Resonant frequency detection methods, systems, devices, products, and media

Abstract

The application applies to the electronic technical field, and provides a resonant frequency detection method, system, device, product and medium, wherein the method comprises determining a nonlinear vibration frequency through a nonlinear spring stiffness coefficient; obtaining multiple cycle times and multiple amplitude sizes of a detectable parameter of a vibrator; and obtaining the resonant frequency of the vibrator through the nonlinear vibration frequency, the multiple cycle times and the multiple amplitude sizes. In this way, a more accurate resonant frequency can be obtained, so that the vibrator can obtain the strongest kinetic energy using the smallest electric energy when being driven. Moreover, when the vibrator only needs to vibrate for a short time, a corresponding reverse signal can also be obtained according to the obtained resonant frequency, and the residual vibration part of the vibrator can be more accurately offset through the reverse signal, so that the vibrator can stop vibrating faster, and a more crisp vibration effect is obtained, thereby improving the user's tactile experience.

Description

Technical Field

[0001] This invention relates to the field of electronic technology, and in particular to a method, system, device, product, and medium for detecting resonant frequencies. Background Technology

[0002] When a vibrator operates at its resonant frequency, its energy conversion efficiency is at its highest, allowing it to acquire the strongest kinetic energy with the least amount of electrical energy. However, during the manufacturing process of vibrators, it is difficult to ensure that the resonant frequencies of multiple vibrators are uniform. Consequently, multiple vibrators, under the same control signal, cannot output vibration feedback with consistent intensity and crispness.

[0003] Therefore, if the resonant frequency of the vibrator cannot be accurately obtained, the working efficiency of the vibrator will be reduced, and it will be difficult to align the vibration characteristics of multiple vibrators. Summary of the Invention

[0004] This application provides a method, system, device, product, and medium for detecting resonant frequencies.

[0005] In a first aspect, a resonant frequency detection method is provided, characterized by comprising: determining a nonlinear vibration frequency by using a nonlinear spring stiffness coefficient; acquiring multiple period times and multiple amplitude magnitudes of detectable parameters of the vibrator; and obtaining the resonant frequency of the vibrator by using the nonlinear vibration frequency, multiple period times, and multiple amplitude magnitudes.

[0006] Furthermore, the vibration frequency can be expressed non-linearly, which is more consistent with the actual value, resulting in a more accurate resonant frequency and thus higher energy conversion efficiency during vibration. The excitation drive magnitude of the vibrators can also be adjusted according to the resonant frequency of each vibrator, aligning the vibration characteristics of multiple vibrators and improving the user experience.

[0007] In conjunction with the first aspect, in some implementations, the period time is obtained by acquiring one or more of the zero-crossing time and peak time; the amplitude is obtained by one or more of the peak value and peak-to-peak value; and the detectable parameters include one or more of the oscillator displacement, oscillator acceleration, oscillator velocity, and back electromotive force.

[0008] In conjunction with the first aspect, in some implementations, the multiple cycle times and multiple amplitude magnitudes include data of the vibrator in the excitation driving state and data of the vibrator in the residual vibration state; or, the multiple cycle times and multiple amplitude magnitudes only include data of the vibrator in the residual vibration state.

[0009] In the above scheme, detectable parameters of both the excitation drive part and the residual vibration part can be detected, or only the detectable parameters of the residual vibration part can be detected.

[0010] In conjunction with the first aspect, some implementations also include: expanding the spring stiffness coefficient according to the Taylor expansion to obtain a nonlinear spring stiffness coefficient; and determining the nonlinear vibration frequency based on the nonlinear spring stiffness coefficient and the oscillator mass of the vibrator.

[0011] In the above scheme, the nonlinear spring stiffness coefficient can be represented by a Taylor expansion, and then the expression for the nonlinear vibration frequency can be obtained from the nonlinear spring stiffness coefficient.

[0012] In conjunction with the first aspect, some implementations further include: obtaining the angular frequency corresponding to the resonant frequency through the vibration frequency polynomial, the plurality of period times, and the plurality of amplitudes, wherein the coefficients in the angular frequency corresponding to the resonant frequency are obtained by using the least squares method with the plurality of period times and the plurality of amplitudes; and obtaining the resonant frequency based on the angular frequency corresponding to the resonant frequency and the damping coefficient of the vibrator.

[0013] In conjunction with the first aspect, in some implementations, the resonant frequency is the frequency corresponding to the maximum detectable data when the vibrator is in the excitation driving state.

[0014] Secondly, this application provides a resonant frequency detection system, including a driving device, a measuring device, a computing device, and a vibrator. The driving device is used to input an excitation signal to the vibrator; the measuring device is used to detect multiple period times and multiple amplitude magnitudes of detectable parameters of the vibrator in the residual vibration state and / or excitation driving state; the computing device is used to obtain the multiple period times and the multiple amplitude magnitudes; the computing device is also used to determine a nonlinear vibration frequency through a nonlinear spring stiffness coefficient; and obtain the resonant frequency of the vibrator through the nonlinear vibration frequency, the multiple period times, and the multiple amplitude magnitudes.

[0015] Thirdly, this application provides an electronic device including a processor and a memory, wherein the memory is used to store instructions and the processor is used to execute the instructions, and when the processor executes the instructions, it performs the method as described in the first aspect.

[0016] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on an electronic device, perform the method described in the first aspect.

[0017] Fifthly, this application provides a computer program product including computer instructions, which, when executed by a computing device, cause the computing device to perform the method described in the first aspect.

[0018] In summary, the resonant frequency detection method, system, device, product, and medium provided in this application can obtain a more accurate resonant frequency, enabling the vibrator to acquire the strongest kinetic energy with minimal electrical energy during operation. Furthermore, when only a brief vibration is required, a corresponding reverse signal can be obtained based on the obtained resonant frequency. This reverse signal can more accurately cancel out the residual vibration of the vibrator, allowing it to stop vibrating more quickly and resulting in a crisper vibration effect, thus enhancing the user's tactile experience. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0020] Figure 1 This is a waveform diagram of the vibrator provided in the embodiments of this application;

[0021] Figure 2 This is a schematic diagram of the frequency response curve obtained by the vibrator provided in the embodiment of this application during the frequency sweep process;

[0022] Figure 3 This is a schematic flowchart of a resonant frequency detection method provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the detectable parameters obtained by the resonant frequency detection method provided in this application embodiment on the frequency response curve;

[0024] Figure 5 This is a schematic flowchart of another resonant frequency detection method provided in the embodiments of this application;

[0025] Figure 6 This is a schematic diagram of the detectable parameters obtained by another resonant frequency detection method provided in this application embodiment on the frequency response curve;

[0026] Figure 7 This is a schematic diagram of the resonant frequency detection system provided in the embodiments of this application;

[0027] Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0028] The illustrative embodiments of this application include, but are not limited to, a resonant frequency detection method, system, device, product, and medium.

[0029] Vibrators are typically installed in electronic devices. Their main functions are vibration alerts and vibration feedback. For example, vibrators in mobile phones can be used for vibration alerts, vibrators on game controllers can provide vibration tactile simulation, and vibrators in augmented reality (AR) / virtual reality (VR) products can provide vibration feedback.

[0030] A vibrator vibrates when driven by an excitation signal. After the excitation stops, the oscillation waveform of the vibrator decays until it disappears. For example, Figure 1 As shown, the oscillation waveform of the vibrator when it is forced to vibrate is the excitation driving part, and the oscillation waveform after the excitation stops is the residual vibration part.

[0031] The frequency at which a vibrator achieves its strongest vibration under a fixed sinusoidal voltage excitation is called the resonant frequency f0. The resonant frequency is crucial in the application of vibrators. When the vibrator operates at the resonant frequency, its energy conversion efficiency is the highest, allowing it to obtain the strongest kinetic energy with the least amount of electrical energy.

[0032] Furthermore, during the manufacturing process of vibrators, limitations in materials, design, and processing technology make it difficult to ensure that multiple vibrators have consistent structures and vibration characteristics. This is mainly manifested in inconsistent resonant frequencies, resulting in multiple vibrators failing to output vibration feedback with uniform intensity and crispness under the same control signal. Accurately obtaining the resonant frequency of each vibrator would help to align the vibration characteristics of multiple vibrators. Therefore, how to accurately detect the resonant frequency of a vibrator is a problem that urgently needs to be solved.

[0033] In some examples, the resonant frequency of the vibrator can also be measured by frequency sweep. Frequency sweep refers to repeatedly changing the driving excitation frequency from high to low or from low to high during the measurement process to obtain the frequency response curve of the vibrator, and thus the resonant frequency. The frequency response curve can be a curve showing the change of oscillator displacement, velocity, acceleration, and other response information with the vibration frequency. Figure 2 As shown, Figure 2 The frequency response curve of an oscillator obtained during a frequency sweep process is shown. The resonant frequency of the oscillator can be determined to be the frequency corresponding to the highest value in the frequency response curve: 245.3 Hz.

[0034] However, in practical applications, the vibrator is part of an electronic device, and the user may be using it. For example, when a user is using a mobile phone, if it's necessary to measure the resonant frequency of the motor in the phone, a frequency sweep is required for a considerable period. This sweep process is typically quite long, and the vibration generated during a prolonged sweep can affect the user's use of the phone. Furthermore, it's difficult to obtain the vibrator's response, such as displacement, velocity, and acceleration, while the user is using the device. Introducing sensors (such as Hall effect sensors) to obtain this response information adds extra cost. Therefore, obtaining the resonant frequency of a vibrator through frequency sweeping is quite challenging.

[0035] In other examples, in order not to affect the normal use of electronic devices, vibration can be triggered when the device is powered on, and the resonant frequency of the vibrator under forced vibration can be calculated by detecting the period or frequency of the residual vibration of the vibrator after the vibrator stops being excited.

[0036] Specifically, the period of the residual vibration can be calculated by the time corresponding to the zero-crossing point of the vibration intensity. For example, the period of the residual vibration can be T1, T2, ... T. N Then, the corresponding frequencies f1, f2, ..., f can be calculated. N Then, f1 can be directly used as the resonant frequency f0 of the system, or the average of several frequencies can be taken as the resonant frequency f0 of the system.

[0037] However, only in linear systems can the frequency of the residual oscillation reflect the resonant frequency of the vibrator. In practical systems, due to factors such as the magnetic field, spring stiffness, and damping, the vibrator is a nonlinear system, specifically manifested as follows: Figure 1 As shown, with increasing time, the intensity of the residual vibration decreases, the period increases, and the frequency decreases. Directly using the residual vibration frequency to characterize the resonant frequency of the vibrator will result in a significant error. Furthermore, the stronger the nonlinearity of the vibrator, the greater the deviation between the residual vibration frequency and the resonant frequency.

[0038] Furthermore, the resonant frequency of the vibrator varies under different excitation driving conditions. As shown in Table 1, by measuring the resonant frequency sweep_f0 of the same vibrator under different voltage VRMS sweeps, it can be found that the resonant frequency is different under different excitation voltages.

[0039] Table 1

[0040]

[0041] In other examples, after measuring the frequency of the residual vibration, the effect of damping was also considered. The damping coefficient ζ of the vibrator was calculated and then applied using the formula... Find the frequency w considering the damping factor. n, where w t f1, f2, ..., f N The corresponding angular frequency, and then based on the frequency w n Determine the resonant frequency f0.

[0042] However, the above method does not take into account the change in spring stiffness coefficient caused by the change in vibration intensity due to damping, which in turn makes the calculated resonant frequency of the forced vibration of the system inaccurate.

[0043] To address the issue of inaccurate measured resonant frequencies of vibrators, this application provides a resonant frequency detection method applicable to electronic devices such as mobile phones 100. For instance, a mobile phone can collect parameters such as oscillator displacement, oscillator acceleration, oscillator velocity, or back electromotive force from the residual vibration section and / or excitation drive section of the motor within the phone, and then determine the motor's resonant frequency based on the nonlinear vibration frequency. Furthermore, the mobile phone can drive the motor using the resonant frequency to obtain maximum kinetic energy.

[0044] The method specifically includes: using Taylor expansion to represent the nonlinear spring stiffness coefficient, and then determining the nonlinear vibration frequency of the vibrator 200 based on the nonlinear spring stiffness coefficient. The nonlinear vibration frequency is determined by the amplitude of multiple detectable parameters and multiple period times. The detectable parameters include oscillator displacement, oscillator acceleration, oscillator velocity, or back electromotive force, etc.

[0045] Then, the electronic device 100 calculates the resonant frequency by measuring the period time and amplitude of the detectable parameters in the residual vibration part and / or excitation drive part of the vibrator 200, and based on the nonlinear vibration frequency and the measured period time and amplitude of the detectable parameters.

[0046] In this way, the electronic device 100 can obtain a more accurate resonant frequency, which in turn allows the vibrator 200 to acquire the strongest kinetic energy with the least amount of electrical energy during operation, thus maximizing the energy conversion efficiency of the vibrator 200. Furthermore, a corresponding reverse signal can be obtained based on the resonant frequency of the vibrator 200. This reverse signal can accurately cancel out the residual vibration of the vibrator 200, allowing the vibrator 200 to stop vibrating more quickly, resulting in a crisp vibration effect and enhancing the user's tactile experience.

[0047] In some embodiments, the period time can be obtained by acquiring the zero-crossing time, or by acquiring the times of multiple peaks, or by acquiring the period time of each zero-crossing time and peak time separately and then averaging them. The amplitude can also be obtained from one or more of the peak values ​​or peak-to-peak values. This application does not specifically limit this.

[0048] The electronic device 100 can be any device with computing capabilities. For example, it can be a physical server, such as an x86 server or an ARM server, or a virtual machine (VM) implemented based on a general-purpose physical server combined with Network Functions Virtualization (NFV) technology. A virtual machine refers to a complete computer system with complete hardware system functions simulated by software and running in a completely isolated environment. This application does not make any specific limitations.

[0049] Electronic device 100 can also be a terminal device, such as a mobile phone terminal, tablet computer, laptop computer, augmented reality / virtual reality, vehicle terminal, etc., or a cloud device, etc. This application does not make specific limitations.

[0050] Vibrator 200 refers to an electromagnetic-spring structure device that converts electrical energy into kinetic energy, including but not limited to linear resonance actuators (LRA), loudspeakers, and voice coil motors (VCM).

[0051] The following section will first introduce the specific process of expressing the vibration frequency of the vibrator 200 as a polynomial.

[0052] The nonlinearity of the vibrator 200 system is caused by a variety of factors, including the nonlinearity of the magnetic field (denoted by Bl), the nonlinearity of the spring stiffness (denoted by k), and the nonlinearity of the damping (denoted by cd). When the excitation of the vibrator 200 stops and the vibrator 200 is in residual vibration, the system has a zero input response and is in an open circuit state. At this time, the damping of the magnetic field Bl is 0, and the nonlinearity of the system is mainly manifested by the nonlinearity of the spring stiffness k.

[0053] Therefore, as the displacement (or acceleration, velocity, back electromotive force) and other parameters x of the vibrator 200 change, the stiffness coefficient k of the spring will also change accordingly. That is, as x changes with time, k(x) also changes accordingly.

[0054] Furthermore, the spring stiffness k(x) is first expanded using the Taylor series at x = 0. The expanded spring stiffness k(x) can be found in the following formula (1), where n is a positive integer and R... n This is the remainder term in the Taylor series expansion.

[0055]

[0056] Then, based on the vibrator frequency of 200 rpm... nThe frequency of the vibrator 200 can also be expressed as a Taylor expansion based on the relationship between the frequency of the vibrator 200 and the spring stiffness k. The relationship between the frequency of the vibrator 200 and the spring stiffness k can be found in the following formula (2), and the expanded frequency of the vibrator 200 can be found in the following formula (3).

[0057]

[0058] Where md is the mass of the vibrator 200.

[0059]

[0060] In some embodiments, n is large enough, R n The value of R is relatively small and can be ignored. n The vibrator frequency of 200 MHz was obtained. n Approximate value w′ n w′ n The value can be found in the following formula (4).

[0061]

[0062] When the oscillator of vibrator 200 reciprocates, the parameters x, such as displacement (or acceleration, velocity, back electromotive force), change continuously with time. Therefore, the stiffness coefficient for a certain period (e.g., a single cycle) is equivalently processed to obtain an equivalent stiffness coefficient, denoted as k. eq The corresponding equivalent parameter x is x eq , i.e., k eq =k(x eq ).

[0063] In general, x eq Proportional to the peak value x of the corresponding parameter peak That is, it can be written as x eq =α·x peak α is the proportionality constant. Therefore, the frequency w of the spring system n Equivalent processing can also be performed, and the equivalent frequency w n You can refer to the following formula (5).

[0064]

[0065] For ease of expression, x can be... peak Use P n This means that substituting αP into x eq This leads to the frequency w shown in formula (6) below. n .

[0066]

[0067] Furthermore, c can also be usedn express The frequency w is then obtained as shown in the following formula (7). n .

[0068]

[0069] Therefore, P for each time period can be determined. n Corresponding to a w n Furthermore, the above formula (7) can be expanded, as shown in the following formula (8), where N is a positive integer.

[0070]

[0071] Therefore, under the condition that N≥n+1, P0~P can be obtained through measurement. N and w1~w N The coefficients c0 to c can be calculated. N Therefore, the angular frequency w0 corresponding to the resonant frequency f0 can be calculated.

[0072] Specifically, the least-squares (LS) method can be used to calculate c0 to c N For details, please refer to the following formula (9).

[0073]

[0074] Among them, w. 2 =[w1 2 w2 2 … w N 2 ] T ,

[0075] The peak value of the detectable parameter x, such as oscillator displacement (or acceleration, velocity, back electromotive force), is... peak That is, P n Since the specific values ​​in the excitation and driving section may not be measurable, the resonant frequency detection method provided in this application is described below for two scenarios: one where detectable parameters of both the excitation and driving section and the residual vibration section can be detected, and the other where only the residual vibration section can be detected. The detectable parameters can be oscillator displacement, acceleration, velocity, back electromotive force, etc. The period time is taken as the zero-crossing time, and the amplitude is taken as the peak value.

[0076] When detectable parameters of the excitation drive section and the residual vibration section can be detected, such as Figure 3 As shown, the steps of the resonant frequency detection method provided in this application embodiment can be referred to the following steps.

[0077] S310: Excite the vibrator 200 to bring it to a steady state, and measure the detectable parameters of the excitation drive part.

[0078] Electronic device 100 inputs an excitation signal to vibrator 200, thereby driving vibrator 200 to undergo forced vibration and bringing it to a steady-state vibration. Steady-state vibration refers to the state where the displacement, acceleration, velocity, or back electromotive force of the vibrator 200 is a periodic quantity when it vibrates under the action of the excitation signal. After vibrator 200 enters steady-state vibration, electronic device 100 measures the zero-crossing point z′0 and the corresponding time T of the measurable data under steady-state vibration. z′0 and T z0 And peak P0.

[0079] Among them, z′0 and z0 are affected by the excitation driving frequency and cannot characterize the resonant frequency of the vibrator 200. However, the peak value P0 in steady state can characterize the intensity level under the current excitation.

[0080] In some embodiments, other devices may input excitation signals and measure detectable parameters to the vibrator 200, while the electronic device 100 is only used to acquire the detectable parameters of the excitation drive section.

[0081] S320: Stop the excitation of the vibrator 200 and measure the detectable parameters of the residual vibration after the excitation stops.

[0082] When electronic device 100 stops exciting vibrator 200, vibrator 200 will enter a residual vibration state. The detection device will then detect the zero-crossing points z1 to z2 of the detectable parameters of the residual vibration portion after excitation stops. N The corresponding time T z1 ~T z1N and peak values ​​P1 to P N .

[0083] Where P1 is the corresponding intensity for time intervals z1 to z2, and its frequency is... P2 is the corresponding intensity for time intervals z2 to z3, and its frequency is... And so on, P N It is time period z N ~z N+1 The corresponding intensity, its frequency

[0084] For example, the data detected by S310 and S320 above are as follows: Figure 4 As shown, z′0 and z0 are the zero-crossing points of the excitation-driven section, z1 to z6 are the zero-crossing points of the residual vibration section, P0 is the peak value of the excitation-driven section, and P1 to P6 are the peak values ​​of the residual vibration section. It should be understood that... Figure 4Taking the measurement of detectable parameters for the time period from z′0 to z6 as an example, in actual implementation, detectable parameters for longer or shorter periods can be measured according to requirements.

[0085] In some embodiments, other devices may be used to measure the detectable parameters, and the electronic device 100 is used only to acquire the detectable parameters of the residual vibration portion.

[0086] S330: Determine the resonant frequency f0 based on the detectable parameters of the excitation drive section and the residual vibration section.

[0087] Electronic device 100 via w1~w N and P1~P N The above formula (9) is used to calculate the result. (Right now ), and then Substituting P0 into w0, we can obtain This allows us to obtain the angular frequency w0 corresponding to the resonant frequency f0. Then, based on the correspondence between the resonant frequency f0 and the angular frequency w0, f0 = w0 / 2π, we can determine the resonant frequency f0.

[0088] In some embodiments, when determining the resonant frequency f0 based on the angular frequency w0, the influence of damping can also be considered to obtain the resonant frequency f′0 with the damping coefficient ζ introduced. For details, please refer to the following formula (10).

[0089]

[0090] When only detectable parameters of the residual vibration component can be detected, such as Figure 5 As shown in the figure, the steps of another resonant frequency detection method provided in this application embodiment can be referred to the following steps.

[0091] S510: Excite the vibrator 200 to bring it to a steady state.

[0092] Electronic device 100 inputs an excitation signal to vibrator 200, thereby driving vibrator 200 to undergo forced vibration and bringing it to a steady-state vibration. In some embodiments, other devices may input the excitation signal to vibrator 200.

[0093] S520: Stop the excitation of the vibrator 200 and measure the detectable parameters of the residual vibration after the excitation stops.

[0094] When electronic device 100 stops exciting vibrator 200, vibrator 200 will enter a residual vibration state. The detection device will then detect the zero-crossing points z1 to z2 of the detectable parameters of the residual vibration portion after excitation stops. N The corresponding time T z1 ~T z1N and peak values ​​P0 to PN .

[0095] Where P′0 corresponds to the time period z0~z2, and the corresponding angular frequency w0 to be solved. P′1 is the intensity corresponding to the time period z1~z3, and its frequency... P′2 is the corresponding intensity for time intervals z2 to z4, and its frequency is... And so on, P′ N It is time period z N ~z N+2 The corresponding intensity, its frequency

[0096] For example, the data detected by S510 and S520 mentioned above are as follows: Figure 6 As shown, z1 to z6 are the zero-crossing points of the residual vibration section, P′0 is the peak value of the excitation driving section, and P′1 to P′5 are the peak values ​​of the residual vibration section. It should be understood that... Figure 6 Taking the measurement of detectable parameters corresponding to the time period z1 to z6 as an example, in actual implementation, detectable parameters for longer or shorter time periods can be measured according to requirements.

[0097] In some embodiments, other devices may be used to measure the detectable parameters, and the electronic device 100 is used only to acquire the detectable parameters of the residual vibration portion.

[0098] S530: Determine the resonant frequency f0 based on the detectable parameters of the residual vibration section.

[0099] Electronic device 100 via w1~w N and P′1~P′ N The above formula (9) is used to calculate the result. (Right now ), and then and P0 This allows us to obtain the angular frequency w0 corresponding to the resonant frequency f0. Then, based on the correspondence between the resonant frequency f0 and the angular frequency w0, f0 = w0 / 2π, we can determine the resonant frequency f0.

[0100] In some embodiments, when determining the resonant frequency f0 based on the angular frequency w0, the influence of damping can also be considered to obtain the resonant frequency f′0 with the damping coefficient ζ introduced. For details, please refer to the above formula (9), which will not be repeated here.

[0101] In other embodiments, if the number of detectable parameters is large, the angular frequency w0 can be quickly obtained by numerical fitting. First, the expression for the frequency fitting curve is determined according to the above formula (8), specifically referring to the following formula (11).

[0102]

[0103] Then according to P1~P N and W1 2 ~w N 2 Substituting into formula (8) above, a polynomial numerical fitting is performed to obtain the correlation coefficient. Furthermore, and P0 Then, the angular frequency w0 corresponding to the resonant frequency f0 can be obtained. Then, according to the correspondence between the resonant frequency f0 and the angular frequency w0, f0 = w0 / 2π, the resonant frequency f0 is determined. Furthermore, the influence of damping can also be considered to obtain the resonant frequency f′0 with the damping coefficient ζ introduced. For details, please refer to the above formula (9), which will not be repeated here.

[0104] In summary, through the resonant frequency detection method provided in this application embodiment, the electronic device 100 can obtain a more accurate resonant frequency, thereby enabling the vibrator 200 to acquire the strongest kinetic energy with the least amount of electrical energy during operation, thus maximizing the energy conversion efficiency of the vibrator 200. Furthermore, when the electronic device 100 requires only a brief vibration from the vibrator 200, it can adjust to obtain a corresponding reverse signal based on the obtained resonant frequency. This reverse signal can more accurately cancel out the residual vibration of the vibrator 200, allowing the vibrator 200 to stop vibrating more quickly, resulting in a crisper vibration effect and enhancing the user's tactile experience.

[0105] The following describes the results of comparing the resonant frequency obtained by this resonant frequency detection method and the resonant frequency obtained by directly using the frequency corresponding to the first cycle of the residual oscillation as the motor's resonant frequency with the resonant frequency obtained by frequency sweep in some embodiments. As shown in Table 2, sweep_f0 is the resonant frequency obtained by frequency sweep, and sweep_f0 is used as a reference value for comparison. Q_lra is the quality factor measured by the residual oscillation, which characterizes the damping level. Motors can be divided into three categories according to the size of their Q_lra: large Q, medium Q, and small Q. f0_lra is the frequency corresponding to the first cycle of the residual oscillation. f0_lra_op is the resonant frequency obtained using the present invention. f0_lra_error is the difference between f0_lra and sweep_f0, i.e., f0_lra_error = f0_lra - sweep_f0. f0_lra_op_error is the difference between f0_lra_op and sweep_f0, i.e., f0_lra_op_error = f0_lra_op - sweep_f0. The calculation method for performance improvement can be found in the following formula (12).

[0106] (1-|(f0_lra_op_error) / (f0_lra_error)|)×100%(12)

[0107] Table 2

[0108]

[0109] As shown in the table above, the absolute value of the difference between the resonant frequency f0_lra_op and the reference value sweep_f0 obtained by the resonant frequency detection method provided in this application, f0_lra_op_error, is generally smaller than the absolute value of the difference between the resonant frequency f0_lra corresponding to the first cycle of the residual oscillation and sweep_f0, f0_lra_error. This indicates a significant performance improvement, meaning that the resonant frequency obtained by this method is more accurate.

[0110] The resonant frequency detection system 700 provided in the embodiments of this application is described below, such as... Figure 7 As shown, the resonant frequency detection system 700 includes an electronic device 100, a vibrator 200, a drive chip 710, and a measurement module 720. The electronic device 100 can also be referred to as a computing device.

[0111] The driver chip 710 is used to input an excitation signal to the vibrator 200, thereby driving the vibrator 200 to undergo forced vibration and bring it to a steady-state vibration. See the above for details. Figure 3 Step S310 and the above Figure 5 Step S510 and its related descriptions are not repeated here.

[0112] The measurement module 720 is used to measure detectable parameters of the excitation drive section of the vibrator 200 and / or to measure detectable parameters of the residual vibration section after excitation stops. These detectable parameters can include oscillator displacement, acceleration, velocity, back electromotive force, etc. See the above for details. Figure 3 Steps S310 and S320 and the above Figure 5 Steps S510 and S520 and their related descriptions are not repeated here.

[0113] The electronic device 100 is used to calculate the resonant frequency f0 of the vibrator 200 based on the detectable parameters measured by the measurement module 720. See the above for details. Figure 3 Step S330 and the above Figure 5 Step S530 and its related descriptions are not repeated here.

[0114] In some embodiments, the driver chip 710 is also used to drive the vibrator 200 to vibrate using a drive waveform with a resonant frequency f0.

[0115] In other embodiments, one or more of the vibrator 200, the drive chip 710, and the measurement module 720 may all belong to the electronic device 100.

[0116] In summary, through the resonant frequency detection system 700 provided in this application embodiment, the electronic device 100 can obtain a more accurate resonant frequency, thereby enabling the vibrator 200 to acquire the strongest kinetic energy with the least amount of electrical energy during driving, thus maximizing the energy conversion efficiency of the vibrator 200. Furthermore, when the electronic device 100 requires only a brief vibration from the vibrator 200, it can adjust to obtain a corresponding reverse signal based on the obtained resonant frequency. This reverse signal can more accurately cancel out the residual vibration of the vibrator 200, allowing the vibrator 200 to stop vibrating more quickly, resulting in a crisper vibration effect and enhancing the user's tactile experience.

[0117] The structure of the electronic device 100 in the embodiments of this application is described below. For example... Figure 8 As shown, the electronic device 100 includes a processor 810, a communication interface 820, and a memory 830. The processor 810, the communication interface 820, and the memory 830 are interconnected via an internal bus 840.

[0118] The processor 810, communication interface 820, and memory 830 can be connected via a bus or communicate via wireless transmission or other means. This embodiment uses a bus 840 as an example, where the bus 840 can be a Peripheral Component Interconnect (PCI) bus. The bus 840 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0119] The processor 810 may consist of one or more general-purpose processors, such as a central processing unit (CPU), or a combination of a CPU and hardware chips. The processor 810 executes various types of digital storage instructions, such as software or firmware programs stored in the memory 830, enabling the electronic device 100 to provide a wide range of services.

[0120] The memory 830 may include volatile memory, such as random access memory (RAM); the memory 830 may also include non-volatile memory, such as read-only memory (ROM) or solid-state drive (SSD); the memory 830 may also include combinations of the above. The memory 830 may store application code and program data. The program code can be used for execution. Figure 3 or Figure 5 Other steps described in the embodiments will not be repeated here.

[0121] The communication interface 820 can be a wired interface (e.g., an Ethernet interface), an internal interface (e.g., a high-speed serial computer expansion bus (peripheral component interconnect express, PCIe), a wired interface (e.g., an Ethernet interface), or a wireless interface (e.g., a cellular network interface or a wireless LAN interface), for communicating with other devices or modules.

[0122] It needs to be explained that, Figure 8 This is merely one possible implementation of an embodiment of this application. In practical applications, the electronic device may include more or fewer components, and this is not a limitation. For details regarding anything not shown or described in the embodiments of this application, please refer to the foregoing. Figure 3 or Figure 5 The relevant descriptions in the embodiments will not be repeated here. Figure 8 The electronic device shown can also be a computer cluster consisting of multiple computing nodes, which is not specifically limited in this application.

[0123] This application also provides a computer-readable storage medium storing instructions that, when executed on a processor... Figure 3 or Figure 5 The method flow shown is thus implemented.

[0124] This application also provides a computer program product, which, when run on a processor... Figure 3 or Figure 5 The method flow shown is thus implemented.

[0125] The various embodiments in this specification are described in a progressive, parallel, or combined manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0126] It should also be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes the aforementioned element.

[0127] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting resonant frequency, characterized in that, include: The spring stiffness coefficient is expanded according to the Taylor expansion to obtain the nonlinear spring stiffness coefficient. Based on the nonlinear spring stiffness coefficient and the oscillator mass of the vibrator, the vibration frequency polynomial is determined; Obtain multiple cycle times and multiple amplitude magnitudes of the detectable parameters of the vibrator; The angular frequency corresponding to the resonant frequency is obtained by using the vibration frequency polynomial, the multiple period times, and the multiple amplitudes, wherein the coefficients in the angular frequency corresponding to the resonant frequency are obtained by using the least squares method with the multiple period times and the multiple amplitudes. The resonant frequency is obtained based on the angular frequency corresponding to the resonant frequency and the damping coefficient of the vibrator.

2. The resonant frequency detection method according to claim 1, characterized in that, The cycle time is obtained by acquiring one or more of the zero-crossing time and peak time. The amplitude is obtained through one or more of the peak value and peak-to-peak value. The detectable parameters include one or more of the following: oscillator displacement, oscillator acceleration, oscillator velocity, and back electromotive force.

3. The resonant frequency detection method according to claim 2, characterized in that, The plurality of period times and the plurality of amplitude magnitudes include data of the vibrator in the excitation driving state and data of the vibrator in the after-vibration state; or... The multiple period times and multiple amplitudes include only the data of the vibrator in its residual vibration state.

4. The resonant frequency detection method according to any one of claims 1 to 3, characterized in that, The resonant frequency is the frequency at which the detectable parameter of the vibrator is at its maximum under the excitation driving state.

5. A resonant frequency detection system, characterized in that, Includes drive equipment, measuring equipment, computing equipment, and vibrators. The driving device is used to input an excitation signal to the vibrator; The measuring device is used to detect multiple cycle times and multiple amplitudes of detectable parameters of the vibrator in the residual vibration state and / or excitation drive state; The computing device is used to obtain the plurality of period times and the plurality of amplitudes; The computing device is further used to expand the spring stiffness coefficient according to the Taylor expansion to obtain a nonlinear spring stiffness coefficient; determine the vibration frequency polynomial based on the nonlinear spring stiffness coefficient and the oscillator mass of the vibrator; and obtain the angular frequency corresponding to the resonant frequency through the vibration frequency polynomial, the multiple period times, and the multiple amplitudes, wherein the coefficients in the angular frequency corresponding to the resonant frequency are obtained by using the least squares method through the multiple period times and the multiple amplitudes; and obtain the resonant frequency based on the angular frequency corresponding to the resonant frequency and the damping coefficient of the vibrator.

6. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store instructions, the processor being used to execute the instructions, and when the processor executes the instructions, it performs the method as described in any one of claims 1 to 4.

7. A computer program product, characterized in that, The computer program product includes computer instructions that, when executed by an electronic device, enable the electronic device to perform the method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, Includes instructions that, when executed on an electronic device, cause the electronic device to perform the method as described in any one of claims 1 to 4.

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