Driving voltage calibration method and device, electronic equipment, medium and program product

Abstract

The invention relates to the technical field of vibrator control, in particular to a driving voltage calibration method and device, electronic equipment, a medium and a program product, and is characterized in that residual vibration parameters and driving frequency of a vibrator are acquired, and the residual vibration parameters comprise a quality factor, an electromechanical coupling coefficient and resonance frequency; based on the residual vibration parameter and the driving frequency, the vibration parameter of the vibrator under the corresponding driving frequency can be calculated, and the vibration parameter can comprise one or more of acceleration, speed and displacement of vibration of the vibrator. The comparison result between the determined vibration parameters of the vibrator under different driving frequencies and the preset vibration parameters serving as the reference can be used for calibrating the driving voltage under the corresponding driving frequency, so that the vibrator is driven by the calibrated driving voltage, and the vibration consistency of the vibrator and the reference vibrator can be ensured.

Description

Technical Field

[0001] The present application relates to the field of vibrator control technology, and in particular to a drive voltage calibration method, device, electronic equipment, medium and program product. Background Art

[0002] Currently, more and more electronic devices are equipped with linear motors or other vibrators to enhance the vibration experience. However, due to the influence of factors such as the design, manufacturing and production process of the vibrator, different vibrators have different vibration intensities when the same driving voltage signal is input, which leads to the inability to ensure consistency in the vibration experience when users use electronic devices equipped with vibrators.

[0003] Usually, electronic devices can measure the vibration parameters of the vibrator, such as acceleration, velocity or displacement, through sensors, and then send them to the vibrator driver. The vibrator driver controls the vibration parameters of different vibrator units to remain consistent by adjusting the magnitude of the excitation voltage, thereby ensuring that the vibration experience of different vibrators is consistent.

[0004] However, the above method requires the use of sensors, which increases the hardware cost. In addition, in vibration scenarios where the vibration frequency is far away from the resonant frequency f0, the signal-to-noise ratio of the acceleration signal, velocity signal, and displacement signal is relatively low, which leads to large errors in vibration parameter measurement, inaccurate adjustment of the excitation voltage, and inability to guarantee the consistency of the vibrator's vibration experience. Summary of the invention

[0005] The embodiments of the present application provide a driving voltage calibration method, device, electronic device, medium and program product, which solve the problem of inconsistent vibration experience of users due to different vibration intensities of different vibrators.

[0006] In a first aspect, the present application provides a driving voltage calibration method, which is applied to an electronic device including a vibrator, the method comprising: obtaining residual vibration parameters and a driving frequency of the vibrator, wherein the residual vibration parameters include a quality factor, an electromechanical coupling coefficient and a resonant frequency; determining the vibration parameters corresponding to the driving frequency based on a calculated relationship between the residual vibration parameters, the driving frequency and the vibration parameters; determining a voltage calibration coefficient for a first driving voltage corresponding to the driving frequency based on a comparison result between the vibration parameters corresponding to the driving frequency and preset vibration parameters; and driving the vibrator to vibrate using a second driving voltage determined based on the voltage calibration coefficient and the first driving voltage.

[0007] In this way, the electronic device can obtain the vibration parameters of the vibrator at different driving frequencies and compare the vibration parameters of the vibrator with the preset vibration parameters at the corresponding driving frequency, and can use the comparison result to effectively calibrate the driving voltage at the corresponding driving frequency. It should be understood that when the above-mentioned driving frequency is spread over the entire frequency band, the vibration sense of the vibrator in the entire frequency band can be calibrated to be consistent, thereby effectively ensuring the user's vibration sense consistency experience. In some embodiments, the above-mentioned impedance parameters may include, for example, the resistance value of the DC resistor, etc., which is not limited here.

[0008] In a possible implementation of the first aspect above, the vibration parameters include one or more of acceleration, velocity and displacement, and based on the calculated relationship between the residual vibration parameters, the driving frequency and the vibration parameters, the vibration parameters corresponding to the driving frequency are determined, including: based on the calculated relationship between the residual vibration parameters, the driving frequency and the vibration parameters, one or more of acceleration, velocity and displacement corresponding to the driving frequency are determined.

[0009] In a possible implementation of the first aspect, obtaining the residual vibration parameters of the vibrator includes: analyzing the residual vibration waveform of the vibrator at the driving frequency to obtain the quality factor, electromechanical coupling coefficient and resonance frequency of the vibrator.

[0010] In a possible implementation of the first aspect, the calculation relationship between the residual vibration parameter, the driving frequency and the vibration parameter includes one or more of the following items:

[0011] The calculation relationship between the acceleration corresponding to the driving frequency, the residual vibration parameters and the driving frequency is:

[0012]

[0013] The calculation relationship between the speed corresponding to the driving frequency, the residual vibration parameters and the driving frequency is:

[0014]

[0015] The calculation relationship between the displacement corresponding to the driving frequency, the residual vibration parameters and the driving frequency is:

[0016]

[0017] Where j is the imaginary unit, f d is the driving frequency, f0 is the resonant frequency, f r is the ratio between the driving frequency and the resonant frequency, i.e. f r =f d / f0, Qts is the quality factor, Bl is the electromechanical coupling coefficient, R is the resistance of the DC resistor, L is the inductance, U(s)=j2πf d .

[0018] In a possible implementation of the first aspect, obtaining the residual vibration parameters of the vibrator includes: analyzing the residual vibration waveform of the vibrator at the driving frequency to obtain the quality factor, electromechanical coupling coefficient and resonance frequency of the vibrator.

[0019] In a possible implementation of the first aspect above, the after-vibration waveform includes a after-vibration back-electromotive force waveform, and the vibrator after-vibration waveform at the driving frequency is analyzed to obtain the resonant frequency of the vibrator, including: detecting that the vibrator enters a vibration steady state and stops inputting a driving voltage signal, and obtaining the after-vibration back-electromotive force waveform; determining (N-1) zero-crossing time periods based on the first N zero-crossing moments of the after-vibration back-electromotive force waveform, where N is greater than or equal to 2; determining an average zero-crossing time period corresponding to the (N-1) zero-crossing time periods; calculating the inverse of the average zero-crossing time period, and determining the calculation result of the inverse as the resonant frequency of the vibrator.

[0020] In this way, the electronic device determines the waveform period of the vibrator's residual back electromotive force by obtaining the N zero-crossing moments before the residual back electromotive force, and then obtains the resonant frequency of the vibrator by taking the inverse of the waveform period of the residual back electromotive force. By selecting multiple zero-crossing moments to calculate the average value, the problem of inaccurate zero-crossing point detection caused by noise interference can be avoided.

[0021] In a possible implementation of the first aspect, N is less than or equal to 5. In this way, the measurement signal error of the residual back electromotive force can be avoided.

[0022] In a possible implementation of the first aspect above, the vibrator residual vibration at the driving frequency is analyzed to obtain the quality factor and electromechanical coupling coefficient of the vibrator, including: analyzing the vibrator residual vibration waveform at the driving frequency to determine the peak points of at least 3 cycles; determining the damping ratio and mechanical quality factor of the vibrator based on the peak points of at least 3 cycles; determining the electromechanical coupling coefficient and electrical quality factor based on the determined damping ratio and mechanical quality factor; determining the quality factor of the vibrator based on the calculated relationship between the mechanical quality factor, the electrical quality factor and the quality factor of the vibrator.

[0023] It can be understood that the above determination of the peak points of at least three cycles is conducive to improving the accuracy of determining the above quality factor and electromechanical coupling coefficient.

[0024] In a possible implementation of the first aspect, obtaining the driving frequency includes: based on the driving voltage signals at both ends of the vibrator, performing Fourier transform on the driving voltage signal to obtain a spectrum curve; determining one or more peak points in the spectrum curve, and using the values ​​of the one or more peak points as the driving frequency. In a possible implementation of the first aspect, obtaining the driving frequency includes: determining the maximum value of the spectrum peak of the spectrum curve by a preset maximum value function, determining the first frequency component and the second frequency component corresponding to the maximum value of the spectrum peak decreasing by a preset amplitude; and determining the driving frequency according to the first frequency component and the second frequency component.

[0025] This is conducive to solving the problem that the above-mentioned relatively close multi-frequency driving voltage signals are difficult to distinguish, and by solving the equivalent value of the frequency as the characteristic value, the problem of inaccurate signal frequency estimation caused by spectral peak search of the spectrum is avoided, and the rationality of vibration parameter calculation in the frequency deviation scenario is ensured, thereby equivalently ensuring the accuracy of the input voltage solved during the consistency calibration process.

[0026] In a possible implementation of the first aspect, determining the driving frequency according to the first frequency component and the second frequency component includes: integrating the first frequency component and the second frequency component to determine an equivalent value of the frequency; and determining the equivalent value of the frequency as the driving frequency.

[0027] In a possible implementation of the first aspect above, the preset amplitude includes 3 dB.

[0028] In a possible implementation of the first aspect above, a voltage calibration coefficient for a first driving voltage corresponding to the driving frequency is determined based on a comparison result between a vibration parameter corresponding to the driving frequency and a preset vibration parameter, including: determining a ratio between a preset vibration parameter corresponding to the driving frequency and a vibration parameter corresponding to the driving frequency; and determining the ratio as a voltage calibration coefficient corresponding to the driving frequency.

[0029] In a possible implementation of the first aspect above, the voltage calibration coefficient includes any one of the following: corresponding to the vibration parameter being acceleration, the voltage calibration coefficient is the ratio between a preset acceleration corresponding to the driving frequency and the acceleration corresponding to the driving frequency; corresponding to the vibration parameter being velocity, the voltage calibration coefficient is the ratio between a preset velocity corresponding to the driving frequency and the velocity corresponding to the driving frequency; corresponding to the vibration parameter being displacement, the voltage calibration coefficient is the ratio between a preset displacement corresponding to the driving frequency and the displacement corresponding to the driving frequency.

[0030] In a possible implementation of the first aspect above, the vibrator is driven to vibrate using a second drive voltage determined based on a voltage calibration coefficient and a first drive voltage, including: corresponding to a vibration parameter being any one of acceleration, velocity, and displacement, the product of the voltage calibration coefficient and the first drive voltage is determined as a second drive voltage, and the vibrator is driven to vibrate using the second drive voltage; corresponding to a vibration parameter being a combination of multiple items of acceleration, velocity, and displacement, the sum of the products of the voltage calibration coefficients and the first drive voltage is used as the second drive voltage, and the vibrator is driven to vibrate using the second drive voltage.

[0031] In the second aspect, the present application provides a driving voltage calibration device, which includes a detection module, a data processing module, a voltage calibration module and a driving module, wherein the detection module is used to obtain the residual vibration parameters and driving frequency of the vibrator, wherein the residual vibration parameters include quality factor, electromechanical coupling coefficient and resonant frequency; the data processing module is used to determine the vibration parameters corresponding to the driving frequency based on the calculation relationship between the residual vibration parameters, the driving frequency and the vibration parameters; the voltage calibration module is used to determine the voltage calibration coefficient of the first driving voltage corresponding to the driving frequency according to the comparison result between the vibration parameters corresponding to the driving frequency and the preset vibration parameters; the driving module is used to drive the vibrator to vibrate using a second driving voltage determined according to the voltage calibration coefficient and the first driving voltage.

[0032] In a third aspect, the present application provides an electronic device, comprising: a memory for storing instructions executed by one or more processors of the electronic device; and a processor, which is one of the processors of the electronic device, for executing the drive voltage calibration method provided in the above-mentioned first aspect and various possible implementations of the first aspect.

[0033] In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored thereon, which, when executed on a computer, causes the computer to execute the drive voltage calibration method provided in the first aspect and various possible implementations of the first aspect.

[0034] In a fifth aspect, the present application provides a computer program product, including a computer program and / or instructions. When the computer program and / or instructions are executed on a computer, the computer executes the driving voltage calibration method provided in the above-mentioned first aspect and various possible implementations of the first aspect.

[0035] The beneficial effects of the second to fifth aspects mentioned above can be referred to the relevant descriptions in the first aspect mentioned above and various possible implementations of the first aspect, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1The application scenarios of the driving voltage calibration method provided according to some embodiments of the present application are shown;

[0037] Figure 2 According to some embodiments of the present application, a schematic diagram of an implementation process of a driving voltage calibration method is shown;

[0038] Figure 3 According to an embodiment of the present application, a schematic diagram of a specific implementation method for obtaining impedance parameters and residual vibration parameters is shown;

[0039] Figure 4A According to some embodiments of the present application, a schematic diagram of a process for obtaining the resonance frequency of a vibrator is shown;

[0040] Figure 4B According to some embodiments of the present application, a schematic diagram of a waveform of a vibrator aftershock back electromotive force is shown;

[0041] Figure 5A According to some embodiments of the present application, a time domain schematic diagram of a single-frequency sinusoidal driving voltage signal is shown;

[0042] Figure 5B According to some embodiments of the present application, a frequency domain schematic diagram of a single-frequency sinusoidal driving voltage signal is shown;

[0043] Fig. 6A According to some embodiments of the present application, a time domain schematic diagram of a multi-frequency driving voltage signal is shown;

[0044] Figure 6B According to some embodiments of the present application, a frequency domain schematic diagram of a multi-frequency driving voltage signal is shown;

[0045] Fig. 7A According to some embodiments of the present application, another time domain schematic diagram of a multi-frequency driving voltage signal is shown;

[0046] Figure 7B According to some embodiments of the present application, another frequency domain schematic diagram of a multi-frequency driving voltage signal is shown;

[0047] Figure 7C According to some embodiments of the present application, a schematic diagram of a framework structure of a driving voltage calibration device is shown;

[0048] Figure 8 According to some embodiments of the present application, a schematic block diagram of the structure of a system on chip is shown. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions provided by the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] Figure 1 The following illustrates the application scenarios of the driving voltage calibration method provided in some embodiments of the present application. Figure 1 As shown, the electronic device 100 is used to generate a calibrated driving voltage to drive the vibration unit 200. The driving voltage is provided to the vibration unit 200 as an input voltage, and the vibration unit 200 generates corresponding vibration according to the driving voltage.

[0051] It can be understood that the electronic device 100 in the embodiment of the present application may include but is not limited to mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), etc. The embodiment of the present application does not impose any specific restrictions on the specific type of the electronic device 100.

[0052] In addition, it is understood that the vibration unit 200 includes a motor unit that can provide a vibration feeling, such as a motor, including a linear motor, a rotor motor, etc., which can be uniformly described as a vibrator in the embodiment of the present application. It is understood that no matter what shape or style the vibration unit 200 is designed to be, as long as it can provide a vibration feeling (which can be referred to as a vibration feeling), the embodiment of the present application does not make any specific restrictions on this.

[0053] For ease of understanding, the following describes a specific implementation of the driving voltage calibration of the vibration unit 200 by taking a vibrator such as a motor as an example.

[0054] It should be understood that in order to avoid excessive hardware costs caused by increasing the sensor voltage calibration coefficient, in other implementations, the driving frequency of the vibrator (hereinafter referred to as the driving frequency) is determined to be a single frequency point, and when the driving frequency is equal to the resonant frequency of the vibrator, the vibration parameters of different vibrators of the same model can be kept consistent.

[0055] However, the frequency of the driving voltage signal is unknown and is not necessarily the resonant frequency of the vibrator. In addition, the frequency component corresponding to the driving voltage signal may include multiple frequencies rather than just a single frequency point, so this method has low reliability.

[0056] Based on the limitations of the above-mentioned method, an embodiment of the present application proposes a driving voltage calibration method, which does not require additional sensors, is not limited by the value of the driving frequency and the number of frequency components, and can make the vibration intensity of different vibrators consistent with the preset vibration parameters of the benchmark under a driving voltage signal of any frequency.

[0057] To solve the above problems, the embodiments of the present application provide a driving voltage calibration method, device, electronic device, computer-readable storage medium and program product, by obtaining the impedance parameters, residual vibration parameters and driving frequency of the vibrator, wherein the residual vibration parameters may include quality factor, electromechanical coupling coefficient and resonant frequency. Based on the above impedance parameters, residual vibration parameters and at least one driving frequency, the vibration parameters of the vibrator under at least one frequency component can be calculated. The vibration parameters may include, for example, one or more of vibration velocity (hereinafter referred to as velocity), vibration acceleration (hereinafter referred to as acceleration) and vibration displacement (hereinafter referred to as displacement), and the difference between the vibration parameters of the vibrator under different frequency components determined thereby and the preset vibration parameters as a reference can be used to calibrate the driving voltage under different frequency components. By driving the above vibrator with the calibrated driving voltage, the consistency of the vibration frequency of the vibrator and the reference vibrator can be ensured, thereby avoiding different vibration senses of different vibrators in the same batch, that is, ensuring the consistency of vibration sense.

[0058] In some embodiments, the impedance parameter may include, for example, the resistance value of a DC resistor, etc., which is not limited here.

[0059] It can be understood that the above-mentioned driving frequency can be determined based on the driving voltage signals on both sides of the vibrator, and the driving voltage signal has a calculation relationship with the driving frequency. In the embodiment of the present application, the above-mentioned driving frequency can be detected by time domain detection or frequency domain detection. The specific detection process of these two methods can refer to the relevant description below, which will not be repeated here. In some embodiments, the above-mentioned driving frequency can be the equivalent value of the spectrum peak in the amplitude spectrum of the driving voltage signal, which is not limited here.

[0060] It can be understood that there is a functional relationship between the driving frequency corresponding to each vibration parameter of the vibrator, the corresponding acceleration a, velocity v and displacement x, and the resonant frequency, electromechanical coupling coefficient and quality factor of the vibrator as shown in the following example:

[0061] Acc_f d =a(f r ,R,BL,Qts)

[0062] Veláf d =v(f r ,f d ,R,BL,Qts)

[0063]

[0064] Where f0 is the resonant frequency of the vibrator, f d is the equivalent value of the vibrator's driving frequency, also known as the equivalent frequency, Acc_f d Vel_f is the equivalent frequency required for acceleration consistency.d is the equivalent frequency required for speed consistency, Dis_f d is the equivalent frequency required for displacement consistency; R is the DC resistance of the vibrator, f r =f d / f0 represents the ratio of the equivalent frequency of the vibrator driving signal to the motor resonance frequency, Bl is the electromechanical coupling coefficient of the vibrator, Qts is the quality factor of the vibrator, and |·| represents the modulus operator.

[0065] Furthermore, by determining the comparison result between the vibration parameter of the vibrator and the corresponding preset vibration parameter, such as the ratio, according to the above functional relationships, the voltage calibration coefficient of the current driving voltage of the vibrator (recorded as the first driving voltage) can be determined, which is recorded as k. Based on this, the following example functional relationship can be established between the calibrated driving voltage (recorded as the second driving voltage) and the above first driving voltage:

[0066] u_cal(fd)=k·u

[0067] Among them, u_cal is the value of the driving voltage after calibration, that is, the value of the second driving voltage, u is the input voltage of the vibrator before calibration, that is, the value of the first driving voltage, and k is the voltage calibration coefficient.

[0068] Based on the above functional relationship, the calculation formula for each vibration parameter can be determined in combination with the specific residual vibration parameters and the driving frequency, and then the voltage calibration coefficient can be determined and the driving voltage can be calibrated.

[0069] Specifically, according to the driving voltage u on both sides of the vibrator, the vibrator mass m, the damping coefficient c, the voltage calibration coefficient k, the resistance value R of the DC resistor, the inductance value L, and the electromechanical coupling coefficient Bl, the acceleration a, velocity v and displacement x corresponding to the vibration of the vibrator under the above-mentioned driving voltage signal u can be determined.

[0070] For example, the calculation relationship between the above parameters can be the following formula (1):

[0071]

[0072] Among them, u is the driving voltage signal at both ends of the vibrator, and i is the preset current value.

[0073] According to formula (1), the acceleration satisfies the relationship shown in the following formula (2):

[0074]

[0075] Where Qts is the quality factor of the vibrator, w0 is the resonant angular frequency, and w0 = 2πf0, where f0 is the resonant frequency. Since the vibrator masses of different vibrators of the same model are basically the same, the expression of s is U(s) = j2πf d Substituting into formula (2) and further simplifying it, we can get the following formula (3):

[0076]

[0077] Where j is the imaginary unit, f d is the driving frequency, f r is the ratio between the driving frequency of the vibrator and the resonant frequency of the vibrator, that is, f r =f d / f0.

[0078] Therefore, according to formula (3), the acceleration a of the vibrator is mainly related to the DC resistance R of the vibrator, the quality factor Qts, the electromechanical coupling coefficient Bl, the amplitude of the input drive voltage signal u, and the drive frequency f d The ratio f of the resonant frequency f0 of the vibrator r Related.

[0079] Furthermore, according to the calculation relationship between velocity v, acceleration a and displacement x, the expression (4) of velocity changing with driving frequency and the expression (5) of displacement changing with driving frequency can be determined:

[0080]

[0081] According to the above expressions, the vibration speed v and displacement x of the vibrator are mainly related to the DC resistance R, quality factor Qts, electromechanical coupling coefficient Bl, amplitude of input drive voltage signal u and drive frequency f. d The ratio f of the resonant frequency f0 of the vibrator r Related.

[0082] The driving voltage calibration method provided in the embodiment of the present application is described in detail below in conjunction with the relevant drawings.

[0083] Figure 2 According to some embodiments of the present application, a schematic diagram of an implementation flow of a driving voltage calibration method is shown. It can be understood that Figure 2 The execution subject can be the electronic device 100 mentioned above, which will not be described in detail here.

[0084] Figure 2 The specific steps shown are as follows:

[0085] S201, obtaining residual vibration parameters and driving frequency of a vibrator, wherein the residual vibration parameters include a quality factor, an electromechanical coupling coefficient, and a resonance frequency.

[0086] It should be understood that, based on the above formulas (1) to (5), the factors affecting the vibration parameters include: the impedance parameters, residual vibration parameters and driving frequency of the vibrator. Through the above parameters, the electronic device 100 can determine the vibration parameters of the vibrator at different driving frequencies or frequency components, such as displacement, velocity and acceleration, and can use the difference between the above vibration parameters and the preset vibration parameters as a reference to calibrate the vibrator driving voltage at the current driving frequency. Thereby, all vibrators of the same batch can provide the same vibration experience at the driving frequency. In some embodiments, the impedance parameters of the vibrator, such as the resistance value of the DC resistor, can also be obtained.

[0087] S202, determining the vibration parameters corresponding to the driving frequency based on the residual vibration parameters and the calculated relationship between the driving frequency and the vibration parameters, wherein the vibration parameters include one or more of velocity, acceleration and displacement.

[0088] It can be understood that according to the above formulas (1) to (5), the electronic device 100 can determine one or more of the acceleration, velocity and displacement corresponding to the vibration wave at the driving frequency according to the impedance parameter, the residual vibration parameter and the driving frequency, which will not be elaborated here.

[0089] S203: Determine a voltage calibration coefficient for a first driving voltage corresponding to the driving frequency according to a comparison result between the vibration parameter corresponding to the driving frequency and a preset vibration parameter.

[0090] It can be understood that the above-mentioned driving frequency may include different driving frequencies corresponding to one or more driving voltages, and the corresponding driving voltage may be referred to as the first driving voltage before calibration. Furthermore, the electronic device 100 may compare one or more of the acceleration, velocity, and displacement corresponding to the one or more driving voltages with the corresponding preset acceleration, preset velocity, or preset displacement as a reference quantity in the preset vibration parameter, and determine the comparison result (e.g., ratio) between the two. The corresponding voltage calibration coefficient may be determined based on the comparison result between the two, so as to be used for calibrating the driving voltage of the vibrator in the full frequency band (i.e., all driving frequencies).

[0091] S204 , driving the vibrator to vibrate using a second driving voltage determined according to the voltage calibration coefficient and the first driving voltage.

[0092] It can be understood that the electronic device 100 can calibrate the first driving voltage corresponding to the driving frequency according to the voltage calibration coefficient at the driving frequency determined in S203 above to obtain a calibrated driving voltage, i.e., a second driving voltage. Furthermore, the electronic device 100 can drive the vibrator to vibrate using the calibrated second driving voltage, so that the vibrator can generate the same vibration at the driving frequency, ensuring a consistent vibration experience.

[0093] It can be understood that based on the specific implementation process illustrated in S201 to S204 above, the electronic device 100 obtains the vibration parameters of the vibrator at different driving frequencies, and compares the vibration parameters of the vibrator with the preset vibration parameters at the corresponding driving frequency to find the difference, and then the electronic device 100 can effectively calibrate the driving voltage at the corresponding driving frequency. It should be understood that when the above driving frequency is spread over the entire frequency band, the vibration sense of the vibrator in the entire frequency band can be calibrated to be consistent, thereby effectively ensuring the user's vibration sense consistency experience.

[0094] In some embodiments, a vibration parameter may be selected as a calibration target for the voltage calibration coefficient. For example, if the calibration target may be acceleration consistency, the reference value data of the vibration parameter may correspond to a preset acceleration; if the calibration target is speed consistency, the reference value data of the vibration parameter may correspond to a preset speed; if the calibration target is displacement consistency, the reference value data of the vibration parameter may correspond to a preset displacement.

[0095] The following is a detailed introduction to the method of obtaining impedance parameters and residual vibration parameters in conjunction with relevant drawings.

[0096] Figure 3 According to an embodiment of the present application, a schematic diagram of a specific implementation of step S201 above is shown.

[0097] in, Figure 3 The steps include:

[0098] S201a, inputting a preset current or a preset voltage into the vibrator to determine an impedance parameter of the vibrator.

[0099] Exemplarily, the resistance value of the DC resistor may be calculated and determined by applying a preset current or a preset voltage to the vibrator.

[0100] For example, the electronic device 100 can apply a preset constant current to the vibrator, detect the voltage across the vibrator, and obtain the DC resistance of the vibrator by dividing the voltage by a preset current value, wherein the preset current value is small and does not trigger the vibrator to vibrate.

[0101] For another example, a preset constant voltage can be applied to both ends of the vibrator, the current at both ends of the vibrator can be detected, and the DC resistance of the vibrator can be obtained by dividing the preset voltage value by the current. Similarly, the preset voltage value is small and does not trigger the vibrator to vibrate.

[0102] S201b, analyzing the residual vibration waveform of the vibrator at the driving frequency, and determining the quality factor, electromechanical coupling coefficient and resonant frequency of the vibrator.

[0103] Exemplarily, in the vibrator residual vibration signal data at the driving frequency, the quality factor and the electromechanical coupling coefficient can be determined by detecting the residual vibration back electromotive force signal of the vibrator. For example, the vibrator can be driven to vibrate at a preset frequency until the vibrator enters a vibration steady state, that is, the vibration amplitude of the vibrator approaches the same value, and the amplitude change of the vibration waveform is periodic. Therefore, the vibrator residual vibration waveform at the driving frequency can be analyzed to determine the quality factor, electromechanical coupling coefficient and resonant frequency of the vibrator.

[0104] In some other embodiments, the specific implementation of step S201 above may also only include the above step S201b, but not the above step S201a, which is not limited here.

[0105] In some embodiments, it is necessary to drive the vibrator to vibrate for 20 to 30 vibration cycles in order for the vibrator to enter a steady state of vibration. Then, the driving voltage signal to the vibrator is removed, and the voltage across the vibrator is collected. The voltage across the vibrator at this time is the residual vibration back electromotive force signal. Then, the peak value of the first N cycles of the residual vibration back electromotive force signal is taken to obtain multiple peak points P1, P2, ..., PN as the value points of the residual vibration back electromotive force signal. Among them, N is a positive integer and is greater than or equal to 3. Then, the above-mentioned quality factor and electromechanical coupling coefficient are calculated based on the peak point.

[0106] It can be understood that the residual vibration waveform of the vibrator includes the residual vibration back electromotive force waveform, which can be specifically referred to in the following Figure 4A The above and related descriptions will not be repeated here.

[0107] In some embodiments, the preset frequency for driving the vibrator to vibrate to a steady state may be the vibrator resonant frequency f0, or may be set to a frequency deviating from f0, as long as the preset frequency can drive the vibrator to vibrate to a steady state, without specific limitation.

[0108] Exemplarily, the above-mentioned vibrator resonance frequency f0 can also be obtained by time domain detection or frequency domain detection. Specifically, the time domain detection method for the vibrator resonance frequency f0 can be, for example, the zero-crossing method: first find the two zero-crossing moments of the AC signal, that is, two adjacent moments of transition from the negative half-cycle to the positive half-cycle, or two adjacent moments of transition from the positive half-cycle to the negative half-cycle, and calculate the time between the two moments to get the time of one cycle, and then invert the time of a single cycle to get the frequency of one cycle, and average the frequencies of several cycles to get the frequency of the AC signal.

[0109] For the frequency domain detection method of the vibrator resonance frequency f0, for example, the signal can be Fourier transformed (FFT transformed), the number of signal frequencies can be determined by searching the peak of the amplitude spectrum of the signal, and then the frequency corresponding to each spectrum peak can be estimated to further determine the specific frequency value of each signal. For another example, the signal can be Fourier transformed to obtain the amplitude spectrum of the signal, the peak of the amplitude spectrum can be searched to obtain the peak point and the corresponding frequency, and then the equivalent value of the frequency can be determined by integrating the signal range where the peak point drops by a preset amplitude threshold.

[0110] The following takes the zero-crossing method as an example and describes in detail the specific implementation process of detecting the resonant frequency of the vibrator in S201 above in conjunction with the relevant drawings.

[0111] Figure 4A According to some embodiments of the present application, a schematic diagram of a process for obtaining the resonant frequency of a vibrator is shown.

[0112] Understandably, Figure 4A The execution subject can be the electronic device 100 mentioned above, which will not be described in detail here.

[0113] Figure 4A The implementation process steps shown include:

[0114] S401, detecting that the vibrator enters a vibration steady state and stops inputting a driving voltage signal, thereby obtaining a residual vibration back electromotive force waveform.

[0115] Exemplarily, the vibration steady state may be a state in which the vibration waveform of the vibrator approaches a state in which the peak amplitudes under multiple vibration cycles are equal.

[0116] As an example, Figure 4B According to some embodiments of the present application, a schematic diagram of a waveform of a vibrator aftershock back electromotive force is shown. Figure 4B , the vertical axis is the amplitude of the back electromotive force waveform, and the horizontal axis is the back electromotive force waveform detection time. Figure 4BIn the Y1 time period shown, if the peak absolute value of the residual vibration back electromotive force curve remains consistent, it can be determined that the vibrator enters a vibration steady state, and the amplitude change of the vibration waveform presents a periodic change.

[0117] Then, the electronic device 100 may stop inputting the driving voltage signal to the vibrator, and the vibrator will continue to vibrate due to the inertial movement of the internal spring structure. This vibration is the residual vibration movement, or residual vibration for short, from which a residual vibration waveform can be obtained.

[0118] In some embodiments, the aftershock waveform includes a aftershock back electromotive force waveform. Figure 4B During the Y2 time period shown, the amplitude of the residual vibration will gradually decrease. The electronic device 100 can collect the voltage across the vibrator during the residual vibration (ie, the residual vibration back electromotive force signal) to obtain the residual vibration back electromotive force waveform.

[0119] S402, determining (N-1) zero-crossing time periods according to the first N zero-crossing moments of the residual oscillation back electromotive force waveform, where N is greater than or equal to 2.

[0120] It can be understood that the zero-crossing moment is the moment when two adjacent cycles switch from the negative half cycle to the positive half cycle, or the moment when two adjacent cycles switch from the positive half cycle to the negative half cycle. Figure 4B T1, T2, T3 and T4 in.

[0121] Thus, by analyzing the first N zero-crossing moments of the residual vibration back electromotive force waveform, the period of the residual vibration back electromotive force can be determined, and the residual vibration frequency can be determined according to the residual vibration period, and the residual vibration frequency is the resonant frequency of the vibrator. Exemplarily, the electronic device 100 can determine (N-1) zero-crossing time periods according to the first N zero-crossing moments of the residual vibration back electromotive force waveform and the difference between two adjacent zero-crossing moments, for example Figure 4B In the shown T1-T2, T2-T3 and T3-T4, each zero-crossing time period corresponds to a vibration cycle of the residual vibration back electromotive force waveform.

[0122] In some embodiments, the N mentioned above may be less than or equal to 5 to avoid measurement signal errors of residual back electromotive force.

[0123] S403, determining an average zero-crossing time period corresponding to the (N-1) zero-crossing time periods.

[0124] It should be understood that by determining the average zero-crossing time period of (N-1) zero-crossing time periods, the inaccurate zero-crossing time detection caused by noise interference can be avoided. Figure 4B The average zero-crossing time period can be determined by adding up the three time periods T1-T2, T2-T3 and T3-T4 and dividing by 3.

[0125] S404, calculating the reciprocal of the average zero-crossing time period, and determining the calculation result of the reciprocal as the resonant frequency of the vibrator.

[0126] It should be understood that the reciprocal of the period length of the residual back electromotive force is the resonant frequency of the vibrator. Therefore, the electronic device 100 can determine the resonant frequency of the vibrator by calculating the reciprocal of the average zero-crossing time period.

[0127] It can be understood that through the above steps S401 to S404, the electronic device 100 determines the waveform period of the residual vibration back electromotive force of the vibrator by obtaining the N zero-crossing moments before the residual vibration back electromotive force, and then obtains the resonant frequency of the vibrator by taking the inverse of the waveform period of the residual vibration back electromotive force. By selecting multiple zero-crossing moments to calculate the average value, the problem of inaccurate zero-crossing point detection caused by noise interference can be avoided.

[0128] In some embodiments, the quality factor and the electromechanical coupling coefficient can also be determined based on the peak value of the residual vibration back electromotive force. In order to improve the accuracy of determining the above quality factor and electromechanical coupling coefficient, it can be calculated and determined based on the peak points of at least 3 cycles in the residual vibration back electromotive force waveform in combination with the formulas exemplified below.

[0129] The following is the peak point of the first three cycles of the residual vibration back electromotive force waveform, for example Figure 4B Taking P1, P2 and P3 shown in the figure as examples, the specific implementation process of determining the resonant frequency of the vibrator provided in the embodiment of the present application is described in detail.

[0130] It can be understood that the present application does not specifically limit the number of peak points and valley points of the residual vibration.

[0131] In some embodiments, the peak value of the residual back electromotive force waveform of the vibrator satisfies the following formula (6):

[0132]

[0133] Where n is a positive integer, A is a constant coefficient, is the phase, cos is the cosine function, w n is the frequency of the undamped system, w d is the frequency of the damped system, and the relationship between the two satisfies Among them, ζ is the damping parameter.

[0134] by Figure 4B Taking the residual vibration back electromotive force peak values ​​P1, P2 and P3 as an example, the calculation method of the ratio of multiple peak values ​​of the back electromotive force (referred to as peak ratio) can refer to the following formula (7):

[0135]

[0136] Combining formulas (6) and (7), it can be seen that the relationship between the peak ratios R1, R2 and the damping ratio τ can satisfy the following formula (8):

[0137]

[0138] Where ln() is a natural logarithm operator, and the above formula (8) can be further converted into the following formula (9):

[0139] H×τ=y (9)

[0140] in, The above formula (9) can be solved based on the least squares method to obtain formula (10):

[0141] τ=(H T H) -1 H T y (10)

[0142] In some embodiments, the relationship between the damping ratio τ and the mechanical quality factor Qms can be referred to the following formula (11):

[0143]

[0144] Qms reflects the resonance ability of the vibrator in the mechanical structure at the resonant frequency f0. The lower the value, the stronger the damping.

[0145] It can be understood that based on the peak points of the first three cycles of the residual vibration back electromotive force waveform combined with the above formulas (6) to (11), the damping ratio τ and the mechanical quality factor Qms of the vibrator can be calculated and determined.

[0146] Since the vibration of the vibrator mainly involves the conversion of kinetic energy and elastic potential energy, the peak value of the residual back electromotive force can be used to obtain the electromechanical coupling coefficient Bl when the vibrator enters the vibration steady state according to the law of conservation of energy. It can be understood that the electromechanical coupling coefficient Bl can be related to the resistance value R of the DC resistor, the resonant frequency f0, the damping ratio τ and the damping parameter ζ, which will not be elaborated here.

[0147] The electrical quality factor Qes can reflect the resonance ability of the vibrator under electromagnetic control at the resonance frequency f0. The lower the value, the stronger the damping and the lower the resonance ability. Based on the relationship between the electrical quality factor Qes and the electromechanical coupling coefficient Bl, combined with the relationship between the damping ratio τ and the mechanical quality factor Qms in the above formula (11), the electromechanical coupling coefficient Bl and the electrical quality factor Qes can also be determined.

[0148] In some embodiments, the quality factor Qts is formed by coupling the electrical quality factor Qes and the mechanical quality factor Qms in parallel, and the specific relationship satisfies the following formula (12):

[0149]

[0150] It can be understood that by using the aftershock peak value and combining formula (11) and formula (12), the electronic device 100 can obtain the mechanical quality factor and electromechanical coupling coefficient of the vibrator, and then use the electromechanical coupling coefficient to obtain the electrical quality factor of the vibrator. Substituting Qes and Qms into formula (12) can obtain the quality factor Qts of the vibrator.

[0151] It can be understood that the quality factor of the vibrator is obtained based on the calculation relationship between the electromechanical coupling coefficient Bl, the electrical quality factor Qes and the quality factor Qts of the vibrator determined based on the above formula (12).

[0152] It should be understood that the quality factor of the vibrator represents the damping property of the vibrator, and can also be expressed as the size of the resonant frequency of the vibrator relative to the bandwidth. Therefore, in some embodiments, the electronic device 100 can also obtain the quality factor according to the sweep frequency curve. For example, the resonant frequency of the vibrator can be determined according to the maximum amplitude point of the vibration amount in the sweep frequency curve, and then the two frequency values ​​f corresponding to the vibration amount dropping by 3dB are found. H and f L , according to f H and f L The bandwidth is determined by the difference between . Further, the quality factor Qts can refer to formula (13):

[0153]

[0154] It should be understood that since the vibration parameters of the vibrator are related to the driving frequency, when the vibrator is driven at the resonant frequency, the energy conversion efficiency is the highest and the vibrator kinetic energy is the largest. Therefore, the frequency of the driving voltage signal needs to be known before analyzing the residual vibration of the vibrator. Since the vibrator has only one resonant frequency, each driving voltage signal can correspond to a driving frequency or frequency component.

[0155] The following takes the case where the input voltage is a single-frequency driving voltage signal as an example to describe in detail the method for obtaining the driving frequency.

[0156] First, the implementation method of obtaining the driving frequency using the time domain method is introduced.

[0157] Figure 5A According to some embodiments of the present application, a time domain schematic diagram of a single-frequency sinusoidal driving voltage signal is shown.

[0158] refer to Figure 5A, the vertical axis is the driving voltage signal at both ends of the vibrator, the unit is volt, and the horizontal axis is the moment. For this type of signal, the frequency of the signal can be determined in the time domain using the zero-crossing method, that is, first find the two zero-crossing moments of the driving voltage signal, that is, the two adjacent moments of transition from the negative half-cycle to the positive half-cycle, or the two adjacent moments of transition from the positive half-cycle to the negative half-cycle. Determine the time period between the two moments, and find the inverse of the time period to get the frequency of one cycle. In some embodiments, to avoid noise interference, the frequencies of multiple cycles can be averaged to obtain the frequency of the input driving voltage signal.

[0159] The following describes in detail the implementation of obtaining the driving frequency using the frequency domain method in conjunction with the relevant drawings.

[0160] Figure 5B According to some embodiments of the present application, a frequency domain schematic diagram of a single-frequency sinusoidal driving voltage signal is shown. It can be understood that Figure 5B for Figure 5A The frequency spectrum curve diagram of the driving voltage signal obtained after Fourier transformation is shown. The frequency of the input driving voltage signal can be determined according to the frequency corresponding to the maximum amplitude point in the frequency domain. The ordinate is the amplitude and the abscissa is the frequency in Hertz (Hz).

[0161] Based on the above Figure 5A The frequency spectrum curve shown can determine the value of one or more peak points in the frequency spectrum curve as the driving frequency.

[0162] Moreover, according to the above-mentioned related parameters, the vibration amount of any vibrator at a certain driving frequency can be determined. In the specific implementation process, a set of vibration amount parameters can be preset in advance as the consistency reference value. It can be understood that after the set of parameters is determined, the vibration amounts of different vibrator monomers of the same model are consistent with the reference value after the algorithm adjustment. The reference value can be set as the vibration parameter of a physical vibrator at different frequencies, or a set of corresponding vibration parameters at different frequencies can be directly set as the reference value according to application requirements. The reference value of this set of vibration parameters can be stored in the driver for call.

[0163] This can be achieved by adjusting the input voltage according to the difference between the preset vibration parameters of the benchmark and the vibration parameters of the vibrator unit at different driving frequencies. For example, taking acceleration as the calibration target, the driving frequency is f1, the acceleration reference value (i.e., the preset acceleration) corresponding to f1 is a_standard(f1), and the acceleration of the vibrator unit at the frequency of f1 is calculated according to the above formula (3) and marked as a_sample(f1). Then, the input voltage of the vibrator after adjustment will refer to the following formula (14):

[0164]

[0165] Where, u_cal(f1) is the input voltage of the vibrator after calibration at the driving frequency, is the voltage calibration coefficient, and u is the input voltage of the vibrator before calibration.

[0166] It can be understood that for other driving frequencies, it is only necessary to modify the driving frequency, and the electronic device 100 determines the acceleration of the vibrator at the driving frequency and the reference value of the acceleration at the driving frequency to obtain the calibrated vibrator input voltage, thereby ensuring the full-band vibration acceleration consistency of the vibrator. Similarly, for speed consistency, the speed of the vibrator unit is calculated using formula (4), and then all the corresponding accelerations in formula (14) are replaced with speeds to achieve speed consistency in scenarios that deviate from the f0 frequency. For displacement consistency, it is only necessary to use formula (5) to calculate the displacement of the vibrator unit, and then all the corresponding accelerations in formula (14) are replaced with displacements to achieve displacement consistency in scenarios that deviate from the f0 frequency.

[0167] In other embodiments, the driving voltage signal may be a multi-frequency component, such as a dual-frequency point or a multi-frequency point. The following takes the input voltage as a multi-frequency driving voltage signal as an example to describe in detail the method for obtaining the driving frequency.

[0168] Fig. 6A According to some embodiments of the present application, a time domain schematic diagram of a multi-frequency driving voltage signal is shown, wherein the ordinate is the driving voltage signal at both ends of the vibrator in volts, and the abscissa is time.

[0169] refer to Fig. 6A , the driving voltage signal is a sine wave superimposed by 170Hz and 182Hz. For the driving voltage signal with multiple frequency points, the driving voltage signal can be Fourier transformed, and then the driving frequency corresponding to the peak value in the spectrum curve is obtained. The number of spectrum peaks indicates the number of frequency signals of the driving voltage signal.

[0170] Figure 6B According to some embodiments of the present application, a frequency domain schematic diagram of a multi-frequency driving voltage signal is shown, wherein the ordinate is the amplitude and the abscissa is the frequency in Hertz (Hz).

[0171] like Figure 6B As shown, the frequencies of the signals can be distinguished as 170 Hz and 182 Hz based on their frequencies.

[0172] Then, the steady-state value of the vibration quantity corresponding to different driving frequencies can be obtained by formula (3) to formula (5). Next, referring to the specific implementation process of the single-frequency driving frequency mentioned above, the ratio between the preset vibration parameters used as the reference at each driving frequency and the vibration parameters at the corresponding driving frequency is calculated to obtain the voltage calibration coefficient at the corresponding driving frequency.

[0173] Take the dual-frequency driving voltage signal and acceleration as an example for calibration. Assuming that the frequencies of the driving voltage signal are f1 and f2, according to formula (4), the acceleration of the vibrator monomer at the frequency point f1 is a_sample(f1), and the acceleration of the vibrator monomer at the frequency point f2 is a_sample(f2). The following formula (15) can be obtained to determine the input voltage of the adjusted vibrator:

[0174]

[0175] However, sometimes, when multiple frequencies of the driving voltage signal are relatively close, it may also result in only one spectrum peak appearing in the spectrum after the FFT operation.

[0176] Fig. 7A According to some embodiments of the present application, another time domain schematic diagram of a multi-frequency driving voltage signal is shown, wherein the ordinate is the driving voltage signal at both ends of the vibrator in volts, and the abscissa is time.

[0177] like Fig. 7A As shown in the figure, the frequency of the driving voltage signal is 170Hz and 176Hz. Therefore, using the maximum value of the spectrum to determine the frequency of the driving voltage signal may only result in one spectrum peak, resulting in the misjudgment of the dual frequency as a single frequency. Although the frequency resolution can be improved by appropriately increasing the number of FFT points, too large a number of FFT points will increase the amount of additional calculations and cause the spectrum to appear as follows Figure 7B The distortion shown.

[0178] As an example, Figure 7B According to some embodiments of the present application, another frequency domain schematic diagram of a multi-frequency driving voltage signal is shown, wherein the ordinate is the amplitude and the abscissa is the frequency in Hertz (Hz). Among them, K1 and K2 are the distortions that appear, and at K1 and K2 and at the top of each spectrum peak, there is an amplitude that gradually expands in the horizontal direction, and this type of distortion means that the frequency error in the spectrum diagram is large.

[0179] In order to solve the problem that the multi-frequency driving voltage signals that are close to each other are difficult to distinguish, in the embodiment of the present application, the electronic device 100 can determine the maximum value of the spectrum peak of the spectrum curve through a preset maximum value function, and determine the first frequency component and the second frequency component corresponding to the preset amplitude drop of the maximum value of the spectrum peak. Then, by integrating the first frequency component and the second frequency component, the equivalent value of the frequency (also referred to as the equivalent frequency) is determined, and the equivalent value of the frequency is used to replace the value of the driving frequency in the above text.

[0180] Specifically, the spectrum maximum value is searched by obtaining the equivalent value of the frequency instead of the driving frequency value. For two relatively close frequency points, the spectrum peak maximum value and the corresponding driving frequency f′0 can be found by the maximum value function first, and then the two driving frequencies f corresponding to the spectrum peak maximum value dropping by 3dB (an example of the preset amplitude) can be determined. l ′ and f′ h , by integrating , the equivalent value of the frequency can be determined. Thus, the following formula (16) can be obtained:

[0181]

[0182] Among them, Amp(f) is the amplitude value corresponding to different frequency points in the FFT spectrum. It can be understood that based on the above expression, the equivalent value f of two similar frequencies can be calculated. rms , and then substitute into formula (3) to formula (5) to obtain the steady-state values ​​of velocity, acceleration and displacement at the equivalent frequency, and the following formulas (17-1) to (17-3) can be obtained to characterize the steady-state values ​​of velocity, acceleration and displacement at the equivalent frequency:

[0183]

[0184] Among them, f′ r is the driving frequency of the vibrator (i.e. the equivalent value of the above frequency f rms ) to the resonant frequency (f0), i.e. f′ r =f rms / f0, further find the reference value of the vibration parameter at the equivalent frequency, and then refer to the formula (14) above to obtain the calibrated input voltage value.

[0185] It can be understood that by solving the equivalent value of the frequency as the eigenvalue, the problem of inaccurate signal frequency estimation caused by spectral peak search of the spectrum is avoided, and the rationality of vibration parameter calculation in the frequency deviation scenario is guaranteed, thereby equivalently ensuring the accuracy of the input voltage solved during the consistency calibration process.

[0186] Figure 7C According to some embodiments of the present application, a schematic diagram of a framework structure of a driving voltage calibration device 700 is shown, wherein the device 700 includes a detection module 701 , a data processing module 702 , a voltage calibration module 703 and a driving module 704 .

[0187] The detection module 701 can be used to execute step S201 above to obtain the residual vibration parameters and driving frequency of the vibrator, wherein the residual vibration parameters may include quality factor, electromechanical coupling coefficient and resonant frequency. In some embodiments, the detection module 701 can also obtain the impedance parameters of the vibrator, such as the resistance value of the DC resistor.

[0188] The data processing module 702 can be used to execute step S202 above, and determine the vibration parameters under the driving frequency based on the impedance parameters, the residual vibration parameters and the calculated relationship between the driving frequency and the vibration parameters, wherein the vibration parameters may include velocity and acceleration.

[0189] The voltage calibration module 703 can be used to execute the above step S203, update the driving voltage at the driving frequency according to the vibration parameters at the driving frequency and the preset vibration parameters corresponding to the driving frequency, and obtain the voltage calibration coefficient at the driving frequency.

[0190] The driving module 704 can be used to execute the above step S204, and drive the vibrator to vibrate using the voltage calibration coefficient at the driving frequency.

[0191] For the sake of simplicity, the specific execution process of the driving voltage calibration device 700 can refer to the above Figure 2 The specific implementation process of the exemplary steps S201 to S204 is not described in detail here.

[0192] Figure 8 According to some embodiments of the present application, a block diagram of a system on chip (SoC) is shown. It can be understood that in Figure 8 In the embodiment of the present invention, similar components have the same reference numerals. In addition, the dashed boxes are optional features of more advanced SoCs.

[0193] like Figure 8 As shown, SoC 1500 includes: an interconnect unit 1550, which is coupled to an application processor 1515; a system agent unit 1570; a bus controller unit 1580; an integrated memory controller unit 1540; a group or one or more coprocessors 1520, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 1530; and a direct memory access (DMA) unit 1560. In one embodiment, the coprocessor 1520 includes a special-purpose processor, such as, for example, a network or communication processor, a compression engine, a GPGPU, a high-throughput MIC processor, or an embedded processor.

[0194] An embodiment of the present application also provides an electronic device 100, which includes a memory for storing instructions executed by one or more processors of the electronic device, and a processor, which is one of the processors of the electronic device, for implementing the driving voltage calibration method executed in any one of the above embodiments.

[0195] It can be understood that the processor of the electronic device 100 can be the SoC 1500 mentioned above.

[0196] According to the driving voltage calibration method provided in the embodiments of the present application, the present application also provides a computer-readable medium, which stores a program code. When the program code is run on a computer, the computer implements the steps of the driving voltage calibration method performed in any one of the above embodiments.

[0197] According to the driving voltage calibration method provided in the embodiments of the present application, the present application also provides a computer program product, which includes: computer program code and / or instructions. When the computer program code and / or instructions are executed on a computer, the computer implements the steps performed in any one of the above embodiments.

[0198] The various embodiments of the mechanism disclosed in the present application can be implemented in hardware, software, firmware or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program or program code executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device and at least one output device.

[0199] Program code may be applied to input instructions to perform the functions described herein and to generate output information. The output information may be applied to one or more output devices in a known manner. For purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0200] Program code can be implemented with high-level programming language or object-oriented programming language to communicate with the processing system. When necessary, program code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0201] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, instructions may be distributed over a network or through other computer-readable media. Therefore, a machine-readable medium may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, including, but not limited to, a floppy disk, an optical disk, an optical disk, a magneto-optical disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic card or an optical card, a flash memory, or a tangible machine-readable memory for transmitting information (e.g., a carrier wave, an infrared signal, a digital signal, etc.) using the Internet in an electrical, optical, acoustic, or other form of propagation signal. Accordingly, machine-readable media include any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a form readable by a machine (eg, a computer).

[0202] In the accompanying drawings, some structural or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. Instead, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a particular figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0203] It should be noted that the units / modules mentioned in the various device embodiments of the present application are all logical units / modules. Physically, a logical unit / module can be a physical unit / module, or a part of a physical unit / module, or can be implemented as a combination of multiple physical units / modules. The physical implementation method of these logical units / modules themselves is not the most important. The combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed by the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned device embodiments of the present application do not introduce units / modules that are not closely related to solving the technical problems proposed by the present application, which does not mean that there are no other units / modules in the above-mentioned device embodiments.

[0204] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the above elements.

[0205] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

Claims

1. A driving voltage calibration method, applied to an electronic device including a vibrator, characterized in that: The method comprises: Obtaining residual vibration parameters and driving frequency of the vibrator, wherein the residual vibration parameters include quality factor, electromechanical coupling coefficient and resonance frequency; Determining the vibration parameter corresponding to the driving frequency based on the calculation relationship between the residual vibration parameter, the driving frequency and the vibration parameter; Determining a voltage calibration coefficient for a first driving voltage corresponding to the driving frequency according to a comparison result between the vibration parameter corresponding to the driving frequency and a preset vibration parameter; The vibrator is driven to vibrate using a second driving voltage determined according to the voltage calibration coefficient and the first driving voltage.

2. The method according to claim 1, characterized in that: The vibration parameters include one or more of acceleration, velocity and displacement, and, The step of determining the vibration parameter corresponding to the driving frequency based on the calculation relationship between the residual vibration parameter, the driving frequency and the vibration parameter comprises: Based on the calculation relationship between the residual vibration parameter, the driving frequency and the vibration parameter, one or more of the acceleration, velocity and displacement corresponding to the driving frequency are determined.

3. The method according to claim 2, characterized in that The calculation relationship between the residual vibration parameter, the driving frequency and the vibration parameter includes one or more of the following items: The calculation relationship between the acceleration corresponding to the driving frequency, the residual vibration parameter and the driving frequency is: The calculation relationship between the speed corresponding to the driving frequency, the residual vibration parameter, and the driving frequency is: The calculation relationship between the displacement corresponding to the driving frequency, the residual vibration parameter, and the driving frequency is: Where j is the imaginary unit, f d is the driving frequency, f0 is the resonant frequency, and f r is the ratio between the driving frequency and the resonant frequency, i.e., f r =f d / f0, Qts is the quality factor, Bl is the electromechanical coupling coefficient, R is the resistance of the DC resistor, L is the inductance, U(s)=j2πf d .

4. The method according to any one of claims 1 to 3, characterized in that The obtaining of residual vibration parameters of the vibrator includes: The residual vibration waveform of the vibrator at the driving frequency is analyzed to obtain the quality factor, electromechanical coupling coefficient and resonant frequency of the vibrator.

5. The method according to claim 4, characterized in that The aftershock waveform includes a aftershock back electromotive force waveform, and, The analyzing the residual vibration waveform of the vibrator at the driving frequency to obtain the resonant frequency of the vibrator includes: Detecting that the vibrator enters a vibration steady state and stops inputting a driving voltage signal, and obtaining a residual vibration back electromotive force waveform; Determine (N-1) zero-crossing time periods according to the first N zero-crossing moments of the residual back electromotive force waveform, where N is greater than or equal to 2; Determine an average zero-crossing time period corresponding to the (N-1) zero-crossing time periods; An inverse is calculated for the average zero-crossing time period, and a calculation result of the inverse is determined as a resonance frequency of the vibrator.

6. The method according to claim 5, characterized in that N is less than or equal to 5.

7. The method according to claim 4, characterized in that The analyzing the residual vibration waveform of the vibrator at the driving frequency to obtain the quality factor and electromechanical coupling coefficient of the vibrator includes: Analyze the residual vibration waveform of the vibrator at the driving frequency to determine the peak points of at least three cycles; Determining a damping ratio and a mechanical quality factor of the vibrator according to the peak points of the at least three cycles; Determining an electromechanical coupling coefficient and an electrical quality factor according to the determined damping ratio and the mechanical quality factor; The quality factor of the vibrator is determined according to a calculated relationship among the mechanical quality factor, the electrical quality factor and the quality factor of the vibrator.

8. The method according to any one of claims 1 to 3, characterized in that The obtaining of the driving frequency comprises: Based on the driving voltage signal at both ends of the vibrator, performing Fourier transform on the driving voltage signal to obtain a frequency spectrum curve; One or more peak points in the frequency spectrum curve are determined, and the values ​​of the one or more peak points are used as the driving frequency.

9. The method according to claim 8, characterized in that The obtaining of the driving frequency comprises: Determine the maximum value of the spectrum peak of the spectrum curve by a preset maximum value function, and determine the first frequency component and the second frequency component corresponding to the maximum value of the spectrum peak after the maximum value of the spectrum peak drops by a preset amplitude; The driving frequency is determined according to the first frequency component and the second frequency component.

10. The method according to claim 9, characterized in that The determining the driving frequency according to the first frequency component and the second frequency component comprises: Integrating the first frequency component and the second frequency component to determine an equivalent value of frequency; An equivalent value of the frequency is determined as the driving frequency.

11. The method according to claim 9, characterized in that The preset amplitude includes 3dB.

12. The method according to any one of claims 1 to 11, characterized in that The step of determining a voltage calibration coefficient for a first driving voltage corresponding to the driving frequency according to a comparison result between the vibration parameter corresponding to the driving frequency and a preset vibration parameter comprises: Determining a ratio between a preset vibration parameter corresponding to the driving frequency and a vibration parameter corresponding to the driving frequency; The ratio is determined as a voltage calibration coefficient corresponding to the driving frequency.

13. The method according to claim 12, characterized in that The voltage calibration coefficient includes any one of the following: Corresponding to the vibration parameter being acceleration, the voltage calibration coefficient is a ratio between a preset acceleration corresponding to the driving frequency and the acceleration corresponding to the driving frequency; Corresponding to the vibration parameter being speed, the voltage calibration coefficient is a ratio between a preset speed corresponding to the driving frequency and a speed corresponding to the driving frequency; Corresponding to the vibration parameter being displacement, the voltage calibration coefficient is a ratio between a preset displacement corresponding to the driving frequency and a displacement corresponding to the driving frequency.

14. The method according to claim 13, characterized in that The step of driving the vibrator to vibrate by using a second driving voltage determined according to the voltage calibration coefficient and the first driving voltage comprises: Corresponding to the vibration parameter being any one of acceleration, velocity and displacement, determining the product of the voltage calibration coefficient and the first driving voltage as the second driving voltage, and driving the vibrator to vibrate using the second driving voltage; Corresponding to the vibration parameter being a combination of multiple items of acceleration, velocity and displacement, the sum of the products of the voltage calibration coefficients and the first driving voltage is used as the second driving voltage, and the vibrator is driven to vibrate using the second driving voltage.

15. A driving voltage calibration device, characterized in that: The device comprises a detection module, a data processing module, a voltage calibration module and a driving module, wherein: The detection module is used to obtain residual vibration parameters and driving frequency of the vibrator, wherein the residual vibration parameters include quality factor, electromechanical coupling coefficient and resonance frequency; The data processing module is used to determine the vibration parameter corresponding to the driving frequency based on the calculation relationship between the residual vibration parameter, the driving frequency and the vibration parameter; The voltage calibration module is used to determine a voltage calibration coefficient for the first driving voltage corresponding to the driving frequency according to a comparison result between the vibration parameter corresponding to the driving frequency and a preset vibration parameter; The driving module is used to drive the vibrator to vibrate using a second driving voltage determined according to the voltage calibration coefficient and the first driving voltage.

16. An electronic device, characterized in that: include: a memory for storing instructions to be executed by one or more processors of the electronic device; as well as, The processor is one of the processors of the electronic device, and is used to execute the driving voltage calibration method according to any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the driving voltage calibration method according to any one of claims 1 to 14.

18. A computer program product, characterized in that The method comprises a computer program and / or instructions, which, when executed on a computer, enable the computer to execute the driving voltage calibration method according to any one of claims 1 to 14.

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