown contains car steering wheel rotation scenes, fish twisting scenes, caterpillar wriggling scenes, gravity change scenes, or other built-in scenes. The scene that matches the car steering wheel rotation scene is selected as the target directional haptic scene. Then, the terminal device calls, for example... Figure 3The collaborative control module configured within the waveform design software shown determines the ideal waveform set to be output, corresponding to the scenario of a car steering wheel turning.

[0077] It should be noted that, in this embodiment, the tactile scene library is a database containing a series of scenes with directional characteristics obtained by directional waveforms and their combinations. It is understood that, in addition to the above-mentioned scenes such as the car steering wheel rotation scene, the fish twisting scene, the caterpillar crawling scene, and the gravity change scene, technicians can also design other scenes to add to the tactile scene library, and the present invention does not limit this.

[0078] Step S20: Determine each basic waveform corresponding to the target directional tactile scene, adjust each basic waveform to obtain each target waveform, and combine each target waveform to obtain a target waveform group that is consistent with the ideal waveform group;

[0079] In this embodiment, the terminal device determines the basic waveforms corresponding to the target directional tactile scene from the basic waveforms contained in the prototype waveform library configured in the waveform design software, and controls the parameter adjustment module contained in the waveform design software to adjust the basic waveforms to obtain target waveforms of different periods corresponding to the ideal waveform group. The target waveforms are then input into the waveform combination module configured in the waveform design software, and the waveform combination module combines the target waveforms to obtain the target waveform group.

[0080] For example, when the terminal device determines that the target directional haptic scene is a car steering wheel rotation scene, the terminal device, in such a way... Figure 3 The waveform design software contains a prototype waveform library with basic waveforms such as rectangular waves, triangular waves, trapezoidal waves, and sine waves. One or more of these basic waveforms are selected as the basic waveforms corresponding to the scene of a car steering wheel turning. Then, the terminal device reads the waveform constraints preset by the technician and controls the parameter adjustment module in the waveform design software to adjust the basic waveforms according to the waveform constraints, thereby obtaining prototype waveforms that are similar to the basic waveforms but meet the waveform constraints. Next, the terminal device adjusts each prototype waveform according to the waveform parameters such as amplitude am, frequency fb, amplitude asymmetry k, and direction d in the waveform parameter group corresponding to the ideal waveform group, thereby obtaining the target waveform of a single cycle. Finally, the terminal device inputs the generated target waveforms into the waveform combination module in the waveform design software, which combines the target waveforms of multiple cycles to obtain the target waveform group.

[0081] It should be noted that in this embodiment, the amplitude am refers to the sum of the positive amplitude am_p and the negative amplitude am_n of the prototype waveform. Similarly, the frequency fb refers to the reciprocal of the duration Tb of a single prototype waveform, that is, fb = 1 / Tb. Similarly, the amplitude asymmetry k refers to the ratio of the larger amplitude to the smaller amplitude, where k should be greater than or equal to 1. Similarly, the direction d refers to whether the region of the larger amplitude of the waveform is located on the positive half-axis of the coordinate axis. If the region of the larger amplitude of the waveform is located on the positive half-axis, then d = 1; if the region of the larger amplitude of the waveform is located on the negative half-axis, then d = -1.

[0082] Furthermore, it is understood that in another embodiment, a certain amount of idle time can be inserted between adjacent target waveforms to form a target waveform group, thereby giving the target waveform group a richer directional tactile experience.

[0083] Furthermore, in a feasible embodiment, the step of "determining each basic waveform corresponding to the target directional tactile scene" in step S20 above may specifically include:

[0084] Step S201: Obtain a preset scene waveform correspondence relationship, wherein the scene waveform correspondence relationship includes each of the directional tactile scenes and the basic waveform corresponding to each of the directional tactile scenes;

[0085] Step S202: Based on the target directional tactile scene, filter the scene waveform correspondence to determine the basic waveforms corresponding to the target directional tactile scene;

[0086] For example, the terminal device first reads the storage device to obtain the scene waveform correspondence relationship of the scene pre-stored by the technician, which includes scenes such as car steering wheel rotation, fish twisting, caterpillar crawling, and gravity change, and the basic waveforms such as rectangular wave, triangular wave, trapezoidal wave, and sine wave corresponding to each scene. The scene waveform correspondence relationship is then input into the waveform design software. When the waveform design software determines that the target scene selected by the user is the car steering wheel rotation scene, it filters the scene waveform correspondence relationship based on the car steering wheel rotation scene to determine that the basic waveform corresponding to the car steering wheel rotation scene is a rectangular wave from the basic waveforms included in the scene waveform correspondence relationship.

[0087] Furthermore, in a feasible embodiment, the step of "adjusting each of the basic waveforms to obtain each target waveform" in step S20 above may specifically include:

[0088] Step S203: Obtain the preset waveform constraint conditions;

[0089] Step S204: Adjust each of the basic waveforms according to the waveform constraints to obtain each prototype waveform, and adjust the prototype waveforms to obtain each target waveform;

[0090] For example, the terminal device first obtains the waveform constraint condition preset by the technician, which is that the integral value of the control base waveform within one cycle is 0. Then, the terminal device... Figure 3 The parameter adjustment module shown adjusts the basic waveform according to the integral value of the basic waveform within one cycle being 0, thereby generating a prototype waveform that is similar to the basic waveform and has an integral value of 0 within one cycle.

[0091] Furthermore, in a feasible embodiment, step S204 above may specifically include:

[0092] Step S2041: Determine the waveform parameter groups corresponding to the ideal waveform group;

[0093] Step S2042: Adjust each of the prototype waveforms according to each of the waveform parameter groups to obtain each target waveform;

[0094] For example, the terminal device first determines the waveform parameters such as amplitude am, frequency fb, amplitude asymmetry k, and direction d corresponding to each ideal waveform in the ideal waveform group. Then, the terminal device adjusts each prototype waveform according to the waveform parameters corresponding to each ideal waveform through the parameter adjustment module, thereby obtaining the target waveform corresponding to each ideal waveform.

[0095] It should be noted that in this embodiment, please refer to... Figure 4 , Figure 4 This is a schematic diagram of a motor array according to an embodiment of the vibration control method for the motor of the present invention, as shown below. Figure 4 As shown, when the terminal device is equipped with only one target motor, the parameter adjustment module can adjust the prototype waveform according to the waveform parameters of the ideal waveforms in each time period within the ideal waveform group based on the chronological order, thereby obtaining the target waveform. Furthermore, in another embodiment, as... Figure 4 As shown, when multiple target motors are configured in the terminal device, the parameter adjustment module adjusts each prototype waveform according to the waveform parameters of the ideal waveform in each time period within the ideal waveform group to obtain each target waveform. The target waveform corresponding to each target motor is determined according to the motor array composed of each target motor to combine directional waveform output. Similarly, the terminal device can also set multiple target motors to output the same target waveform to enhance the tactile experience corresponding to the target waveform.

[0096] Furthermore, in a feasible embodiment, after step S20 above, the vibration control method of the motor of the present invention may further include:

[0097] Step A10: Input each of the target waveforms into the filtering device to perform a smoothing filtering operation on each of the target waveforms through the filtering device;

[0098] For example, after generating the prototype waveform, the terminal device can also input the prototype waveform to... Figure 3 The waveform design software shown includes a waveform smoothing module, which uses an internally configured filtering device to perform Fourier series expansion on the prototype waveform. This allows the prototype waveform to be reconstructed using multiple sinusoidal signals, resulting in abrupt or sudden numerical changes in the prototype waveform.

[0099] Step S30: Calculate the driving voltage corresponding to the target waveform group based on the target waveform group and the motor parameters of the target motor, and output the driving voltage to make the target motor perform vibration operation according to the target waveform group;

[0100] In this embodiment, the terminal device inputs the generated target waveform group to the voltage calculation module included in the controller. The voltage calculation module calculates the driving voltage corresponding to the target waveform group based on the motor parameters of the target motor and the target waveform group. The terminal device then inputs the calculated driving voltage to the implementation device. The implementation device drives the motor array configured in the implementation device to perform vibration operation according to the target waveform group to generate vibration corresponding to the target waveform, thereby providing corresponding tactile feedback.

[0101] For example, the terminal device inputs the generated target waveform group to... Figure 3 The controller shown includes a voltage calculation module. This module calculates the required drive voltage value for controlling the motor array to vibrate according to the target waveform group based on the target waveforms within the target waveform group and the motor parameters of each target motor in the motor array within the implementation device, such as the motor vibrator mass (mms), damping coefficient (rms), spring stiffness coefficient (Kms), electromagnetic coupling parameter (Bl), and resistance (Re). Then, the terminal device generates a drive voltage signal based on this value and inputs it to the power amplification module within the controller. The power amplification module amplifies the drive voltage signal and inputs the amplified signal to... Figure 3 The illustrated implementation device controls each target motor in its internally configured motor array to perform vibration operation according to a drive voltage signal, and through the configuration within the implementation device... Figure 3 The human-computer interaction carrier shown transmits the tactile sensation generated by the motor vibration to the user, allowing the user to feel the tactile sensation corresponding to the turning of the car steering wheel.

[0102] It should be noted that, in this embodiment, the power amplification module is an amplifier that performs power matching on the input signal. The specific type of the power amplification module can be Class A, Class B, Class AB, or Class D driver, and the present invention does not limit this.

[0103] Furthermore, in a feasible embodiment, the step S30 above, "calculating the driving voltage corresponding to the target waveform group based on the target waveform group and the parameters of each motor of the target motor," may specifically include:

[0104] Step S301: Obtain the parameters of each motor in the target motor;

[0105] Step S302: Calculate the target waveform group and each motor parameter according to the preset calculation formulas to obtain the driving voltage corresponding to the target waveform group;

[0106] For example, the terminal device first reads the storage device to obtain the motor parameters such as the motor vibrator mass mms, damping coefficient rms, spring stiffness coefficient Kms, electromagnetic coupling parameter B1, and resistance Re corresponding to each target motor, which are pre-stored by the technician. Then, the voltage calculation module inputs each motor parameter to the voltage calculation module. After that, the voltage calculation module calculates the driving voltage value required to achieve the target waveform according to the obtained motor parameters such as the motor vibrator mass mms, damping coefficient rms, spring stiffness coefficient Kms, electromagnetic coupling parameter B1, and resistance Re, as well as the target waveform group, according to the preset mathematical relationship between physical quantities such as acceleration, velocity, displacement, momentum, impulse, current, voltage, and back electromotive force.

[0107] Furthermore, in a feasible embodiment, the step S30 above, "calculating the driving voltage corresponding to the target waveform group based on the target waveform group and the parameters of each motor of the target motor," may further include:

[0108] Step S303: Acquire the voltage and current signals within the target motor;

[0109] Step S304: Determine the motor parameters corresponding to the target motor based on the voltage and current signals, and calculate the driving voltage based on the target waveform group and the motor parameters;

[0110] For example, after determining the target waveform group, the terminal device can also detect the motor array in the implementation device through the voltage and current detection module configured in the controller to obtain the voltage across the winding of each target motor in the motor array and the current passing through the motor winding. Then, the obtained voltage and current values ​​are input to the voltage calculation module in the controller. The voltage calculation module determines the motor parameters corresponding to the target motor, such as the motor vibrator mass mms, damping coefficient rms, spring stiffness coefficient Kms, electromagnetic coupling parameter B1, and resistance Re, based on the obtained voltage and current values. After that, the voltage calculation module calculates the driving voltage value required to achieve the target waveform based on the obtained motor parameters and the target waveform group.

[0111] In this embodiment, when the terminal device is running, it first determines the target directional tactile scene to be output from the directional tactile scenes included in the internally configured tactile scene library. The terminal device then determines the ideal waveform group corresponding to the target directional tactile scene to be output. After that, the terminal device determines the basic waveforms corresponding to the target directional tactile scene from the basic waveforms included in the prototype waveform library configured in the waveform design software, and controls the parameter adjustment module included in the waveform design software to adjust the basic waveforms to obtain target waveforms of different periods corresponding to the ideal waveform group. The target waveforms are then input into the waveform combination module configured in the waveform design software, and the waveform combination module combines the target waveforms to obtain the target waveform group. After that, the terminal device inputs the generated target waveform group into the voltage calculation module included in the controller. The voltage calculation module calculates the driving voltage corresponding to the target waveform group based on the motor parameters of the target motor and the target waveform group. The terminal device then inputs the calculated driving voltage into the implementation device, and the implementation device drives the motor array configured in the implementation device to perform vibration operation according to the target waveform group to generate vibrations corresponding to the target waveform, thereby providing corresponding tactile feedback.

[0112] Thus, this invention employs a method of determining an ideal waveform set corresponding to a target directional tactile scene and identifying the necessary basic waveforms from a pre-set prototype waveform library. Then, based on the waveform parameter set corresponding to the ideal waveform set and pre-set waveform constraints, the basic waveforms are adjusted to obtain the target waveform set. The required drive voltage is then determined based on the motor parameters and the target waveform set. Finally, the motor is controlled to perform vibration operations according to the target waveform set based on the drive voltage. In other words, this invention adjusts the basic waveforms based on the waveform parameter set corresponding to the ideal waveform set and waveform constraints to obtain a target waveform that corresponds to the target directional tactile scene and does not diverge infinitely. This makes the acceleration waveform controllable, solving the technical problem in current technology where the velocity and displacement of the acceleration waveform diverge infinitely. It achieves the technical effect of generating a controllable target waveform set, thereby enabling the target motor to perform vibration operations according to the target waveform set, providing users with rich tactile feedback.

[0113] Furthermore, to achieve the above objectives, the present invention also provides a vibration control device for a motor, please refer to... Figure 5 , Figure 5 This is a schematic diagram of the functional modules involved in an embodiment of the vibration control method for the motor of the present invention, as shown below. Figure 5 As shown, the vibration control device for the motor of the present invention includes:

[0114] The waveform determination module 10 is used to determine a target directional tactile scene in preset directional tactile scenes, and to determine an ideal waveform group corresponding to the target directional tactile scene.

[0115] The waveform adjustment module 20 is used to determine each basic waveform corresponding to the target directional tactile scene, adjust each basic waveform to obtain each target waveform, and combine each target waveform to obtain a target waveform group that is consistent with the ideal waveform group.

[0116] The waveform output module 30 is used to calculate the driving voltage corresponding to the target waveform group based on the target waveform group and the motor parameters of the target motor, and output the driving voltage to cause the target motor to perform vibration operation according to the target waveform group.

[0117] Furthermore, the waveform adjustment module 20 includes:

[0118] The first acquisition unit is used to acquire a preset scene waveform correspondence relationship, wherein the scene waveform correspondence relationship includes each of the directional tactile scenes and the basic waveform corresponding to each of the directional tactile scenes;

[0119] The first filtering unit is used to filter the scene waveform correspondence based on the target directional tactile scene to determine each of the basic waveforms corresponding to the target directional tactile scene.

[0120] Furthermore, the waveform adjustment module 20 also includes:

[0121] The second acquisition unit is used to acquire preset waveform constraint conditions;

[0122] A waveform adjustment unit is used to adjust each of the basic waveforms according to the waveform constraints to obtain each prototype waveform, and to adjust the prototype waveforms to obtain each target waveform.

[0123] Furthermore, the waveform adjustment unit includes:

[0124] The parameter acquisition subunit is used to determine the waveform parameter groups corresponding to the ideal waveform group.

[0125] The waveform adjustment subunit is used to adjust each of the prototype waveforms according to each of the waveform parameter groups to obtain each target waveform.

[0126] Furthermore, the waveform adjustment module 20 also includes:

[0127] A filtering and smoothing unit is used to input each of the target waveforms into a filtering device so that the filtering device can perform a smoothing filtering operation on each of the target waveforms.

[0128] Furthermore, the waveform output module 30 includes:

[0129] The third acquisition unit is used to acquire the motor parameters of the target motor.

[0130] The first calculation unit is used to calculate the driving voltage corresponding to the target waveform group and each of the motor parameters according to preset calculation formulas.

[0131] Furthermore, the waveform output module 30 also includes:

[0132] The fourth acquisition unit is used to acquire the voltage and current signals inside the target motor;

[0133] The second calculation unit is used to determine the motor parameters corresponding to the target motor based on the voltage and current signals, and to calculate the driving voltage based on the target waveform group and the motor parameters.

[0134] Furthermore, the present invention also provides a terminal device having a motor vibration control program that can run on a processor. When the terminal device executes the motor vibration control program, it implements the steps of the motor vibration control method as described in any of the above embodiments.

[0135] The specific embodiments of the terminal device of the present invention are basically the same as the embodiments of the vibration control method of the motor described above, and will not be repeated here.

[0136] Furthermore, the present invention also provides a computer-readable storage medium storing a vibration control program for a motor, which, when executed by a processor, implements the steps of the vibration control method for a motor as described in any of the above embodiments.

[0137] The specific embodiments of the computer-readable storage medium of this invention are basically the same as the embodiments of the vibration control method for the motor described above, and will not be repeated here.

[0138] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0139] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0140] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which can be a terminal device for executing the vibration control method of the motor provided by the present invention, specifically a data storage control terminal, PC, or portable computer, etc.) to execute the methods described in the various embodiments of the present invention.

[0141] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A vibration control method of a motor, characterized by, The vibration control method for the motor includes the following steps: In the preset directional tactile scenes, a target directional tactile scene is determined, and an ideal waveform group corresponding to the target directional tactile scene is determined; Each basic waveform corresponding to the target directional tactile scene is determined, and each basic waveform is adjusted to obtain each target waveform. The target waveforms are then combined to obtain a target waveform group that is consistent with the ideal waveform group. In this way, a certain amount of idle time is inserted between adjacent target waveforms to form a target waveform group, so that the target waveform group has a richer directional tactile experience. The driving voltage corresponding to the target waveform group is calculated based on the target waveform group and the parameters of each motor of the target motor, and the driving voltage is output to cause the target motor to perform vibration operation according to the target waveform group.

2. The vibration control method of a motor according to claim 1, characterized by, The step of determining the basic waveforms corresponding to the target directional tactile scene includes: Obtain a preset scene waveform correspondence, wherein the scene waveform correspondence includes each directional tactile scene and the basic waveform corresponding to each directional tactile scene; Based on the target directional tactile scene, the waveform correspondence of the scene is filtered to determine the basic waveforms corresponding to the target directional tactile scene.

3. The vibration control method of a motor according to claim 2, characterized by, The step of adjusting each of the basic waveforms to obtain each target waveform includes: Obtain the preset waveform constraints; Each of the basic waveforms is adjusted according to the waveform constraints to obtain each prototype waveform, and the prototype waveforms are then adjusted to obtain each target waveform.

4. The vibration control method of a motor according to claim 3, characterized by, The step of adjusting the prototype waveform to obtain each target waveform includes: Determine the waveform parameter groups corresponding to the ideal waveform group; Each target waveform is obtained by adjusting each prototype waveform according to each set of waveform parameters.

5. The vibration control method for a motor as described in claim 4, characterized in that, After the step of adjusting each of the basic waveforms to obtain each target waveform, the method further includes: Each of the target waveforms is input into the filtering device to perform a smoothing filtering operation on each of the target waveforms.

6. The vibration control method for a motor as described in claim 5, characterized in that, The step of calculating the driving voltage corresponding to the target waveform group based on the target waveform group and the parameters of each motor of the target motor includes: Obtain the parameters of each motor in the target motor; The driving voltage corresponding to the target waveform group is calculated by calculating the target waveform group and each motor parameter according to the preset calculation formula.

7. The vibration control method for a motor as described in claim 6, characterized in that, The step of calculating the driving voltage corresponding to the target waveform group based on the target waveform group and the parameters of each motor of the target motor further includes: Acquire the voltage and current signals within the target motor; The motor parameters corresponding to the target motor are determined based on the voltage and current signals, and the driving voltage is calculated based on the target waveform group and the motor parameters.

8. A vibration control device for a motor, characterized in that, The device includes: The waveform determination module is used to determine a target directional tactile scene in preset directional tactile scenes, and to determine an ideal waveform group corresponding to the target directional tactile scene; The waveform adjustment module is used to determine each basic waveform corresponding to the target directional tactile scene, adjust each basic waveform to obtain each target waveform, and combine each target waveform to obtain a target waveform group consistent with the ideal waveform group; wherein, a certain amount of idle time is also inserted between adjacent target waveforms to form a target waveform group so that the target waveform group has a richer directional tactile experience; The waveform output module is used to calculate the driving voltage corresponding to the target waveform group based on the target waveform group and the motor parameters of the target motor, and output the driving voltage to cause the target motor to perform vibration operation according to the target waveform group.

9. A terminal device, characterized in that, The terminal device includes: a memory, a processor, and a motor vibration control program stored in the memory and executable on the processor. When the motor vibration control program is executed by the processor, it implements the steps of the motor vibration control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vibration control program for a motor, which, when executed by a processor, implements the steps of the vibration control method for a motor as described in any one of claims 1 to 7.

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