Detection method and device for motion performance of vibration motor and performance detection equipment
By collecting the reverse electromotive force of the vibrating motor to calculate its motion performance parameters, the problems of high complexity and low detection accuracy in the prior art are solved, and the accurate and miniaturized detection of the vibrating motor is achieved.
Patent Information
- Application Number
- CN202411242841.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-05
- Publication Date
- 2024-12-13
AI Technical Summary
In the prior art, the motion performance detection of vibrating motors requires the integration of multiple Hall sensors internally or the installation of accelerometers in the axial position, which increases complexity and cost, and the accumulated measurement error of multiple Hall sensors leads to accurate detection results. Reduced sexuality.
By collecting the reverse electromotive force of the vibrating motor in the after-vibration stage, calculating the damping motion frequency, damping ratio, natural angular frequency and magnetic induction intensity coefficient, and then evaluating the motion performance parameters, realizing the detection of the motion performance of the vibrating motor, avoiding internal integrated sensors or Use of accelerometers.
The miniaturization of the vibration motor and the accuracy of motion performance detection are achieved, the detection cost is reduced, and the cumulative error influence of multiple Hall sensors is avoided.
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Figure CN119125875A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of vibration motor detection, for example, to a method and device for detecting the motion performance of a vibration motor, and performance detection equipment. Background Art
[0002] As an important means of human-computer interaction, tactile feedback has been widely used in terminal devices (such as mobile phones, tablet computers, and game controllers). At present, tactile feedback is usually achieved through vibration motors. Therefore, the motion performance of the vibration motor is very important to the user's tactile feedback experience, so it is necessary to test the motion performance of the vibration motor.
[0003] In the related art, it is usually necessary to integrate a plurality of Hall sensors for detecting the motion performance parameters of the vibration motor inside the vibration motor to detect the motion performance of the vibration motor.
[0004] In the process of implementing the embodiments of the present disclosure, it is found that the solutions of the related technologies have at least the following problems:
[0005] The solutions of the related art require that multiple Hall sensors for detecting the operating parameters of the vibration motor be integrated inside the vibration motor, or that an accelerometer for detecting the acceleration performance of the vibration motor be installed at the axial position of the vibration motor, which increases the complexity and cost of the vibration motor and is not conducive to the miniaturization of the vibration motor. Moreover, the measurement errors of multiple Hall sensors are accumulated together, resulting in a lower accuracy of the detection results of the motion performance of the vibration motor.
[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention
[0007] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.
[0008] The embodiments of the present disclosure provide a method and device for detecting the motion performance of a vibration motor, and a performance detection device. It is unnecessary to integrate multiple Hall sensors inside the vibration motor or install an accelerometer in the axial position of the vibration motor, so as to realize the detection of the motion performance of the vibration motor, facilitate the miniaturization of the vibration motor, and improve the accuracy of the detection of the motion performance of the vibration motor.
[0009] In some embodiments, a method for detecting the motion performance of a vibration motor includes: collecting the back electromotive force of the vibration motor in the aftervibration stage, and calculating the damped motion frequency of the vibration motor based on the back electromotive force; calculating the damping ratio of the vibration motor in the aftervibration stage, the natural angular frequency of the vibration motor, and the magnetic induction intensity coefficient of the vibration motor based on the back electromotive force and the damped motion frequency; calculating the motion performance parameters of the vibration motor based on the damping ratio, the magnetic induction intensity coefficient, and the natural angular frequency; and determining that the motion performance of the vibration motor passes the detection when the motion performance parameters meet the set conditions.
[0010] Optionally, calculating the damped motion frequency of the vibration motor according to the back electromotive force includes: determining zero-crossing point information of the back electromotive force; and calculating the damped motion frequency of the vibration motor according to the zero-crossing point information.
[0011] Optionally, based on the zero-crossing point information, the damping motion frequency of the vibration motor is calculated according to the following formula:
[0012]
[0013] Among them, f d is the damping motion frequency, C n is the zero-crossing moment of the nth reverse electromotive force, C m is the zero-crossing moment of the mth back electromotive force, m and n are positive integers greater than or equal to 1 and not equal, and Fs is the sampling frequency.
[0014] Optionally, the damping ratio of the vibration motor in the after-vibration stage, the natural angular frequency of the vibration motor and the magnetic induction coefficient of the vibration motor are calculated based on the back electromotive force and the damping motion frequency, including: calculating the damping ratio of the vibration motor in the after-vibration stage based on the envelope of the back electromotive force; calculating the natural angular frequency of the vibration motor based on the damping motion frequency and the damping ratio; calculating the magnetic induction coefficient of the vibration motor based on the envelope maximum value and the natural angular frequency of the back electromotive force.
[0015] Optionally, the motion performance parameters include the maximum displacement of the vibration motor and / or the maximum acceleration of the vibration motor, and the motion performance parameters of the vibration motor are calculated based on the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency, including: calculating the maximum movement speed of the vibration motor based on the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency; taking the ratio of the maximum movement speed to the natural angular frequency as the maximum displacement of the vibration motor; and / or taking the product of the maximum movement speed and the natural angular frequency as the maximum acceleration of the vibration motor.
[0016] Optionally, the maximum movement speed of the vibration motor is calculated according to the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency according to the following formula:
[0017]
[0018] Among them, v max is the maximum motion speed, ζ is the damping ratio, ω n is the natural angular frequency, R e is the coil DC resistance of the vibration motor, m is the vibrator mass of the vibration motor, and U is the amplitude of the sinusoidal voltage signal input at both ends of the linear resonant actuator.
[0019] Optionally, when the maximum displacement of the vibration motor is less than or equal to a set threshold, and / or when the maximum acceleration of the vibration motor is within a set range, it is determined that the motion performance parameter of the vibration motor meets the set condition.
[0020] Optionally, the detection method further includes: determining calibration values of the excitation signal and the brake signal of the vibration motor according to the maximum displacement and the maximum acceleration of the vibration motor.
[0021] In some embodiments, a device for detecting the motion performance of a vibration motor includes a processor and a memory storing program instructions, wherein the processor is configured to execute the above-mentioned method for detecting the motion performance of a vibration motor when running the program instructions.
[0022] In some embodiments, the performance detection device includes: a device body; and a detection device for the motion performance of a vibration motor as described above, which is installed on the device body and is used to be electrically connected to the vibration motor to detect the operating performance of the vibration motor.
[0023] The method and device for detecting the motion performance of a vibration motor and the performance detection equipment provided by the embodiments of the present disclosure can achieve the following technical effects:
[0024] In the embodiment of the present disclosure, the back electromotive force generated by the vibration motor in the residual vibration stage is collected to derive the parameters such as the damped motion frequency, damping ratio, natural angular frequency and magnetic induction intensity coefficient of the vibration motor, and then the motion performance parameters of the vibration motor are calculated based on these parameters to judge the motion performance of the vibration motor. In this way, it is not necessary to integrate multiple Hall sensors inside the vibration motor or install an accelerometer in the axial position of the vibration motor to realize the detection of the motion performance of the vibration motor, which facilitates the miniaturization of the vibration motor. In addition, the embodiment of the present disclosure can also avoid the influence of the cumulative error of multiple Hall sensors on the motion performance detection results of the vibration motor, thereby improving the accuracy of the motion performance detection of the vibration motor.
[0025] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:
[0027] Figure 1 is a schematic diagram of a performance detection device provided by an embodiment of the present disclosure;
[0028] Figure 2 is a schematic diagram of a method for detecting motion performance of a vibration motor provided by an embodiment of the present disclosure;
[0029] Figure 3 is a schematic diagram of another method for detecting the motion performance of a vibration motor provided by an embodiment of the present disclosure;
[0030] Figure 4 is a schematic diagram of another method for detecting the motion performance of a vibration motor provided by an embodiment of the present disclosure;
[0031] Figure 5 is a schematic diagram of a detection device for motion performance of a vibration motor provided by an embodiment of the present disclosure;
[0032] Figure 6 It is a schematic diagram of another method for detecting the motion performance of a vibration motor provided by an embodiment of the present disclosure. DETAILED DESCRIPTION
[0033] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.
[0034] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.
[0035] Unless otherwise stated, the term "plurality" of a feature means two or more.
[0036] In the embodiment of the present disclosure, the character " / " feature indicates that the preceding and following objects are in an "or" relationship. For example, the A / B feature indicates: A or B.
[0037] The term "and / or" is a description of the association relationship between objects, and the characteristic indicates that there can be three relationships. For example, A and / or B, the characteristic indicates: A or B, or, A and B.
[0038] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.
[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.
[0040] The performance detection device 100 provided in the embodiment of the present disclosure is as follows Figure 1 As shown, the performance detection device 100 includes a device body 110 and a detection device 500 (600) for the motion performance of a vibration motor.
[0041] Specifically, the vibration motor motion performance detection device 500 (600) is installed on the device body 110. The vibration motor motion performance detection device 500 (600) is used to be electrically connected to the vibration motor 200 to detect the operating performance of the vibration motor 200.
[0042] Optionally, the detection device 600 for the motion performance of the vibration motor includes a processor, which can collect the back electromotive force of the vibration motor in the residual vibration stage, and can calculate the damped motion frequency of the vibration motor according to the back electromotive force. After calculating the damped motion frequency, the processor can derive the motion performance parameters of the vibration motor according to the back electromotive force and the damped motion frequency. It can be determined whether the motion performance parameters meet the set conditions to determine whether the motion performance of the vibration motor can pass the test.
[0043] In combination with the above-mentioned vibration motor, the embodiment of the present disclosure provides a method for detecting the motion performance of the vibration motor, such as Figure 2 As shown, the detection method includes:
[0044] S201, the processor collects the back electromotive force of the vibration motor in the residual vibration stage, and calculates the damping motion frequency of the vibration motor according to the back electromotive force.
[0045] The detection device for the motion performance of the vibration motor is provided with a reverse electromotive force detection member electrically connected to the vibration motor. The processor can collect the reverse electromotive force of the vibration motor in the residual vibration stage through the reverse electromotive force detection member.
[0046] Specifically, after the vibration motor is acted upon by an external excitation signal (such as a voltage signal), when the external excitation signal stops, the motor does not stop vibrating immediately, but enters a free vibration stage. This stage is the residual vibration stage of the vibration motor.
[0047] Specifically, the back electromotive force (Back EMF) is a voltage signal generated by the interaction between the magnetic field and the current after the vibration motor is forced to move, which is used to resist the movement of the motor vibrator. This signal directly reflects the physical process and dynamic characteristics inside the vibration motor. Therefore, when testing the operating performance of the vibration motor, it is necessary to collect the back electromotive force of the vibration motor in the residual vibration stage.
[0048] Specifically, in the residual vibration stage of the vibration motor, that is, after the external excitation signal stops, the vibration motor will enter a free vibration state. The vibration at this time is a damped vibration, and the frequency of the damped vibration is the damped motion frequency (also called the damped natural frequency).
[0049] Specifically, the period of the back electromotive force can be calculated based on the collected back electromotive force of the vibration motor in the residual vibration stage. Since the damping operation frequency remains unchanged in the residual vibration stage, the damping motion frequency of the vibration motor can be estimated by the period of the back electromotive force.
[0050] S202, the processor calculates the damping ratio of the vibration motor in the residual vibration stage, the natural angular frequency of the vibration motor, and the magnetic induction intensity coefficient of the vibration motor according to the back electromotive force and the damping motion frequency.
[0051] Specifically, the damping ratio is a dimensionless parameter that describes the degree of internal energy dissipation of a vibration motor when it is subjected to an external excitation signal. The natural angular frequency of a vibration motor is the angular frequency that describes the undamped free vibration of the vibration motor. The magnetic induction coefficient is a physical quantity that describes the relationship between magnetic field strength and parameters such as current and wire length.
[0052] Specifically, the energy dissipation process of the vibration motor in the after-vibration stage can be clearly understood based on the attenuation curve of the back electromotive force, and the back electromotive force is caused by the change in the magnetic field, which contains information about the change in magnetic field strength. When the damping is small, the damped motion frequency is close to the natural frequency of the vibration motor, and the natural frequency of the vibration motor has a clear mathematical relationship with the natural angular frequency. Therefore, the processor can calculate the damping ratio of the vibration motor in the after-vibration stage, the natural angular frequency of the vibration motor, and the magnetic induction intensity coefficient of the vibration motor based on the back electromotive force and the damped motion frequency.
[0053] S203, the processor calculates the motion performance parameters of the vibration motor according to the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency.
[0054] Specifically, the motion performance parameters of the vibration motor are parameters that can characterize the dynamic response characteristics of the vibration motor, such as the maximum motion speed, maximum displacement, and maximum acceleration of the vibration motor.
[0055] Specifically, the degree to which the vibration motor is affected by the damping force during vibration can be determined according to the damping ratio, the electromagnetic torque and performance of the vibration motor can be determined according to the magnetic induction intensity coefficient, and the vibration frequency of the vibration motor during undamped free vibration can be determined according to the natural angular frequency. Therefore, the dynamic response characteristics of the vibration motor can be evaluated according to the above parameters, thereby determining the motion performance parameters of the vibration motor.
[0056] S204: When the motion performance parameters meet the set conditions, the processor determines that the motion performance of the vibration motor passes the test.
[0057] Specifically, if the motion performance parameters meet the set conditions, it indicates that the dynamic response characteristics of the vibration motor are good and the risk of damage or failure during the operation of the vibration motor is low. Therefore, in this case, it can be determined that the motion performance of the vibration motor has passed the test.
[0058] In the embodiment of the present disclosure, the back electromotive force generated by the vibration motor in the residual vibration stage is collected to derive the parameters such as the damped motion frequency, damping ratio, natural angular frequency and magnetic induction intensity coefficient of the vibration motor, and then the motion performance parameters of the vibration motor are calculated based on these parameters to judge the motion performance of the vibration motor. In this way, the motion performance of the vibration motor can be detected without integrating multiple Hall sensors inside the vibration motor or installing an accelerometer in the axial position of the vibration motor, which facilitates the miniaturization of the vibration motor and reduces the cost of detecting the motion performance of the vibration motor. In addition, the embodiment of the present disclosure can also avoid the influence of the cumulative error of multiple Hall sensors on the motion performance detection results of the vibration motor, thereby improving the accuracy of the motion performance detection of the vibration motor.
[0059] The present disclosure provides another method for detecting the motion performance of a vibration motor. Figure 3 As shown, the detection method includes:
[0060] S301, the processor collects the reverse electromotive force of the vibration motor in the residual vibration stage.
[0061] S302: The processor determines zero-crossing information of the back electromotive force.
[0062] Specifically, the zero-crossing point information includes the zero-crossing point position and the zero-crossing point time.
[0063] S303: The processor calculates the damping motion frequency of the vibration motor according to the zero-crossing point information.
[0064] Optionally, based on the zero-crossing point information, the damping motion frequency of the vibration motor is calculated according to the following formula:
[0065]
[0066] Among them, f d is the damping motion frequency, C n is the zero-crossing moment of the nth reverse electromotive force, C m is the zero-crossing moment of the mth back electromotive force, m and n are positive integers greater than or equal to 1 and not equal, and Fs is the sampling frequency.
[0067] S304, the processor calculates the damping ratio of the vibration motor in the residual vibration stage, the natural angular frequency of the vibration motor, and the magnetic induction intensity coefficient of the vibration motor according to the back electromotive force and the damping motion frequency.
[0068] S305, the processor calculates the motion performance parameters of the vibration motor according to the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency.
[0069] S306: When the motion performance parameters meet the set conditions, the processor determines that the motion performance of the vibration motor passes the test.
[0070] In the disclosed embodiment, the damped motion frequency of the vibration motor is calculated by the zero-crossing information of the reverse electromotive force. In this way, there is no need to set a special Hall sensor on the vibration motor to collect the relevant parameters for calculating the damped motion frequency of the vibration motor, which reduces the complexity and manufacturing cost of the vibration motor and facilitates the miniaturization of the vibration motor.
[0071] In some embodiments, the damping ratio of the vibration motor in the after-vibration stage, the natural angular frequency of the vibration motor, and the magnetic induction intensity coefficient of the vibration motor are calculated based on the back electromotive force and the damping motion frequency, including: calculating the damping ratio of the vibration motor in the after-vibration stage based on the envelope of the back electromotive force; calculating the natural angular frequency of the vibration motor based on the damping motion frequency and the damping ratio; calculating the magnetic induction intensity coefficient of the vibration motor based on the envelope maximum value and the natural angular frequency of the back electromotive force.
[0072] Specifically, the envelope of the back electromotive force refers to a curve obtained by performing envelope fitting on the attenuation curve of the back electromotive force.
[0073] Specifically, the envelope formula of the back electromotive force is as follows:
[0074]
[0075] Among them, BLv Maxis the maximum amplitude at the beginning of the aftershock stage, that is, the maximum envelope value of the back electromotive force, ζ is the damping ratio, t is a certain moment in the aftershock stage, ε(t) is the back electromotive force value sampled at time t, e is the base of the natural logarithm, ω n is the natural angular frequency of the vibration motor.
[0076] Taking the natural logarithm of the envelope formula of the back electromotive force, we get:
[0077] Ln(ε(t))=Ln(BLv(t))=Ln(BLv Max )-ω n ζt;
[0078] Furthermore, the parameter x1 is assigned to Ln(BLv Max ), assign parameter x2 to ω n ζt, and use the least squares method to construct the loss function E:
[0079]
[0080] in,
[0081] Furthermore, partial derivatives of parameters x1 and x2 are calculated and the results are set to 0, and the parameter estimation equation is obtained:
[0082]
[0083]
[0084] Furthermore, convert the above equation into matrix form:
[0085] y = Fx + e;
[0086] Among them, the parameter vector to be estimated Observation vector Observation time vector Measurement error vector
[0087] Furthermore, according to the optimal solution formula of the least square method: x = (F T F) -1 F T y, calculate the optimal solution vector The calculation formula of damping ratio is obtained:
[0088]
[0089] in, M and N are coefficients determined based on the number of samples K of the envelope in the aftershock phase. P and Q are coefficients determined based on the number of samples K of the envelope in the aftershock phase. d is the damping motion frequency, ε(t) is the frequency at t = t i The back electromotive force value sampled at the moment, ω d is the damping angular frequency of the motor in the residual vibration stage, ω d =2πf d .
[0090] Specifically, the natural angular frequency of the vibration motor is calculated according to the following formula:
[0091] Natural angular frequency of vibration motor
[0092]
[0093] Among them, ω n is the natural angular frequency, f d is the damped motion frequency, and ζ is the damping ratio.
[0094] Specifically, the magnetic induction coefficient of the vibration motor is calculated according to the following formula:
[0095]
[0096] Among them, BL is the magnetic induction coefficient, BLv max is the maximum value of the back electromotive force envelope, ζ is the damping ratio, ω n is the natural angular frequency of the vibration motor, R e is the coil DC resistance of the vibration motor, m is the vibrator mass of the vibration motor, and U is the amplitude of the sinusoidal voltage signal input at both ends of the linear resonant actuator.
[0097] In some embodiments, the motion performance parameters include the maximum displacement of the vibration motor and / or the maximum acceleration of the vibration motor, and the motion performance parameters of the vibration motor are calculated based on the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency, including: calculating the maximum movement speed of the vibration motor based on the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency; taking the ratio of the maximum movement speed to the natural angular frequency as the maximum displacement of the vibration motor; and / or taking the product of the maximum movement speed and the natural angular frequency as the maximum acceleration of the vibration motor.
[0098] Optionally, the maximum movement speed of the vibration motor is calculated according to the following formula:
[0099]
[0100] Among them, v max is the maximum motion speed, ζ is the damping ratio, ω n is the natural angular frequency, Re is the coil DC resistance of the vibration motor, m is the vibrator mass of the vibration motor, and U is the amplitude of the sinusoidal voltage signal input at both ends of the linear resonant actuator.
[0101] Optionally, the maximum displacement of the vibration motor is calculated according to the following formula:
[0102]
[0103] Among them, x max is the maximum displacement, and the meanings of other letters are the same as those in the above scheme and will not be repeated here.
[0104] Optionally, the maximum acceleration of the vibration motor is calculated according to the following formula:
[0105]
[0106] Among them, a max is the maximum displacement, and the meanings of other letters are the same as those in the above scheme and will not be repeated here.
[0107] Specifically, by determining the maximum displacement of the vibration motor, it can be determined whether there is a risk of shell cracking during the operation of the vibration motor. By determining the maximum acceleration of the vibration motor, it can be determined whether the vibration intensity of the vibration motor meets the safety regulations for use.
[0108] The present disclosure provides another method for detecting the motion performance of a vibration motor. Figure 4 As shown, the detection method includes:
[0109] S401, the processor collects the back electromotive force of the vibration motor in the residual vibration stage, and calculates the damping motion frequency of the vibration motor according to the back electromotive force.
[0110] S402, the processor calculates the damping ratio of the vibration motor in the residual vibration stage, the natural angular frequency of the vibration motor, and the magnetic induction intensity coefficient of the vibration motor according to the back electromotive force and the damping motion frequency.
[0111] S403, the processor calculates the motion performance parameters of the vibration motor according to the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency; wherein the motion performance parameters include the maximum displacement of the vibration motor and / or the maximum acceleration of the vibration motor.
[0112] S404: When the motion performance parameters meet the set conditions, the processor determines that the motion performance of the vibration motor passes the test.
[0113] S405: The processor determines that the motion performance parameter of the vibration motor meets the set condition when the maximum displacement of the vibration motor is less than or equal to the set threshold and / or when the maximum acceleration of the vibration motor is within a set range.
[0114] Specifically, if the maximum displacement of the vibration motor is less than or equal to the set threshold, it indicates that there is no risk of shell cracking during the operation of the vibration motor. If the maximum acceleration of the vibration motor is within the set range, it indicates that the vibration intensity of the vibration motor meets the safety regulations for use. Therefore, in the above case, it can be determined that the motion performance parameters of the vibration motor meet the set conditions.
[0115] S406: When the motion performance parameter meets the set conditions, the processor determines that the motion performance of the vibration motor passes the test.
[0116] In the disclosed embodiment, by determining the maximum displacement of the vibration motor and the maximum acceleration of the vibration motor, it is possible to detect whether there is a risk of shell cracking during the operation of the vibration motor and whether the vibration intensity meets the safety regulations.
[0117] In some embodiments, the detection method further includes: determining calibration values of the excitation signal and the brake signal of the vibration motor according to the maximum displacement and the maximum acceleration of the vibration motor.
[0118] Specifically, according to the maximum displacement and maximum acceleration of the vibration motor, the calibration values of the excitation signal and the brake signal of the vibration motor are determined. In the subsequent process of driving the vibration motor, the excitation signal and the brake signal can be adjusted according to the calibration values, so that the maximum displacement of the vibration motor during operation is always less than or equal to the set threshold value, and the maximum acceleration of the vibration motor is always within the set range. In this way, the safety and reliability of the operation of the vibration motor are improved.
[0119] In addition, according to the maximum displacement and maximum acceleration of the vibration motor, the calibration values of the excitation signal and the brake signal of the vibration motor are determined. In the subsequent process of driving the vibration motor, the excitation signal and the brake signal of the vibration motor are adjusted based on the calibration values, and the vibration intensity and the brake performance of different vibration motors in the terminal device using the vibration motor can be kept within a suitable range. In this way, the consistency of the tactile feedback experience of the terminal device is improved.
[0120] Combination Figure 5As shown, an embodiment of the present disclosure provides a detection device 500 for the motion performance of a vibration motor. The detection device 500 for the motion performance of a vibration motor includes: an acquisition module 501, a calculation module 502 and a determination module 503. The acquisition module 501 is configured to collect the back electromotive force of the vibration motor in the residual vibration stage. The calculation module 502 is configured to calculate the damped motion frequency of the vibration motor according to the back electromotive force. The calculation module 502 is also configured to calculate the damping ratio of the vibration motor in the residual vibration stage, the natural angular frequency of the vibration motor and the magnetic induction intensity coefficient of the vibration motor according to the back electromotive force and the damped motion frequency. The calculation module 502 is also configured to calculate the motion performance parameters of the vibration motor according to the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency. The determination module 503 is configured to determine that the motion performance of the vibration motor passes the detection when the motion performance parameters meet the set conditions.
[0121] Combination Figure 6 As shown, an embodiment of the present disclosure provides a detection device 600 for the motion performance of a vibration motor, and the detection device 600 for the motion performance of a vibration motor includes: a processor (processor) 601 and a memory (memory) 602. Optionally, the device may also include a communication interface (Communication Interface) 603 and a bus 604. Among them, the processor 601, the communication interface 603, and the memory 602 can communicate with each other through the bus 604. The communication interface 603 can be used for information transmission. The processor 601 can call the logic instructions in the memory 602 to execute the detection method for the motion performance of the vibration motor of the above embodiment.
[0122] In addition, the logic instructions in the memory 602 described above may be implemented in the form of software functional units and when sold or used as independent products, may be stored in a computer-readable storage medium.
[0123] The memory 602 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 601 executes the function application and data processing by running the program instructions / modules stored in the memory 602, that is, the detection method for the motion performance of the vibration motor in the above embodiment is realized.
[0124] The memory 602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 602 may include a high-speed random access memory and may also include a non-volatile memory.
[0125] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned method for detecting motion performance of a vibration motor.
[0126] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.
[0127] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.
[0128] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.
[0129] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.
[0130] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.
Claims
1. A method for detecting the motion performance of a vibration motor, It is characterized in that include: Collect the back electromotive force of the vibration motor in the residual vibration stage, and calculate the damping motion frequency of the vibration motor according to the back electromotive force; According to the back electromotive force and the damping motion frequency, the damping ratio of the vibration motor in the residual vibration stage, the natural angular frequency of the vibration motor and the magnetic induction intensity coefficient of the vibration motor are calculated; Calculate the motion performance parameters of the vibration motor according to the damping ratio, magnetic induction intensity coefficient and natural angular frequency; When the motion performance parameters meet the set conditions, it is determined that the motion performance of the vibration motor passes the test.
2. The detection method according to claim 1, It is characterized in that Calculate the damped motion frequency of the vibration motor based on the back electromotive force, including: Determine the zero-crossing point information of the back electromotive force; The damping motion frequency of the vibration motor is calculated based on the zero-crossing point information.
3. The detection method according to claim 2, It is characterized in that According to the zero-crossing information, the damping motion frequency of the vibration motor is calculated according to the following formula: Among them, f d is the damping motion frequency, C n is the zero-crossing moment of the nth reverse electromotive force, C m is the zero-crossing moment of the mth back electromotive force, m and n are positive integers greater than or equal to 1 and not equal, and Fs is the sampling frequency.
4. The detection method according to claim 1, It is characterized in that According to the back electromotive force and the damping motion frequency, the damping ratio of the vibration motor in the residual vibration stage, the natural angular frequency of the vibration motor and the magnetic induction intensity coefficient of the vibration motor are calculated, including: Calculate the damping ratio of the vibration motor in the residual vibration stage according to the envelope of the back electromotive force; Calculate the natural angular frequency of the vibration motor based on the damped motion frequency and the damping ratio; The magnetic flux density coefficient of the vibration motor is calculated based on the envelope maximum value and natural angular frequency of the back electromotive force.
5. The detection method according to any one of claims 1 to 4, It is characterized in that The motion performance parameters include the maximum displacement of the vibration motor and / or the maximum acceleration of the vibration motor. The motion performance parameters of the vibration motor are calculated based on the damping ratio, the magnetic induction intensity coefficient and the natural angular frequency, including: Calculate the maximum movement speed of the vibration motor according to the damping ratio, magnetic induction intensity coefficient and natural angular frequency; The ratio of the maximum movement speed to the natural angular frequency is used as the maximum displacement of the vibration motor; and / or the product of the maximum movement speed and the natural angular frequency is used as the maximum acceleration of the vibration motor.
6. The detection method according to claim 5, It is characterized in that According to the damping ratio, magnetic induction coefficient and natural angular frequency, the maximum movement speed of the vibration motor is calculated according to the following formula: Among them, v max is the maximum motion speed, ζ is the damping ratio, ω n is the natural angular frequency, R e is the coil DC resistance of the vibration motor, m is the vibrator mass of the vibration motor, and U is the amplitude of the sinusoidal voltage signal input at both ends of the linear resonant actuator.
7. The detection method according to claim 5, It is characterized in that When the maximum displacement of the vibration motor is less than or equal to a set threshold value, and / or when the maximum acceleration of the vibration motor is within a set range, it is determined that the motion performance parameter of the vibration motor meets the set condition.
8. The detection method according to claim 5, It is characterized in that Also includes: According to the maximum displacement and the maximum acceleration of the vibration motor, calibration values of the excitation signal and the brake signal of the vibration motor are determined.
9. A device for detecting the motion performance of a vibration motor, comprising a processor and a memory storing program instructions, It is characterized in that The processor is configured to execute the method for detecting motion performance of a vibration motor according to any one of claims 1 to 8 when running the program instructions.
10. A performance testing device, It is characterized in that include: Equipment body; The detection device for the motion performance of a vibration motor as described in claim 9 is installed on the equipment body and is used to be electrically connected to the vibration motor to detect the operating performance of the vibration motor.