A calibration method and device for a motor drive

Abstract

Disclosed are a motor driving mode calibration method and device. According to an embodiment, a motor driving mode calibration method can include: providing a first driving waveform for vibrating a motor; obtaining a second driving waveform by reversing the first driving waveform; driving the motor by using the first driving waveform and the second driving waveform, and obtaining first back electromotive force information and second back electromotive force information respectively; and determining a driving mode of the motor based on the first back electromotive force information and the second back electromotive force information. The present application can determine the output mode of a suitable driving waveform without changing the tooling mode of the motor, and solve the problem of poor vibration effect caused by motor bias defects.

Description

Technical Field

[0001] This application relates to the field of electronic equipment technology, and in particular to a calibration method and apparatus for a motor drive mode. Background Technology

[0002] With the development and widespread use of smartphones, wearable devices, and other electronic devices, people's demands for tactile experiences are becoming increasingly diverse. Currently, tactile feedback technology is generally achieved through the vibration of a linear motor. A linear motor mainly consists of components such as a spring, a magnetic oscillator, and a coil. The spring supports the oscillator inside the motor. Driven by a motor driver chip, the chip applies an excitation current to the coil, generating a magnetic field. If the driver chip applies a voltage signal to the coil using a specific driving waveform, it can generate an excitation current, thereby driving the oscillator to reciprocate. This vibration is perceived by people, thus producing a tactile effect.

[0003] In actual motor production, structural deviations may occur due to factors such as assembly processes, affecting the motor's vibration performance. Current technology typically adjusts tooling by observing the actual vibration of the motor during operation. For example, experienced engineers assess the acceleration effect of the motor vibration to infer the motor's bias state and determine a suitable tooling method. However, this method is inefficient, cannot solve the motor bias problem, and is not suitable for large-scale production. Summary of the Invention

[0004] To address the aforementioned technical problems in the prior art, this application is proposed. Embodiments of this application provide a calibration method and apparatus for a motor drive mode, which can determine a suitable output mode of the drive waveform without changing the tooling method of the motor, thus solving the problem of deteriorated vibration performance caused by motor bias defects.

[0005] According to one aspect of this application, a calibration method for a motor drive mode is provided, the calibration method comprising: providing a first drive waveform for vibrating a motor; inverting the first drive waveform to obtain a second drive waveform; driving the motor using the first drive waveform and the second drive waveform, and respectively acquiring first back electromotive force information and second back electromotive force information; and determining the drive mode of the motor based on the first back electromotive force information and the second back electromotive force information.

[0006] In some embodiments, inverting the first driving waveform to obtain the second driving waveform includes: performing a denegation operation on the amplitude of the first driving waveform along the time axis direction of the first driving waveform.

[0007] In some embodiments, obtaining the first back electromotive force information and the second back electromotive force information includes: acquiring voltage and current signals at both ends of the motor and calculating the back electromotive force signal, or controlling the linear motor to enter a high-resistance state and acquiring the back electromotive force signal; determining the back electromotive force information based on the back electromotive force signal, wherein the back electromotive force information includes the first back electromotive force information and the second back electromotive force information.

[0008] In some embodiments, the back electromotive force information includes at least one of the following: back electromotive force peak value, back electromotive force energy, back electromotive force peak-to-average power ratio, and back electromotive force decay time.

[0009] In some embodiments, determining the back electromotive force information based on the back electromotive force signal includes: transmitting the back electromotive force signal to a computing device inside the chip or outputting it to a computing device outside the chip, and calculating the back electromotive force information.

[0010] In some embodiments, determining the driving mode of the motor based on the first back electromotive force information and the second back electromotive force information includes: comparing the magnitudes of the first back electromotive force information and the second back electromotive force information; and, based on the comparison result, outputting waveform polarity parameters for the first driving waveform, or updating the first driving waveform.

[0011] In some embodiments, the output waveform polarity parameter includes: writing the determined waveform polarity parameter into a configuration register, configuration file, or storage unit; and wherein updating the first driving waveform includes: replacing the first driving waveform with a second driving waveform, performing waveform preprocessing on the first driving waveform, or updating the playback mode of the first driving waveform.

[0012] Another aspect of this application provides a calibration device for a motor drive mode, comprising: a providing unit for providing a first drive waveform for vibrating a motor; a generating unit for inverting the first drive waveform to obtain a second drive waveform; a calculating unit for obtaining first back electromotive force information and second back electromotive force information respectively after driving the motor using the first drive waveform and the second drive waveform; and a drive determining unit for determining the drive mode of the motor based on the first back electromotive force information and the second back electromotive force information.

[0013] Another aspect of this application provides a motor drive calibration system, including: the aforementioned motor calibration device; and a drive circuit for driving the motor using the first drive waveform and the second drive waveform.

[0014] Another aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the processor to perform the steps in the above-described calibration method.

[0015] Compared with the prior art, the motor drive calibration method and apparatus of the present application can perform waveform polarity calibration on the produced linear motor, overcome the bias defect of the motor, and thus improve the tactile effect of the motor. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 A flowchart illustrating a calibration method for a motor drive mode according to an embodiment of this application is shown;

[0018] Figure 2 A schematic flowchart illustrating the process of determining back electromotive force information according to an embodiment of this application is shown.

[0019] Figure 3 A schematic flowchart of a calibration method for a motor drive mode provided according to an embodiment of this application is shown.

[0020] Figure 4 A structural block diagram of a calibration device for a motor drive mode provided according to an embodiment of this application is shown;

[0021] Figure 5 A structural block diagram of a calibration system for a motor drive mode provided according to an embodiment of this application is shown. Detailed Implementation

[0022] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of this application, and not all of them. Furthermore, implementing any example of an embodiment of this application does not necessarily require simultaneously achieving all the above advantages. It should be understood that this application should not be limited to the specific details of these exemplary embodiments. Rather, embodiments of this application can be implemented without these specific details or by employing other alternatives, without departing from the spirit and principles of this application as defined in the claims.

[0023] As described in the background section, structural deviations may exist in motor manufacturing, leading to nonlinear deviations in the motor's vibration response to waveforms. Existing technologies rely on manual experience to infer the motor's bias state, which is difficult to apply to large-scale industrial production. Therefore, this application provides a motor drive mode calibration method that addresses the motor bias problem by calibrating the polarity of the drive waveform.

[0024] Figure 1 A flowchart of a calibration method for a motor drive mode according to an embodiment of this application is shown, as follows: Figure 1 As shown, the method may begin at step S110, providing a first drive waveform for vibrating the motor.

[0025] For different application scenarios, the motor can be controlled to vibrate with different tactile effects. To this end, various drive waveform data are stored in the linear motor's driver chip or the host computer's memory. This waveform data can be determined by data dimensions such as waveform type, waveform voltage, and waveform frequency. The waveform type can include sine waves, square waves, rounded square waves, etc. The waveform voltage can be characterized by peak voltage or average value. The waveform frequency can be selected to be equal to or close to the motor's resonant frequency f0, thereby enabling the motor to produce a higher vibration level, for example, between 100-200Hz. This resonant frequency can be obtained by pre-measuring the motor. Furthermore, the drive waveform can also have data dimensions such as waveform duration, waveform start phase, and waveform data sampling rate. The waveform duration is the duration of the drive waveform, which can be characterized by duration (in milliseconds) or the number of waveform cycles. The waveform start phase can be a value between 0 and 2π. The waveform data sampling rate can correspond to the sampling rate in the motor driver chip or other memory.

[0026] It is understood that the driving waveform of the motor is not limited to the waveform types described above. For example, other types of driving waveforms can be generated by waveform superposition or timing splicing, and waveform data that meets the expected vibration effect can be designed through simulation. The designed waveform data can also be stored in the memory of the driving chip or the host computer.

[0027] In one embodiment, one or more drive waveform data can be selected as the first drive waveform from the memory of the driver chip or the host computer. As mentioned above, structural deviations in motor manufacturing may affect the vibration effect of the motor under the first drive waveform, causing the motor to fail to achieve the expected vibration effect. Therefore, embodiments of this application may perform step S120, inverting the first drive waveform to obtain a second drive waveform.

[0028] For example, a second driving waveform can be obtained by negatively taking the amplitude of a selected first driving waveform along its time axis. Specifically, the digital waveform data of the first driving waveform can be input into an inverting or phase-shifting circuit (e.g., an inverter), which will generate a signal with an amplitude opposite to that of the first driving waveform. That is, the polarity of the second driving waveform is opposite to that of the first driving waveform. Preferably, other dimensions of the second driving waveform, such as peak voltage and duration, can be the same as those of the first driving waveform.

[0029] After obtaining the second driving waveform, step 130 can be performed to drive the motor using the first driving waveform and the second driving waveform, and to obtain the first back electromotive force information and the second back electromotive force information respectively.

[0030] To determine whether a motor has a bias defect, according to embodiments of the invention, it can be evaluated by comparing the back electromotive force (EMF) of the motor under two driving waveforms. As previously described, a linear motor generally includes a permanent magnet (oscillator) and a coil, the movement of which relative to a fixed wound coil generates an induced EMF. Due to mechanical inertia, even if the motor is not driven for a short period of time, it will continue to move and generate a back EMF.

[0031] Under the drive signal, the linear motor will have an output voltage:

[0032]

[0033] Among them, V out Where V is the output voltage, R is the motor resistance, i is the current, L is the motor inductance, and V is the voltage. BEMF It is a reverse electromotive force, which is proportional to the vibration amplitude of the motor.

[0034] In one embodiment, the voltage V across the linear motor can be collected over a certain period of time. outThe back electromotive force (EMF) segment within a given time period is obtained through a calculation module within or outside the motor chip, based on two signals: current i and current i. Alternatively, it can be obtained by acquiring the generated back EMF, for example, by using an EMF sensor integrated within the motor chip, such as a magnetoelectric sensor or a piezoelectric sensor. Under normal motor drive vibration, the back EMF is always present, but it is easily submerged in a large drive voltage and difficult to detect. Therefore, after driving the motor vibration using the first and second drive waveforms, the control chip output can be set to a high-resistance state, or the drive can be disconnected to put the motor (input terminal) into a high-resistance state. In the high-resistance state, without a drive signal, the back EMF can be directly detected without the need for complex calculations to separate it from the monitoring signal. Specifically, before acquiring the back EMF signal, the drive signal of the linear motor can be disconnected, and the pins at both ends of the motor can be grounded. This brief contact discharge can eliminate the influence of di / dt in the above formula, thus making the voltage signal detected at the motor ends subsequently close to the back EMF signal. Preferably, the back electromotive force signal can be acquired only after a certain period of time has elapsed since the motor entered the high-resistance state. This waiting time can be, for example, less than T / 16 (where T is the resonant period of the motor), thus ensuring that the detected voltage signal V... out =V BEMF This detection method, for example, can maintain a linear motor in a high-resistance state for several cycles and determine information such as the decay time of the back electromotive force. For example, the effective value of the decay time can be determined based on the time after the back electromotive force reaches its pole (peak).

[0035] After the motor is driven by the first drive waveform and the second drive waveform and the back electromotive force signal is acquired for a certain period of time, it can be analyzed. Thus, the back electromotive force information of the first drive waveform and the second drive waveform can be obtained respectively. That is, the first back electromotive force information is determined based on the back electromotive force signal of the first drive waveform, and the second back electromotive force information is determined based on the back electromotive force signal of the second drive waveform.

[0036] The first and second back electromotive force (EMF) information can be characterized by one or more vibration attributes or evaluation parameters. For example, it may include at least one of the following: back EMF peak value, back EMF energy, back EMF peak-to-average power ratio (PAR), and back EMF decay time. The back EMF peak value can be obtained by determining the maximum amplitude from several sampled back EMF signals over several periods, and then averaging or calculating the mean square value of these maximum values. The back EMF energy can be obtained by calculating the area under the back EMF waveform curve. Since the amplitude of the back EMF is related to the vibration amplitude of the motor, the back EMF energy can also be the motor vibration energy level calculated from the vibration level (e.g., the back EMF peak value), for example, it can be calculated using the kinetic energy level possessed when the motor vibration velocity is at its maximum. The back EMF peak-to-average power ratio (PAR) is the ratio obtained by dividing the amplitude of the back EMF signal by its effective value. A higher PAR indicates more drastic fluctuations in the envelope of the back EMF vibration curve. The back EMF decay time also reflects the energy level of the back EMF; generally, a longer decay time indicates greater energy of the back EMF. The decay time can be calculated by recording the moment when the back electromotive force reaches a specific value. For example, after disconnecting the first drive waveform and the second drive waveform, the first moment when the back electromotive force signal reaches its peak and the second moment when the back electromotive force decays to a predetermined value can be recorded. The time interval between the first moment and the second moment is the decay time of the back electromotive force.

[0037] To compare the vibration effects of the motor under the first and second drive waveforms, the evaluation parameters or standards for the first back electromotive force (EMF) information can be the same as those for the second back EMF information. Furthermore, in addition to the evaluation standards described above, such as back EMF energy, peak-to-average power ratio (PAPR), and decay time, this application can also analyze or calculate other parameters based on the back EMF signal to more comprehensively evaluate the motor's vibration effects under the first and second drive waveforms, such as peak velocity, peak acceleration, and peak displacement.

[0038] After analyzing or calculating the back electromotive force information, the calibration method of this application can proceed to step S140, whereby the driving mode of the motor is determined based on the first back electromotive force information and the second back electromotive force information.

[0039] The vibration performance of a motor under the first and second drive waveforms can be evaluated based on the back electromotive force information. Therefore, by comparing the first and second back electromotive force information (e.g., the relationship between their peak values), and based on the comparison results, it can be determined under which drive mode the motor can have a vibration effect that is more in line with or close to the expected. Thus, even if the polarity of the motor is fixed after production and the tooling cannot be changed, the problem of deteriorated vibration effect caused by motor bias defects can still be solved by determining a suitable drive mode.

[0040] The motor's drive chip's memory pre-stores a first drive waveform. Therefore, in step S140, waveform polarity parameters can be output for this first drive waveform, or the first drive waveform can be updated. For example, if the second back EMF information indicates that the motor's vibration effect is better under the second drive waveform compared to the first back EMF information, then the waveform polarity parameter of the first drive waveform can be determined to be negative, or the first drive waveform in the memory can be updated to the second drive waveform. Conversely, if the first back EMF information indicates that the motor's vibration effect is better under the first drive waveform compared to the second back EMF information, then the waveform polarity parameter of the first drive waveform can be determined to be positive, or the first drive waveform in the memory can remain unchanged.

[0041] For example, in some vibration alert scenarios, a higher vibration intensity is generally preferred. In this case, the back electromotive force (EMF) energy can be used as a standard for back EMF information. For instance, if the second back EMF energy is greater than the first back EMF energy, the waveform polarity parameter of the first driving waveform can be adjusted to be negative, or the first driving waveform can be replaced with the second driving waveform. In other situations, such as when users require a low-frequency, long-lasting vibration effect, the peak-to-average power ratio (PAPR) of the back EMF can be used as a standard for back EMF information. For instance, if the PAPR of the second back EMF is less than that of the first back EMF, the vibration effect of the second driving waveform can be considered closer to the expectation. Therefore, the output method for the first driving waveform can be determined as the second driving waveform. For example, in braking scenarios, it is generally desirable to stop the motor vibration as soon as possible after the driving operation ends. In this case, the peak value of the back electromotive force can be used as a standard for back electromotive force information. For instance, if the back electromotive force signal is collected for several cycles after braking operation using the first driving waveform and the second driving waveform respectively, and the maximum value of each cycle is obtained and averaged to obtain the peak value of the back electromotive force, if the peak value of the second back electromotive force is less than the peak value of the first back electromotive force, it indicates that the braking effect of the second driving waveform is better. Therefore, the output method for the first driving waveform can also be determined as the second driving waveform.

[0042] This embodiment calibrates the polarity of the drive waveform by comparing the vibration results of the motor under the input preset drive waveform and the drive waveform with the preset drive waveform reversed. It can ensure the vibration effect of the motor even when the motor has a bias defect, without changing the motor tooling. Therefore, it can be applied to large-scale motor production lines.

[0043] Figure 2 A schematic flowchart illustrating the process of determining back electromotive force information according to an embodiment of this application is shown. Figure 2 As shown, determining the back electromotive force (EMF) information based on the back EMF signal may include the following steps:

[0044] Step 210: Acquire the back electromotive force signal.

[0045] For example, back electromotive force (EMF) data can be acquired through a back EMF acquisition module (EMF sensor) integrated within the motor driver chip. After acquiring the back EMF signal, signal processing can be performed on the acquired EMF signal, such as low-pass filtering followed by smoothing preprocessing to obtain a glitch-free signal of interest.

[0046] In one embodiment, the acquired back electromotive force (EMF) signal can be sampled to facilitate subsequent calculation of back EMF information. The sampling frequency for the back EMF can be in the range of 12-96 kHz, for example, a sampling frequency of 24-48 kHz.

[0047] Step 220: Transmit the reverse electromotive force signal to a computing device inside the chip or output it to a computing device outside the chip.

[0048] In one embodiment, the acquired back electromotive force (EMF) signal can be transmitted to a calculation module within the motor chip via a feedback signal line. For example, the motor chip may include a drive controller, a drive circuit, a back EMF acquisition module, and a back EMF calculation module. The drive controller receives digital waveform signals, such as a first drive waveform and a second drive waveform, provided by a host computer and outputs them to the drive circuit. The drive circuit converts the digital drive signals into analog drive signals through digital-to-analog conversion and power amplification, and applies these analog drive signals to both ends of the motor to drive it to vibrate. During motor vibration and / or in a high-resistance state after the drive is disconnected, the EMF acquisition module can acquire the back EMF signal at both ends of the motor and transmit it to the back EMF calculation module.

[0049] In another embodiment, the acquired back electromotive force (EMF) signal can be output to the drive software (e.g., a host computer) or other external computing modules of an off-chip system with data processing capabilities. For example, the drive controller of the motor chip receives digital waveform signals such as the first drive waveform and the second drive waveform provided by the host computer and outputs them to the drive circuit. The drive circuit then applies the analog drive signal, after digital-to-analog conversion and power amplification, to both ends of the motor to drive it to vibrate. During motor vibration and / or in a high-resistance state after the drive is disconnected, the EMF acquisition module can acquire the back EMF signal at both ends of the motor and transmit it to the external computing module. Compared to implementations that integrate the computing module into the motor chip, this embodiment can reduce the area of ​​the motor chip and lower the system cost.

[0050] Step 230: Calculate the collected back electromotive force signal to obtain back electromotive force information.

[0051] For example, the waveform evaluation index to be calculated can be determined according to the application scenario of the driving waveform, such as one or more attributes or parameters of the back EMF information, such as the peak value of the back EMF, the energy of the back EMF, the peak-to-average power ratio of the back EMF, and the decay time of the back EMF, as described above. Based on this, the calculation module inside the motor drive chip or the calculation module outside the drive chip can calculate the corresponding back EMF information through data processing based on the acquired back EMF signal.

[0052] Figure 3 This diagram illustrates a flow chart of a calibration method for a motor drive mode according to an embodiment of this application. Figure 3 As shown, the motor drive waveform can be calibrated based on the following steps:

[0053] Step 310: Select the driving waveform and obtain the inverted driving waveform data.

[0054] For example, one or more driving waveforms can be selected from the waveform library of the host computer, and the polarity of the digital signal of the driving waveform can be reversed to obtain the corresponding reverse driving waveform data, such as the first driving waveform and the second driving waveform described above. The two driving waveforms are the same in other dimensions such as waveform voltage and waveform duration, except that the polarity is different.

[0055] Step 320: Input the two drive waveforms into the motor respectively, and collect the back electromotive force signal.

[0056] For example, after receiving the first and second drive waveforms, the motor drive chip can process them through digital-to-analog conversion and amplification, and then load them onto both ends of the motor. During the motor vibration process and / or in the high-resistance state after the drive is disconnected, the electromotive force acquisition module can acquire the reverse electromotive force signal at both ends of the motor.

[0057] Step 330: Transmit the reverse electromotive force signal to a computing device inside the chip or output it to a computing device outside the chip.

[0058] When a computing module is integrated within the motor chip, the acquired back electromotive force (EMF) signal can be directly transmitted to that module, improving processing efficiency. Alternatively, if the motor chip does not have a computing module, the acquired back EMF signal can be output to an external computing module via a data line, which can reduce system costs.

[0059] Step 340: Based on the waveform evaluation index, process the two back electromotive force signals to obtain back electromotive force information.

[0060] When a motor has a bias defect, its vibration response to the input first and second drive waveforms exhibits a nonlinear deviation, resulting in two different back electromotive force (EMF) signals generated by the motor under the first and second drive waveforms. In one embodiment, one or more waveform evaluation indicators, such as back EMF peak value, energy, peak-to-average power ratio (PAPR), and decay time, can be determined first. The two back EMF signals are then processed separately by a computing device to obtain the aforementioned back EMF information. Alternatively, the computing device can directly process the received back EMF signal to obtain a predetermined plurality of back EMF information, and then select one or more corresponding values ​​from these values ​​based on the waveform evaluation indicators as the first back EMF information corresponding to the first drive waveform and the second back EMF information corresponding to the second drive waveform.

[0061] Step 350: Based on the comparison results of the back electromotive force information, output the polarity parameters of the driving waveform, or update the driving waveform.

[0062] For example, the magnitudes of the first back electromotive force information and the second back electromotive force information can be compared. Based on the comparison result and the expected vibration effect of the motor, a suitable waveform output mode can be determined, such as outputting waveform polarity parameters for the first drive waveform, or deciding whether to update the first drive waveform to the second drive waveform, thereby completing the polarity calibration of the drive waveform.

[0063] In one embodiment, the determined waveform polarity parameters (e.g., using binary 1 and 0 to represent positive and negative waveform polarity respectively) can be written into a fixed configuration such as a configuration register, configuration file, or storage unit for storage. These configuration methods / tools can be invoked by the host computer. When the host computer determines to output the first drive waveform data to the motor drive chip, it will send the output mode for that drive waveform according to the waveform polarity parameters of the first drive waveform.

[0064] In one embodiment, when it is determined that the second driving waveform better matches the motor vibration effect, the host computer can update the waveform library, updating the first driving waveform to the second driving waveform. For example, the host computer can replace the first driving waveform data stored therein with the second driving waveform data, or it can perform waveform preprocessing on the first driving waveform (e.g., adding preceding waveform data) to make its vibration effect closer to the second driving waveform, or it can update the playback method of the first driving waveform (e.g., skipping or ignoring the waveform data of the first half-cycle of the first driving waveform) to also make the actual vibration effect closer to the vibration effect of the second driving waveform.

[0065] This application also provides a calibration device for a motor drive mode. For example... Figure 4 As shown, a motor drive mode calibration device 400 according to an embodiment of this application may include: a providing unit 410, which is used to provide a first drive waveform for vibrating the motor; a generating unit 420, which is used to invert the first drive waveform to obtain a second drive waveform; a calculating unit 430, which is used to obtain first back electromotive force information and second back electromotive force information respectively after driving the motor using the first drive waveform and the second drive waveform; and a drive determining unit 440, which is used to determine the drive mode of the motor based on the first back electromotive force information and the second back electromotive force information.

[0066] In one embodiment, the aforementioned units or modules can be integrated into a host computer, such as a processor with data processing capabilities. The host computer may also include other functional modules such as digital-to-analog converters. It is understood that this application is not limited thereto; for example, some units or modules such as providing unit 410 and computing unit 430 may be arranged in the motor driver chip.

[0067] In one embodiment, the providing unit 410 may be a host computer or an internal storage unit of the motor chip, such as a non-volatile and / or volatile memory, which stores a waveform library for driving the motor to vibrate, and the first driving waveform can be obtained from the waveform library.

[0068] In one embodiment, the generation unit 420 is configured to invert the first driving waveform to obtain the second driving waveform by taking a negative value of the amplitude of the first driving waveform along the time axis of the first driving waveform.

[0069] In one embodiment, the calculation unit 430 is configured to acquire the first back electromotive force information and the second back electromotive force information in the following manner: acquiring voltage and current signals at both ends of the motor and calculating the back electromotive force signal, or controlling the linear motor to enter a high-resistance state and acquiring the back electromotive force signal; determining the back electromotive force information based on the back electromotive force signal, wherein the back electromotive force information includes the first back electromotive force information and the second back electromotive force information.

[0070] In one embodiment, the back electromotive force information includes at least one of the following: back electromotive force peak value, back electromotive force energy, back electromotive force peak-to-average power ratio, and back electromotive force decay time.

[0071] In one embodiment, the computing unit 430 is configured to determine the back electromotive force information based on the back electromotive force signal by transmitting the back electromotive force signal to a computing device inside the chip or outputting it to a computing device outside the chip, and then calculating the back electromotive force information.

[0072] In one embodiment, the drive determination unit 440 is configured to determine the drive mode of the motor based on the first back electromotive force information and the second back electromotive force information in the following manner: comparing the magnitudes of the first back electromotive force information and the second back electromotive force information; and, based on the comparison result, outputting waveform polarity parameters for the first drive waveform, or updating the first drive waveform.

[0073] In one embodiment, the drive determination unit 440 is configured to output waveform polarity parameters by writing the determined waveform polarity parameters into a configuration register, configuration file, or storage unit.

[0074] In one embodiment, the drive determination unit 440 is configured to update the first drive waveform in the following ways: replacing the first drive waveform with a second drive waveform, performing waveform preprocessing on the first drive waveform, or updating the playback mode of the first drive waveform.

[0075] The specific functions and operations of each unit and module in the aforementioned calibration device 400 have been described above. Figure 1-3 The calibration method is described in detail here, so only a brief overview is provided here, and unnecessary repetition is omitted.

[0076] The following reference Figure 5 To describe the calibration system for motor drive methods, such as Figure 5 As shown, the motor drive mode calibration system may include at least a calibration device 520 and a drive circuit 530.

[0077] The calibration device 520 is coupled to the linear motor 510. It is used to acquire the back electromotive force (EMF) signals generated at both ends of the motor during the vibration of the first and second drive waveforms, and to obtain the first and second back EMF information. Based on this, it can perform polarity calibration on the drive waveform. (See details...) Figure 1-4 The relevant descriptions are omitted here. The drive circuit 530 can perform digital-to-analog conversion and power amplification on the received drive signal, and apply the drive signal to both ends of the linear motor to drive the motor to vibrate. The drive circuit can adopt an H-bridge or other circuits. This invention calibrates the polarity of the drive waveform by generating a second drive waveform with the opposite polarity to the first drive waveform and comparing the back electromotive force information of the motor under the first and second drive waveforms. It can ensure the vibration effect of the motor even when the motor has a bias defect, without changing the motor tooling.

[0078] This application also provides a computer-readable storage medium storing a calibration program for a motor drive mode. When a processor executes the calibration program for the motor drive mode, it performs the steps of the calibration method for the motor drive mode as described above. For specific implementation details, please refer to... Figure 1-3 The calibration method described will not be repeated here.

[0079] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0080] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0081] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A calibration method for a motor drive mode, comprising: Provide a first drive waveform for vibrating the motor; The first driving waveform is inverted to obtain the second driving waveform; The motor is driven by the first driving waveform and the second driving waveform respectively, and the first back electromotive force information and the second back electromotive force information are obtained respectively. as well as The driving mode of the motor is determined by comparing the first back electromotive force information and the second back electromotive force information.

2. The calibration method according to claim 1, wherein, Inverting the first driving waveform to obtain the second driving waveform includes: The amplitude of the first driving waveform is negativeed along the time axis of the first driving waveform.

3. The calibration method according to claim 1, wherein, Obtaining the first back electromotive force information and the second back electromotive force information includes: The voltage and current signals at both ends of the motor are collected, and the back electromotive force signal is calculated; or, the linear motor is controlled to enter a high-resistance state, and the back electromotive force signal is collected. The reverse electromotive force information is determined based on the reverse electromotive force signal, and the reverse electromotive force information includes the first reverse electromotive force information and the second reverse electromotive force information.

4. The calibration method according to claim 3, wherein, The back electromotive force information includes at least one of the following: back electromotive force peak value, back electromotive force energy, back electromotive force peak-to-average power ratio, and back electromotive force decay time.

5. The calibration method according to claim 3 or 4, wherein, Determining the back electromotive force information based on the back electromotive force signal includes: The reverse electromotive force signal is transmitted to a computing device inside the chip or output to a computing device outside the chip, and the reverse electromotive force information is obtained through calculation.

6. The calibration method according to claim 1, wherein, Based on the comparison of the first back electromotive force information and the second back electromotive force information, the driving mode of the motor is determined as follows: Compare the magnitudes of the first back electromotive force information and the second back electromotive force information. Based on the comparison results, output waveform polarity parameters for the first driving waveform, or update the first driving waveform.

7. The calibration method according to claim 6, wherein, The output waveform polarity parameters include: Write the determined waveform polarity parameters into the configuration register, configuration file, or storage unit; Furthermore, updating the first driving waveform includes: Replace the first driving waveform with the second driving waveform, perform waveform preprocessing on the first driving waveform, or update the playback mode of the first driving waveform.

8. A calibration device for a motor-driven mode, comprising: A providing unit for providing a first drive waveform for vibrating the motor; A generation unit is used to invert the first driving waveform to obtain a second driving waveform; The calculation unit is used to obtain first back electromotive force information and second back electromotive force information respectively after driving the motor with the first driving waveform and the second driving waveform respectively. as well as A drive determination unit is used to determine the drive mode of the motor based on a comparison of the first back electromotive force information and the second back electromotive force information.

9. A calibration system for a motor-driven mode, comprising: The calibration apparatus as described in claim 8; as well as A drive circuit is used to drive the motor using the first drive waveform and the second drive waveform.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the calibration method according to any one of claims 1 to 7.

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