Motor driving method and device and storage medium

Abstract

The invention relates to a motor driving method and device and a storage medium. The motor driving method comprises the following steps: detecting the frequency of a first driving signal of a motor in the terminal; determining a first acceleration of the motor in a vibration state according to a first corresponding relation and the frequency of the first driving signal; determining an amplitude gain value of the first driving signal according to the first acceleration and the second acceleration; determining a second driving signal based on the amplitude gain value and the first driving signal; and driving the motor by adopting the second driving signal. Through the method, the vibration sense of the motor can be effectively compensated.

Description

Technical Field

[0001] The present disclosure relates to the field of motors, and in particular to a motor driving method, device and storage medium. Background Art

[0002] At present, the motors used in terminals include: rotor motors, Z-axis linear motors, X-axis linear motors, etc. The working process of the motor is mechanical vibration, and the mechanical properties of the material are easily affected by temperature. For example, in the low temperature environment in winter, the acceleration (G value) of the motor vibration will decrease, and the vibration will be greatly reduced. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a motor driving method, a motor driving device and a storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a motor driving method, which is applied to a terminal, and the method comprises: detecting the frequency of a first driving signal of a motor in the terminal, wherein the first driving signal is a driving signal for the motor to reach a resonant state under the current ambient temperature; determining a first acceleration of the motor in a vibration state according to a first corresponding relationship and the frequency of the first driving signal, the first corresponding relationship being a corresponding relationship between the frequency of the driving signal and the acceleration; determining an amplitude gain value of the first driving signal according to the first acceleration and the second acceleration, wherein the second acceleration is greater than the first acceleration and is a preconfigured acceleration; determining a second driving signal based on the amplitude gain value and the first driving signal, wherein the second driving signal is used to drive the motor to vibrate at a third acceleration, and the third acceleration is greater than the first acceleration; and driving the motor with the second driving signal.

[0005] In one embodiment, determining the amplitude gain value of the first drive signal based on the first acceleration and the second acceleration includes: in response to a difference between the first acceleration and the second acceleration being greater than or equal to a threshold, determining the amplitude gain value of the first drive signal based on the difference.

[0006] In one embodiment, determining the amplitude gain value of the first drive signal based on the first acceleration and the second acceleration includes: determining the limit value of the amplitude gain value based on a second corresponding relationship and the frequency of the first drive signal of the motor, the second corresponding relationship being the corresponding relationship between the frequency of the drive signal and the limit value of the amplitude gain value; determining the amplitude gain value of the first drive signal based on the first acceleration, the second acceleration and the limit value of the amplitude gain value.

[0007] In one embodiment, before determining the first acceleration of the motor in the vibration state based on the frequency of the first drive signal, the method also includes: detecting the current ambient temperature; determining the frequency of a third drive signal based on a second corresponding relationship and the current ambient temperature, the third drive signal being a pre-configured drive signal corresponding to the current temperature, and the second corresponding relationship being a corresponding relationship between the ambient temperature and the frequency of the drive signal; and determining that the frequency of the third drive signal and the frequency of the first drive signal satisfy a preset condition.

[0008] In one implementation, determining that the frequency of the third drive signal and the frequency of the first drive signal satisfy a preset condition includes: determining that the frequency of the third drive signal is consistent with the frequency of the first drive signal.

[0009] In one embodiment, determining that the frequency of the third drive signal and the frequency of the first drive signal meet a preset condition includes: determining a frequency error value corresponding to the current ambient temperature based on the current ambient temperature; and determining that the difference between the frequency of the third drive signal and the frequency of the first drive signal is less than the frequency error value.

[0010] In one embodiment, the method further includes: in response to the frequency of the third drive signal and the frequency of the first drive signal not satisfying a preset condition, determining that the motor fails.

[0011] In one embodiment, the method further comprises: displaying a prompt message, wherein the prompt message is used to indicate that the motor has a fault.

[0012] In one embodiment, detecting the frequency of the first driving signal of the motor includes: detecting the natural frequency of the motor under the current ambient temperature; and determining the frequency of the first driving signal of the motor according to the natural frequency.

[0013] According to a second aspect of an embodiment of the present disclosure, a motor driving device is provided, characterized in that the device is configured in a terminal, and the device includes: a detection module, used to detect the frequency of a first driving signal of a motor in the terminal, wherein the first driving signal is a driving signal for the motor to reach a resonant state under the current ambient temperature; a determination module, used to determine a first acceleration of the motor in a vibration state according to a first corresponding relationship and the frequency of the first driving signal, the first corresponding relationship being a corresponding relationship between the frequency of the driving signal and the acceleration; determining an amplitude gain value of the first driving signal according to the first acceleration and the second acceleration, wherein the second acceleration is greater than the first acceleration and is a pre-configured acceleration; determining a second driving signal based on the amplitude gain value and the first driving signal, wherein the second driving signal is used to drive the motor to vibrate at a third acceleration, and the third acceleration is greater than the first acceleration; a driving module, used to drive the motor with the second driving signal.

[0014] In one implementation, the determination module determines the amplitude gain value of the first drive signal in the following manner: in response to a difference between the first acceleration and the second acceleration being greater than or equal to a threshold, determining the amplitude gain value of the first drive signal according to the difference.

[0015] In one embodiment, the determination module determines the amplitude gain value of the first drive signal in the following manner: determining the limit value of the amplitude gain value based on a second corresponding relationship and the frequency of the first drive signal of the motor, wherein the second corresponding relationship is the corresponding relationship between the frequency of the drive signal and the limit value of the amplitude gain value; determining the amplitude gain value of the first drive signal based on the first acceleration, the second acceleration and the limit value of the amplitude gain value.

[0016] In one embodiment, before the determination module determines the first acceleration of the motor in the vibration state based on the frequency of the first drive signal, the detection module is also used to detect the current ambient temperature; the determination module is also used to determine the frequency of the third drive signal based on the second corresponding relationship and the current ambient temperature, the third drive signal is a pre-configured drive signal corresponding to the current temperature, and the second corresponding relationship is the correspondence between the ambient temperature and the frequency of the drive signal; determine that the frequency of the third drive signal and the frequency of the first drive signal meet a preset condition.

[0017] In one implementation, the determination module determines whether the frequency of the third drive signal and the frequency of the first drive signal meet a preset condition in the following manner: determining that the frequency of the third drive signal is consistent with the frequency of the first drive signal.

[0018] In one embodiment, the determination module determines whether the frequency of the third drive signal and the frequency of the first drive signal meet a preset condition in the following manner: based on the current ambient temperature, determining a frequency error value corresponding to the current ambient temperature; and determining that the difference between the frequency of the third drive signal and the frequency of the first drive signal is less than the frequency error value.

[0019] In one implementation, the determination module is further configured to: determine that a fault occurs in the motor in response to a frequency of the third drive signal and a frequency of the first drive signal not satisfying a preset condition.

[0020] In one embodiment, the device further comprises: a display module, configured to display prompt information, wherein the prompt information is configured to indicate that a fault occurs in the motor.

[0021] In one embodiment, the detection module detects the frequency of the first drive signal of the motor in the following manner: detecting the natural frequency of the motor at the current ambient temperature; and determining the frequency of the first drive signal of the motor according to the natural frequency.

[0022] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a memory for storing instructions; and a processor for calling the instructions stored in the memory to execute the motor driving method in the first aspect or any one of the embodiments of the first aspect.

[0023] According to a fourth aspect of an embodiment of the present disclosure, a storage medium is provided, in which instructions are stored. When the instructions are executed by a processor, the motor driving method in the first aspect or any one of the embodiments of the first aspect is executed.

[0024] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: The present disclosure determines the acceleration when the motor reaches a resonant state at the current ambient temperature and compares it with the ideal acceleration. The amplitude gain value may be determined based on the comparison result. The drive signal is amplified based on the amplitude gain value, and the amplified drive signal is used to drive the motor, which can effectively compensate for the vibration of the motor.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] Figure 1 is a flow chart of a motor driving method according to an exemplary embodiment.

[0028] Figure 2 is a schematic diagram of an inherent characteristic curve of a motor according to an exemplary embodiment.

[0029] Figure 3 The figure is a flow chart of a method for determining an amplitude gain value according to an exemplary embodiment.

[0030] Figure 4 is a flow chart showing another motor fault detection method according to an exemplary embodiment.

[0031] Figure 5 is a flow chart showing another motor fault detection method according to an exemplary embodiment.

[0032] Figure 6 is a flow chart of another natural frequency detection method according to an exemplary embodiment.

[0033] Figure 7 is a flow chart showing a motor drive control method according to an exemplary embodiment

[0034] Figure 8 is a flow chart of another motor driving method according to an exemplary embodiment.

[0035] Fig. 9 is a block diagram of a motor driving device according to an exemplary embodiment.

[0036] Fig.10 is a block diagram of another motor driving device according to an exemplary embodiment. DETAILED DESCRIPTION

[0037] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure.

[0038] At present, the scenarios in which terminals use motors are very extensive. For example, motors can be used for event reminders, such as incoming calls, text messages, alarms, danger alarms, timers, navigation direction reminders, etc. Motors can also be used for interactive feedback, such as power-on unlocking, virtual buttons, keyboard input, fingerprint recognition, pressure sensing, etc. Alternatively, there are more and more scenarios in terminal games that require vibration feedback, which makes the application of motors more and more occasions, and this disclosure does not give examples one by one. The motors used in the terminal include: rotor motors, Z-axis linear motors, X-axis linear motors, etc. The working process of the motor belongs to mechanical vibration, and the mechanical properties of the material are easily affected by temperature. In high or low temperature environments, the vibration of the motor will be weakened.

[0039] For example, the natural frequency of a motor is easily affected by temperature. The natural frequency is also called the self-oscillation frequency, which indicates the frequency of the motor's free vibration. It can be understood that the natural frequency is the inherent vibration frequency of the system. In a high temperature environment, the natural frequency of the motor may become smaller, and in a low temperature environment, the natural frequency of the motor may become larger. Whether the natural frequency of the motor increases or decreases, it is offset from the frequency of the drive signal. That is, it changes from a resonant state to a non-resonant state. When the natural frequency of a mechanical system is consistent with the frequency of the drive signal, the mechanical system reaches a resonant state, that is, a resonant state. For a motor, the vibration is strongest in a resonant state. When the motor changes from a resonant state to a non-resonant state, the vibration is reduced.

[0040] For example, temperature can also affect the damping of the motor, thereby affecting the vibration amplitude of the motor and reducing the vibration.

[0041] Therefore, the present disclosure provides a motor driving method, by determining the acceleration of the motor when it reaches a resonant state at the current ambient temperature, and comparing it with the ideal acceleration, an amplitude gain value can be determined according to the comparison result. Amplifying the driving signal according to the amplitude gain value, and using the amplified driving signal to drive the motor can effectively compensate for the vibration of the motor.

[0042] Among them, the motor driving method is applied to the terminal, which can also be called terminal equipment, mobile station (mobilestation, MS), mobile terminal (mobile terminal, MT), etc. It is a device that provides voice and / or data connectivity to users. For example, the terminal can be a handheld device with wireless connection function, a vehicle-mounted device, etc. At present, some examples of terminals are: smart phones (mobile phones), pocket personal computers (pocket personal computers, PPCs), handheld computers, personal digital assistants (personal digital assistants, PDAs), laptops, tablet computers, wearable devices, or vehicle-mounted devices, etc. In addition, when it is a vehicle-to-everything (V2X) communication system, the terminal device can also be a vehicle-mounted device. It should be understood that the embodiments of the present disclosure do not limit the specific technology and specific device form adopted by the terminal.

[0043] Figure 1 is a flow chart of a motor driving method according to an exemplary embodiment. Figure 1 As shown, the motor driving method includes the following steps.

[0044] In step S11 , the frequency of the first drive signal of the motor is detected.

[0045] In one embodiment, the terminal can detect the natural frequency of the motor in the terminal, and determine the frequency of the first drive signal corresponding to the motor in the terminal based on the natural frequency. The first drive signal is a drive signal for the motor to reach a resonant state at the current ambient temperature. The frequency of the drive signal of the motor in the resonant state can also be called the resonant frequency of the motor. Therefore, the resonant frequency mentioned in each embodiment of the present disclosure represents the frequency of the drive signal of the motor in the resonant state.

[0046] In one embodiment, the terminal may predetermine the correspondence between the frequency of the drive signal and the acceleration. The present disclosure refers to the correspondence between the frequency of the drive signal and the acceleration as a first correspondence. The frequency of the drive signal is the frequency of the drive signal of the motor in a resonant state.

[0047] In step S12, a first acceleration in a motor vibration state is determined according to the first corresponding relationship and the frequency of the first driving signal.

[0048] In one embodiment, the terminal can determine the first acceleration of the motor in the vibration state based on the first corresponding relationship and the frequency of the first drive signal. The first acceleration represents the acceleration of the motor when it reaches the resonant state at the current ambient temperature. The acceleration of the motor during vibration can be used to characterize the strength of the motor vibration. For example, the greater the acceleration of the motor during vibration, the stronger the vibration of the motor can be considered; conversely, the smaller the acceleration of the motor during vibration, the weaker the vibration of the motor can be considered. In some embodiments, the terminal can determine the first acceleration corresponding to the resonant frequency at the current ambient temperature based on the corresponding relationship between the resonant frequency of the motor and the acceleration.

[0049] In one implementation, the terminal may determine the second acceleration according to the inherent characteristic curve of the motor. The second acceleration may be understood as a standard acceleration configured by the terminal.

[0050] In step S13, an amplitude gain value of the first driving signal is determined according to the first acceleration and the second acceleration.

[0051] In one embodiment, after determining the first acceleration, the terminal may compare the first acceleration with the second acceleration. The second acceleration may be understood as the standard acceleration configured by the terminal. The second acceleration may be determined according to the inherent characteristic curve of the motor. In this embodiment, the terminal may predetermine the corresponding relationship between the acceleration difference between the first acceleration and the second acceleration and the amplitude gain value. The terminal may determine the amplitude gain value of the first drive signal corresponding to the acceleration difference based on the acceleration difference. The amplitude gain value indicates the amplification factor of the amplitude.

[0052] It can be understood that the acceleration difference can characterize the difference in vibration sensation of the motor. The difference between the first acceleration and the second acceleration represents the difference between the vibration sensation of the motor at the current ambient temperature and the standard vibration sensation. Among them, the standard vibration sensation can be understood as the vibration sensation when the motor reaches a resonant state at room temperature. The standard vibration sensation can also be understood as the vibration sensation corresponding to the second acceleration. The greater the acceleration difference, the greater the difference in vibration sensation, and the greater the required amplification factor of the drive signal.

[0053] In step S14, a second drive signal is determined based on the amplitude gain value and the first drive signal.

[0054] In one embodiment, the terminal may amplify the amplitude of the first drive signal based on the amplitude gain value to obtain the second drive signal. For example, the terminal may amplify the first drive signal based on the amplitude gain value through a signal amplifier. The second drive signal is used to drive the motor to vibrate at a third acceleration. Since the amplitude of the second drive signal is greater than the amplitude of the first drive signal, the third acceleration is greater than the first acceleration.

[0055] In step S15, the motor is driven using the second driving signal.

[0056] In one embodiment, the terminal can drive the motor to vibrate based on the second drive signal. At this time, the acceleration of the motor vibration is a third acceleration. The third acceleration is greater than the first acceleration, and therefore, compensation for the motor vibration is achieved. In some cases, the third acceleration is the same as the second acceleration. In this case, the amplitude of the second drive signal is relatively large, and the power consumption is also large, so the vibration of the motor can be almost the same as the standard vibration. In other cases, the third acceleration is less than the second acceleration. In this case, the amplitude of the second drive signal is relatively small, and the power consumption is also small, and the vibration of the motor is less than the standard vibration.

[0057] The present disclosure determines the first acceleration when the motor reaches a resonant state at the current ambient temperature, compares it with the second acceleration, and determines the amplitude gain value according to the comparison result. The drive signal is amplified according to the amplitude gain value, and the amplified drive signal is used to drive the motor with a third acceleration, the third acceleration is greater than the first acceleration, and is as close to the second acceleration as possible, so that the vibration of the motor can be effectively compensated.

[0058] In some implementations, the terminal may establish a corresponding relationship as follows.

[0059] For example, the terminal may pre-establish a database. Take the first correspondence as an example. The resonant frequency and acceleration of the motor detected at different ambient temperatures are stored in the database. Exemplarily, the resonant frequency and acceleration may be stored in the database in the form of a key-value pair. The terminal may quickly query the acceleration corresponding to a certain resonant frequency in the database. For example, the terminal may quickly query the acceleration corresponding to the resonant frequency at the current temperature in the database.

[0060] For another example, the terminal may use the least square method to fit the relationship curve between the resonant frequency and the acceleration. Taking the first corresponding relationship as an example, the terminal may determine the acceleration corresponding to the resonant frequency at the current ambient temperature based on the fitted relationship curve.

[0061] In some embodiments, the standard acceleration may be determined by controlling the motor to reach a resonant state at room temperature, and detecting the acceleration of the motor by an acceleration sensor. The room temperature may be set according to actual conditions. For example, the room temperature may be a temperature between 20 degrees and 25 degrees. Of course, the room temperature may also be other temperature values, which are not limited in the present disclosure.

[0062] In some implementations, the terminal may determine the standard acceleration according to an inherent characteristic curve of the motor. Figure 2 It is the inherent characteristic curve of the motor, which can be considered as the frequency response curve of the motor at normal temperature. The horizontal axis of the curve represents the frequency of the motor drive signal, and the vertical axis represents the acceleration of the motor. The peak value (Gmax) of the curve represents the acceleration of the motor in a resonant state, that is, the second acceleration. In some embodiments, amplifying the amplitude of the first drive signal consumes power. Therefore, in response to some situations, the terminal does not amplify the amplitude of the first drive signal.

[0063] For example, if the difference between the vibration sensation of the motor under the current ambient temperature and the standard vibration sensation is small, it can be considered that there is no need to amplify the amplitude of the first driving signal.

[0064] For another example, since the first acceleration is not measured but determined according to the frequency of the first drive signal. It can be understood that the first acceleration is an estimated acceleration. Therefore, there may be an estimated deviation in the first acceleration. For example, in some cases, the actual acceleration of the motor reaching a resonant state at the current ambient temperature is the same as the second acceleration. That is, there is no loss in the vibration of the motor, and there is no need to compensate for the vibration of the motor. However, due to the estimated deviation of the first acceleration, it is mistakenly believed that the vibration of the motor needs to be compensated based on the difference between the first acceleration and the second acceleration. The compensated additional vibration will affect the user experience and waste the power consumption of the terminal.

[0065] Therefore, the present disclosure provides a motor driving method including: in response to a difference between a first acceleration and a preconfigured second acceleration being greater than or equal to a preset threshold, determining an amplitude gain value of a first driving signal according to the difference between the first acceleration and the second acceleration.

[0066] In one embodiment, the terminal may pre-set a threshold value. If the difference between the first acceleration and the second acceleration is less than the preset threshold value, it can be considered that the difference between the vibration of the motor at the current ambient temperature and the standard vibration is small. Or it can be considered that the difference between the first acceleration and the second acceleration is caused by the estimated deviation of the first acceleration. Thus, the amplitude gain value is not determined, and the amplitude of the first drive signal is not amplified. Among them, the first drive signal can be a voltage signal or a current signal, and the present disclosure does not limit this. It can be understood that if the first drive signal is a voltage signal, the amplitude of the first drive signal is the voltage value. If the first drive signal is a current signal, the amplitude of the first drive signal is the current value. If the difference between the first acceleration and the second acceleration is greater than or equal to the preset threshold value, the difference between the vibration of the motor at the current ambient temperature and the standard vibration is large. Or it can be considered that the difference between the first acceleration and the second acceleration is not caused by the error of the first acceleration. At this time, the amplitude gain value is determined according to the difference between the first acceleration and the second acceleration, so that the amplitude of the first drive signal can be amplified according to the amplitude gain value later.

[0067] The present disclosure determines the amplitude gain value of the first driving signal according to the difference between the first acceleration and the second acceleration in response to the difference between the first acceleration and the second acceleration being greater than or equal to a preset threshold, thereby accurately compensating for the vibration of the motor and saving power consumption. In some embodiments, too large an amplitude gain value may cause irreversible damage to the motor. Therefore, the present disclosure provides a motor driving method, such as Figure 3 As shown, the motor driving method includes the following steps.

[0068] In step S21, a limit value of the amplitude gain value is determined according to the second corresponding relationship and the frequency of the first driving signal of the motor.

[0069] In one embodiment, the terminal can determine the limit of the amplitude gain value based on the frequency of the first drive signal of the motor. The limit of the amplitude gain value refers to the maximum value of the amplitude gain value without damaging the motor. It can be understood that if the amplitude gain value is greater than the limit of the amplitude gain value, the motor will be irreversibly damaged. The limit of the amplitude gain value is different under different ambient temperatures. The terminal can predetermine the correspondence between the frequency of the drive signal and the limit of the gain value. For example, determine the correspondence between the resonant frequency and the limit of the amplitude gain value. The present disclosure refers to the correspondence between the resonant frequency and the limit of the amplitude gain value as the second correspondence. The terminal can determine the limit of the amplitude gain value based on the second correspondence and the frequency of the first drive signal.

[0070] In step S22, the amplitude gain value of the first drive signal is determined based on the first acceleration, the second acceleration and the limit value of the amplitude gain value.

[0071] In one implementation, the terminal determines the amplitude gain value according to the first acceleration, the second acceleration and the limit value of the amplitude gain value, wherein the amplitude gain value is less than the limit value of the amplitude gain value, thereby avoiding damage to the motor.

[0072] The present disclosure determines the amplitude gain value according to the first acceleration, the second acceleration and the limit value of the amplitude gain value, so as to avoid irreversible damage to the motor.

[0073] In some embodiments, a motor failure may result in a reduction in the vibration of the motor. Figure 4 As shown, the motor driving method includes the following steps.

[0074] In step S31, the current ambient temperature is detected.

[0075] In step S32, the frequency of the third driving signal is determined according to the second corresponding relationship and the current ambient temperature.

[0076] In step S33, it is determined whether the frequency of the third driving signal and the frequency of the first driving signal satisfy a preset condition.

[0077] In one embodiment, a failure of the motor itself may cause the resonant frequency of the motor to change. It can be considered that, without considering the failure of the motor, the ambient temperature and the resonant frequency have a one-to-one correspondence. Therefore, the terminal can predetermine the correspondence between the ambient temperature and the resonant frequency under the condition that the motor has not failed. The terminal can detect the current ambient temperature and determine the frequency of the third drive signal corresponding to the current ambient temperature under the condition that the motor has not failed. Among them, the third drive signal represents the drive signal corresponding to the current ambient temperature pre-configured by the terminal in order to make the motor reach a resonant state under the condition that the motor has not failed. In other words, the frequency of the third drive signal can be understood as the resonant frequency of the motor corresponding to the current ambient temperature when the motor has not failed.

[0078] In this embodiment, the terminal can determine that the frequency of the third drive signal and the frequency of the first drive signal meet the preset condition. At this time, it can be considered that the motor is not faulty. Among them, the preset condition can be that the frequency of the third drive signal is consistent with the frequency of the first drive signal. The preset condition can also be that the difference between the frequency of the third drive signal and the frequency of the first drive signal is less than a threshold.

[0079] In one implementation, the above step S11 is performed before step S33 to detect the frequency of the first driving signal.

[0080] The present disclosure detects the current ambient temperature to determine the frequency of the third drive signal corresponding to the current ambient temperature, and determines that the frequency of the third drive signal and the frequency of the first drive signal meet a preset condition, thereby detecting whether the motor fails.

[0081] In some embodiments, due to a motor failure, the vibration direction of the motor may be offset, and noise may also occur. Here, noise refers to a sound that is inconsistent with the sound of the motor vibration. For example, if the motor fails, the motor parts are loose. When the motor vibrates, the loose parts will make a sound that is obviously inconsistent with the sound of the motor vibration. If the vibration is still compensated, the vibration direction of the motor will be offset more, or the noise of the motor will be louder. Therefore, the present disclosure provides a motor driving method. Therefore, the present disclosure can execute the above step S12 after executing step S33.

[0082] The present invention determines that the frequency of the third drive signal and the frequency of the first drive signal meet the preset conditions, that is, under the condition that the motor is not faulty, compensates for the vibration of the motor to avoid a larger deviation in the vibration direction or a larger noise of the motor.

[0083] In some implementations, the motor driving method includes: determining that a frequency of the third driving signal is consistent with a frequency of the first driving signal.

[0084] In one embodiment, if the frequency of the third drive signal is consistent with the detected frequency of the first drive signal, it can be considered that the motor is not faulty at the current ambient temperature. If the frequency of the third drive signal is inconsistent with the detected frequency of the first drive signal, it can be considered that the motor is faulty. It can be understood that due to the fault of the motor, the frequency of the detected first drive signal changes, resulting in its inconsistency with the frequency of the third drive signal.

[0085] The present disclosure determines the frequency of the third drive signal corresponding to the current ambient temperature by detecting the current ambient temperature, and determines whether the frequency of the third drive signal is consistent with the frequency of the first drive signal, thereby detecting whether the motor is faulty.

[0086] The present disclosure provides a motor driving method, such as Figure 5 As shown, the motor driving method includes the following steps.

[0087] In step S41, based on the current ambient temperature, a frequency error value corresponding to the current ambient temperature is determined.

[0088] In step S42, it is determined that the difference between the frequency of the third driving signal and the frequency of the first driving signal is less than the frequency error value.

[0089] In one embodiment, the terminal may predetermine the correspondence between the ambient temperature and the frequency error value. For example, the terminal may determine the difference between the frequency of the first drive signal and the frequency of the third drive signal multiple times at different ambient temperatures under the condition that the motor is not faulty. Since the motor is not faulty at this time, the difference between the frequency of the first drive signal and the frequency of the third drive signal is not caused by a motor failure, and can be considered to be caused by an error. This error may be that the frequency of the first drive signal detected by the terminal is inaccurate and there is an error; it may also be that the current ambient temperature detected by the terminal is inaccurate, resulting in the inaccurate frequency of the third drive signal corresponding to the current ambient temperature. The terminal may determine the frequency error value corresponding to a certain ambient temperature based on the largest difference among the differences determined multiple times. Thereby determining the correspondence between the ambient temperature and the frequency error value.

[0090] In this implementation manner, the terminal detects the current ambient temperature, and determines the frequency error value corresponding to the current ambient temperature according to a predetermined correspondence relationship between the ambient temperature and the frequency error value.

[0091] In one embodiment, the terminal determines whether the motor fails based on the determined frequency error value. If the difference between the frequency of the third drive signal and the frequency of the first drive signal is less than the frequency error value, it can be considered that the motor has not failed. When the motor has not failed, the terminal detects the frequency of the first drive signal of the motor and compensates for the vibration of the motor.

[0092] The present invention determines whether a motor fails based on a determined frequency error value, so as to more accurately determine whether a motor fails, thereby more accurately avoiding a larger deviation in the vibration direction or a larger noise in the motor when the motor fails.

[0093] In some embodiments, the motor driving method includes: in response to the frequency of the third driving signal and the frequency of the first driving signal not satisfying a preset condition, determining that the motor fails.

[0094] In one embodiment, the terminal may determine that the motor has failed in response to the frequency of the third drive signal and the frequency of the first drive signal not satisfying a preset condition. For example, the terminal may determine that the motor has failed in response to the frequency of the third drive signal being consistent with the frequency of the first drive signal. For another example, the terminal may determine that the motor has failed in response to the frequency of the third drive signal and the frequency of the first drive signal being less than a frequency error value.

[0095] The present disclosure can determine whether the motor fails by determining that the motor fails in response to the frequency of the third drive signal and the frequency of the first drive signal not satisfying a preset condition.

[0096] In some implementations, the motor driving method includes: displaying prompt information.

[0097] In one embodiment, after determining that the motor has failed, the terminal may display a prompt message to inform the user that the motor has failed. For example, the prompt message may be displayed in a notification bar or status. Alternatively, the terminal may display the prompt message in a pop-up window, which is not limited in this disclosure. The terminal displays the prompt message so that the user can know that the motor has failed based on the prompt message, thereby determining whether to return the device to the factory for repair, and promptly solving problems such as reduced motor vibration and noise.

[0098] It is understandable that when the terminal determines that the motor has failed, it can also classify the information about the motor failure. For example, the information about the motor failure can be stored in a folder for fault repair so that the user can receive the information about the motor failure without causing message interference to the user.

[0099] The present disclosure displays prompt information related to motor failure to the user so that the user can be aware of the motor failure and selectively handle the situation.

[0100] In some embodiments, Figure 6 A motor driving method is shown according to an exemplary embodiment. Figure 7 As shown, the motor driving method includes the following steps.

[0101] In step S51 , the natural frequency of the motor at the current ambient temperature is detected.

[0102] In step S52 , the frequency of the first drive signal of the motor is determined according to the natural frequency.

[0103] In one embodiment, the terminal can detect the natural frequency of the motor at the current ambient temperature. Since the material of the motor is easily affected by temperature, the natural frequency of the motor is different at different ambient temperatures. The terminal can adjust the frequency of the motor's drive signal to be consistent with the detected natural frequency so that the motor reaches a resonant state at the current ambient temperature. Exemplarily, the terminal can detect the natural frequency of the motor according to the attenuation period of the motor's free vibration after restarting or the motor has a long vibration. Among them, the long vibration is the vibration of the driving signal as a single-frequency signal. For example, in the terminal's incoming call vibration scenario, the vibration of the motor is a long vibration.

[0104] The present disclosure detects the natural frequency of the motor at the current ambient temperature and adjusts the frequency of the driving signal to be consistent with the detected natural frequency, so that the motor reaches a resonant state at the current ambient temperature. Under the same ambient temperature, the vibration of the motor is strongest when it is in a resonant state. Therefore, the present disclosure optimizes the vibration of the motor by making the motor reach a resonant state at different ambient temperatures.

[0105] In some embodiments, Figure 7 FIG. 1 is a flow chart showing a method for controlling a motor drive according to an exemplary embodiment. Figure 7 As shown, the terminal includes a processor, a temperature sensor, a motor driver chip and a motor. The processor includes a state control logic module. The terminal can determine whether the motor is faulty in the state control logic module of the processor. Figure 7As shown, the terminal can control the temperature sensor to detect the current ambient temperature and pass the current ambient temperature to the processor. The terminal controls the processor to issue instructions to the motor driver chip. The terminal controls the motor driver chip to detect the natural frequency at the current ambient temperature and pass the detected natural frequency to the processor. Among them, the detected natural frequency is used to determine the frequency of the driving information of the motor reaching a resonant state at the current ambient temperature. The state control logic module in the terminal control processor determines whether the motor is faulty based on the received current ambient temperature and the detected natural frequency at the current ambient temperature. That is, the terminal can determine whether the motor is faulty based on the received current ambient temperature and the frequency of the driving signal that the motor reaches a resonant state at the current ambient temperature. The method for determining whether the motor has failed can refer to the specific implementation of steps S31 to S33, which will not be repeated in this disclosure. After the terminal determines that the motor has not failed, it can send an instruction to the motor driver chip, which is used to instruct the motor driver chip to drive the motor using a second drive signal.

[0106] In some embodiments, Figure 8 FIG. 1 is a flow chart showing a motor driving method according to an exemplary embodiment. As shown in the figure, the motor driving method includes the following steps.

[0107] In step S61, it is determined whether the difference between the frequency of the first driving signal and the frequency of the third driving signal is greater than the frequency error value.

[0108] In step S62 , in response to the difference between the frequency of the first drive signal and the frequency of the third drive signal being greater than the frequency error value, it is determined that the motor is faulty.

[0109] In step S63, in response to the difference between the frequency of the first driving signal and the frequency of the third driving signal being not greater than the frequency error value, it is determined whether the difference between the first acceleration and the second acceleration is greater than or equal to a preset threshold.

[0110] In step S64, in response to the difference between the first acceleration and the second acceleration being greater than a preset threshold, an amplitude gain value is determined, and a second drive signal is determined according to the amplitude gain value, the rated amplitude and the first drive signal.

[0111] In step S65, the motor is driven using the second driving signal.

[0112] In step S66 , in response to the difference between the first acceleration and the second acceleration being not greater than a preset threshold, the motor is driven using a first drive signal.

[0113] In one embodiment, the terminal compares the difference between the frequency of the first drive signal and the frequency of the third drive signal with the magnitude of the frequency error value. If the difference is greater than or equal to the frequency error value, it can be confirmed that the motor has failed. If the difference is less than the frequency error value, it can be considered that the motor has not failed. The terminal then compares the difference between the first acceleration and the pre-configured second acceleration with a preset threshold. If the difference is greater than or equal to the preset threshold, the first drive signal is used to drive the motor. If the difference is less than the preset threshold, the amplitude gain value is determined, and the amplitude of the first drive signal is amplified according to the amplitude gain value to obtain the second drive signal. The second drive signal is used to drive the motor. Wherein, the magnitude of the second drive signal is less than the rated amplitude, and the rated amplitude is determined according to the frequency of the first drive signal.

[0114] In some embodiments, the terminal can detect the ambient temperature and the resonant frequency at the current ambient temperature. It can be determined whether the motor fails based on the detected ambient temperature and resonant frequency. If the motor fails, a prompt message can be displayed to prompt the motor to return to the factory for repair. If the motor does not fail, the vibration of the motor can be compensated.

[0115] In one embodiment, the terminal may pre-establish a first relationship model between the resonant frequency of the motor and the ambient temperature. The detected ambient temperature is input into the first relationship model to obtain an ideal resonant frequency corresponding to the ambient temperature. The terminal may pre-establish a second relationship model between the ambient temperature and the frequency error value. The detected ambient temperature is input into the second relationship model to obtain a frequency error value corresponding to the ambient temperature.

[0116] In this embodiment, if the difference between the resonant frequency at the current ambient temperature and the ideal resonant frequency is less than the frequency error value, it can be considered that the motor is not faulty. If the difference between the resonant frequency at the current ambient temperature and the ideal resonant frequency is greater than or equal to the frequency error value, it can be considered that the motor is faulty.

[0117] In one embodiment, the terminal may determine the acceleration of the motor at the current ambient temperature. For example, by pre-establishing a relationship between the ambient temperature and the acceleration. Alternatively, a relationship between the resonant frequency and the acceleration may be pre-established. The terminal may determine the acceleration corresponding to the ambient temperature based on the detected current ambient temperature. The terminal may determine the acceleration corresponding to the resonant frequency based on the detected resonant frequency at the current temperature.

[0118] In this implementation, the terminal may determine the ideal acceleration of the motor according to the inherent characteristic curve of the motor. The terminal may determine the amplitude gain value of the driving signal of the motor according to the difference between the acceleration at the current ambient temperature and the ideal acceleration.

[0119] In this implementation, the terminal may amplify the amplitude of the driving signal of the motor according to the amplitude gain value, thereby compensating for the vibration of the motor.

[0120] The present invention determines the acceleration when the motor reaches a resonant state at the current ambient temperature and compares it with the ideal acceleration. The amplitude gain value can be determined based on the comparison result. The drive signal is amplified based on the amplitude gain value, and the amplified drive signal is used to drive the motor, which can effectively compensate for the vibration of the motor.

[0121] It should be noted that those skilled in the art can understand that the various implementation methods / embodiments involved in the embodiments of the present disclosure can be used in conjunction with the aforementioned embodiments or can be used independently. Whether used alone or in conjunction with the aforementioned embodiments, the implementation principle is similar. In the implementation of the present disclosure, some embodiments are described in terms of implementation methods used together. Of course, those skilled in the art can understand that such examples are not limitations of the embodiments of the present disclosure.

[0122] Based on the same concept, an embodiment of the present disclosure also provides a motor driving device.

[0123] It is understandable that the positioning device provided in the embodiment of the present disclosure includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in the embodiment of the present disclosure, the embodiment of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present disclosure.

[0124] Fig. 9 is a block diagram of a motor driving device 100 according to an exemplary embodiment. Fig. 9 The device 100 includes: a detection module 101, a determination module 102, a driving module 103 and a display module 104.

[0125] Among them, the detection module 101 is used to detect the frequency of the first drive signal of the motor in the terminal, wherein the first drive signal is a drive signal for the motor to reach a resonant state under the current ambient temperature. The determination module 102 is used to determine the first acceleration of the motor in a vibration state according to the first corresponding relationship and the frequency of the first drive signal, and the first corresponding relationship is the corresponding relationship between the frequency of the drive signal and the acceleration. According to the first acceleration and the second acceleration, the amplitude gain value of the first drive signal is determined, wherein the second acceleration is greater than the first acceleration and is a pre-configured acceleration. Based on the amplitude gain value and the first drive signal, the second drive signal is determined, wherein the second drive signal is used to drive the motor to vibrate at a third acceleration, and the third acceleration is greater than the first acceleration. The drive module 103 is used to drive the motor using the second drive signal.

[0126] In one implementation, the determination module 102 determines the amplitude gain value of the first drive signal in the following manner: in response to a difference between the first acceleration and the second acceleration being greater than or equal to a threshold, determining the amplitude gain value of the first drive signal according to the difference.

[0127] In one embodiment, the determination module 102 determines the amplitude gain value of the first drive signal in the following manner: determining the limit of the amplitude gain value according to the second corresponding relationship and the frequency of the first drive signal of the motor, wherein the second corresponding relationship is the corresponding relationship between the frequency of the drive signal and the limit of the amplitude gain value. The amplitude gain value of the first drive signal is determined based on the first acceleration, the second acceleration, and the limit of the amplitude gain value.

[0128] In one embodiment, before the determination module 102 determines the first acceleration of the motor in the vibration state based on the frequency of the first drive signal, the detection module 101 is also used to detect the current ambient temperature. The determination module 102 is also used to determine the frequency of the third drive signal based on the second corresponding relationship and the current ambient temperature, the third drive signal is a pre-configured drive signal corresponding to the current temperature, and the second corresponding relationship is the corresponding relationship between the ambient temperature and the frequency of the drive signal. It is determined that the frequency of the third drive signal and the frequency of the first drive signal meet the preset condition.

[0129] In one implementation, the determination module 102 determines whether the frequency of the third drive signal and the frequency of the first drive signal meet a preset condition in the following manner: determining that the frequency of the third drive signal is consistent with the frequency of the first drive signal.

[0130] In one embodiment, the determination module 102 determines that the frequency of the third drive signal and the frequency of the first drive signal meet the preset condition in the following manner: based on the current ambient temperature, determine the frequency error value corresponding to the current ambient temperature. Determine that the difference between the frequency of the third drive signal and the frequency of the first drive signal is less than the frequency error value.

[0131] In one implementation, the determination module 102 is further configured to: in response to the frequency of the third drive signal and the frequency of the first drive signal not satisfying a preset condition, determine that the motor fails.

[0132] In one embodiment, the device further includes: a display module 104, which is used to display prompt information, and the prompt information is used to indicate that the motor fails.

[0133] In one implementation, the detection module 101 detects the frequency of the first drive signal of the motor in the following manner: detecting the natural frequency of the motor under the current ambient temperature and determining the frequency of the first drive signal of the motor according to the natural frequency.

[0134] The present disclosure determines the first acceleration when the motor reaches a resonant state at the current ambient temperature, and compares it with the pre-configured second acceleration. According to the comparison result, the amplitude gain value of the first drive signal of the motor can be determined. The second drive signal is obtained according to the amplitude gain value, and the second drive signal is used to drive the motor with a third acceleration. The third acceleration is greater than the first acceleration and as close to the second acceleration as possible, so that the vibration of the motor can be effectively compensated.

[0135] Fig.10 is a block diagram of a motor driving device 200 according to an exemplary embodiment.

[0136] like Fig.10 As shown, apparatus 200 may include one or more of the following components: a processing component 202 , a memory 204 , a power component 206 , a multimedia component 208 , an audio component 210 , an input / output (I / O) interface 212 , a sensor component 214 , and a communication component 216 .

[0137] The processing component 202 generally controls the overall operation of the device 200, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 202 may include one or more processors 220 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 202 may include one or more modules to facilitate interaction between the processing component 202 and other components. For example, the processing component 202 may include a multimedia module to facilitate interaction between the multimedia component 208 and the processing component 202.

[0138] The memory 204 is configured to store various types of data to support operations on the device 200. Examples of such data include instructions for any application or method operating on the device 200, contact data, phone book data, messages, pictures, videos, etc. The memory 204 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0139] The power component 206 provides power to the various components of the device 200. The power component 206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 200.

[0140] The multimedia component 208 includes a screen that provides an output interface between the device 200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 208 includes a front camera and / or a rear camera. When the device 200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0141] The audio component 210 is configured to output and / or input audio signals. For example, the audio component 210 includes a microphone (MIC), and when the device 200 is in an operation mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 204 or sent via the communication component 216. In some embodiments, the audio component 210 also includes a speaker for outputting audio signals.

[0142] I / O interface 212 provides an interface between processing component 202 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0143] The sensor assembly 214 includes one or more sensors for providing various aspects of the status assessment of the device 200. For example, the sensor assembly 214 can detect the open / closed state of the device 200, the relative positioning of components, such as the display and keypad of the device 200, the sensor assembly 214 can also detect the position change of the device 200 or a component of the device 200, the presence or absence of user contact with the device 200, the orientation or acceleration / deceleration of the device 200 and the temperature change of the device 200. The sensor assembly 214 can include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 214 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 214 can also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

[0144] The communication component 216 is configured to facilitate wired or wireless communication between the device 200 and other devices. The device 200 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 216 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 216 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0145] In an exemplary embodiment, the apparatus 200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0146] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 204 including instructions, and the instructions can be executed by the processor 220 of the device 200 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0147] The present disclosure determines the first acceleration when the motor reaches a resonant state at the current ambient temperature, and compares it with the pre-configured second acceleration. According to the comparison result, the amplitude gain value of the first drive signal of the motor can be determined. The second drive signal is obtained according to the amplitude gain value, and the second drive signal is used to drive the motor with a third acceleration. The third acceleration is greater than the first acceleration and as close to the second acceleration as possible, so that the vibration of the motor can be effectively compensated.

[0148] It is to be understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include plural forms, unless the context clearly indicates other meanings.

[0149] It is further understood that the terms "first", "second", etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions "first", "second", etc. can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0150] It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. A motor driving method, characterized in that: The method comprises: Detecting the frequency of a first driving signal of a motor in the terminal, wherein the first driving signal is a driving signal that causes the motor to reach a resonance state at a current ambient temperature; determining a first acceleration of the motor in a vibration state according to a first corresponding relationship and the frequency of the first driving signal, wherein the first corresponding relationship is a corresponding relationship between the frequency of the driving signal and the acceleration; Determining an amplitude gain value of the first driving signal according to the first acceleration and a second acceleration, wherein the second acceleration is greater than the first acceleration and is a pre-configured acceleration; Determining a second drive signal based on the amplitude gain value and the first drive signal, wherein the second drive signal is used to drive the motor to vibrate at a third acceleration, and the third acceleration is greater than the first acceleration; The motor is driven using the second driving signal.

2. The method according to claim 1, characterized in that The step of determining the amplitude gain value of the first driving signal according to the first acceleration and the second acceleration includes: In response to a difference between the first acceleration and the second acceleration being greater than or equal to a threshold, an amplitude gain value of the first driving signal is determined according to the difference.

3. The method according to claim 1, characterized in that The step of determining the amplitude gain value of the first driving signal according to the first acceleration and the second acceleration includes: Determine the limit of the amplitude gain value according to a second corresponding relationship and the frequency of the first drive signal of the motor, wherein the second corresponding relationship is a corresponding relationship between the frequency of the drive signal and the limit of the amplitude gain value; An amplitude gain value of the first drive signal is determined based on the first acceleration, the second acceleration, and a limit value of the amplitude gain value.

4. The method according to any one of claims 1 to 3, characterized in that: Before determining the first acceleration of the motor under the vibration state based on the frequency of the first driving signal, the method further includes: Detect the current ambient temperature; Determine the frequency of the third driving signal according to the second corresponding relationship and the current ambient temperature, wherein the third driving signal is a pre-configured driving signal corresponding to the current temperature, and the second corresponding relationship is a corresponding relationship between the ambient temperature and the frequency of the driving signal; It is determined that the frequency of the third driving signal and the frequency of the first driving signal meet a preset condition.

5. The method according to claim 4, characterized in that The determining that the frequency of the third driving signal and the frequency of the first driving signal meet a preset condition comprises: It is determined that the frequency of the third driving signal is consistent with the frequency of the first driving signal.

6. The method according to claim 4, characterized in that The determining that the frequency of the third driving signal and the frequency of the first driving signal meet a preset condition comprises: Determine a frequency error value corresponding to the current ambient temperature according to a third corresponding relationship and the current ambient temperature, wherein the third corresponding relationship is a corresponding relationship between the ambient temperature and the frequency error value; It is determined that a difference between a frequency of the third driving signal and a frequency of the first driving signal is smaller than the frequency error value.

7. The method according to claim 4, characterized in that The method further comprises: In response to the frequency of the third drive signal and the frequency of the first drive signal not satisfying a preset condition, it is determined that the motor has failed.

8. The method according to claim 7, characterized in that The method further comprises: A prompt message is displayed, where the prompt message is used to prompt that a fault occurs in the motor.

9. The method according to claim 1, characterized in that: The detecting the frequency of the first driving signal of the motor comprises: Detecting the natural frequency of the motor at the current ambient temperature; The frequency of the first drive signal of the motor is determined according to the natural frequency.

10. A motor drive device, characterized in that: The device comprises: A detection module, configured to detect a frequency of a first drive signal of a motor in the terminal, wherein the first drive signal is a drive signal that causes the motor to reach a resonance state at a current ambient temperature; A determination module, configured to determine a first acceleration of the motor in a vibration state according to a first corresponding relationship and a frequency of the first drive signal, wherein the first corresponding relationship is a corresponding relationship between the frequency of the drive signal and the acceleration; determine an amplitude gain value of the first drive signal according to the first acceleration and a second acceleration, wherein the second acceleration is greater than the first acceleration and is a pre-configured acceleration; determine a second drive signal based on the amplitude gain value and the first drive signal, wherein the second drive signal is used to drive the motor to vibrate at a third acceleration, wherein the third acceleration is greater than the first acceleration; A driving module is used to drive the motor using the second driving signal.

11. An electronic device, characterized in that: include: A memory for storing instructions; as well as A processor, configured to call the instructions stored in the memory to execute the motor driving method according to any one of claims 1 to 9.

12. A storage medium, characterized in that: The storage medium stores instructions, and when the instructions are executed by the processor, the motor driving method according to any one of claims 1 to 9 is executed.

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