Motor driving signal adjusting method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a motor driving signal adjusting method and device, electronic equipment and a storage medium. The method comprises the steps of determining a driving signal of a motor corresponding to a current vibration event as a to-be-adjusted signal, obtaining an actual vibration value of the motor corresponding to the current vibration event based on the to-be-adjusted signal, obtaining a vibration adjustment ratio according to the actual vibration value and a given target vibration value, and adjusting the vibration of the motor according to the vibration adjustment ratio. And obtaining a vibration adjustment parameter of the motor, and adjusting the to-be-adjusted signal according to the vibration adjustment parameter to obtain a driving signal of the motor corresponding to the to-be-executed vibration event. Therefore, iterative optimization adjustment of the motor driving signal can be realized, and the vibration effect of the motor is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of motors, and in particular, to a method and device for adjusting a motor drive signal, an electronic device, and a storage medium. Background Art

[0002] Currently, some consumer electronic devices represented by mobile phones and tablet computers basically apply haptic feedback technology to bring users a tactile interaction effect. The haptic feedback technology is generally realized by the vibration of a motor.

[0003] In the prior art, before leaving the factory, an electronic device including a vibration motor usually calibrates the vibration of the vibration motor according to the natural frequency of the vibration motor. However, with the use of the electronic device, due to reasons such as temperature change, humidity change, and component aging, the vibration of the vibration motor may have a certain deviation, thereby affecting the user's vibration feeling experience. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a method and device for adjusting a motor drive signal, an electronic device, and a storage medium to solve the above problems.

[0005] According to a first aspect of the embodiments of the present application, a method for adjusting a motor drive signal is provided, including: determining a drive signal corresponding to a current vibration event of a motor as a signal to be adjusted, and obtaining an actual vibration value of the motor corresponding to the current vibration event based on the signal to be adjusted, where the actual vibration value is obtained by driving the motor to vibrate based on the signal to be adjusted and is used to indicate the vibration intensity of the motor; obtaining a vibration adjustment ratio according to the actual vibration value and a given target vibration value; obtaining a vibration adjustment parameter of the motor according to the vibration adjustment ratio; and adjusting the signal to be adjusted according to the vibration adjustment parameter to obtain a drive signal of the motor corresponding to a to-be-executed vibration event, where the to-be-executed vibration event is a vibration event to be executed after the current vibration event among each vibration event executed by the motor.

[0006] In a possible implementation manner, the vibration adjustment parameter includes a target voltage adjustment parameter and / or a target frequency adjustment parameter; and adjusting the signal to be adjusted according to the vibration adjustment parameter to obtain a drive signal of the motor corresponding to a to-be-executed vibration event includes: performing a scaling adjustment on the signal to be adjusted by using the target voltage adjustment parameter, and / or performing a scaling adjustment on the signal to be adjusted by using the target frequency adjustment parameter to obtain a drive signal of the motor corresponding to the to-be-executed vibration event.

[0007] In a possible implementation, the vibration adjustment parameters include the target voltage regulation parameter and the target frequency modulation parameter; adjusting the signal to be adjusted according to the vibration adjustment parameters to obtain the drive signal of the motor corresponding to the to-be-executed vibration event includes: obtaining the adjusted voltage amplitude of the signal to be adjusted according to the product result of the target voltage regulation parameter and the voltage amplitude of the signal to be adjusted, and obtaining the adjusted vibration frequency of the signal to be adjusted according to the sum result of the target frequency modulation parameter and the vibration frequency of the signal to be adjusted; obtaining the drive signal of the motor corresponding to the to-be-executed vibration event according to the adjusted voltage amplitude, the adjusted vibration frequency, and the vibration time of the signal to be adjusted.

[0008] In a possible implementation, the vibration adjustment parameters include a target voltage regulation parameter and a target frequency modulation parameter; obtaining the vibration adjustment parameters of the motor according to the vibration adjustment ratio includes: determining the target voltage regulation parameter according to the vibration adjustment ratio; comparing the target voltage regulation parameter with a given voltage regulation range, and if the target voltage regulation parameter does not fall within the given voltage regulation range, obtaining the target frequency modulation parameter according to the comparison result between the current vibration frequency of the motor corresponding to the current vibration event and the given resonance frequency of the motor.

[0009] In a possible implementation, obtaining the target frequency modulation parameter according to the comparison result between the current vibration frequency of the motor corresponding to the current vibration event and the given resonance frequency of the motor includes: if the current vibration frequency is greater than the given resonance frequency, determining the negative value of a given adjustment step frequency as the target frequency modulation parameter; or if the current vibration frequency is less than the given resonance frequency, determining the given adjustment step frequency as the target frequency modulation parameter; wherein, the adjustment step frequency is a positive number.

[0010] In a possible implementation, determining the target voltage regulation parameter according to the vibration adjustment ratio includes: determining the vibration adjustment ratio as the target voltage regulation parameter; or performing a conversion process on the vibration adjustment ratio by using a given voltage regulation parameter conversion formula to obtain the target voltage regulation parameter;

[0011] The given voltage regulation parameter conversion formula is expressed as: target voltage regulation parameter = (vibration adjustment ratio + 1) / 2.

[0012] In a possible implementation, the obtaining of the actual vibration value of the motor corresponding to the current vibration event includes: driving the motor to vibrate by using the signal to be adjusted, and collecting a plurality of measured vibration data of the motor corresponding to the current vibration event; performing interpolation processing on the plurality of measured vibration data to obtain a plurality of interpolated vibration data of the motor corresponding to the current vibration event; screening the plurality of measured vibration data and the plurality of interpolated vibration data according to a given signal frequency to obtain a plurality of target vibration data of the motor corresponding to the current vibration event; and obtaining the actual vibration value of the motor corresponding to the current vibration event according to the plurality of target vibration data.

[0013] In a possible implementation, the performing of interpolation processing on the plurality of measured vibration data to obtain a plurality of interpolated vibration data of the motor corresponding to the current vibration event includes: performing interpolation processing on the plurality of measured vibration data based on the spline interpolation method to obtain the plurality of interpolated vibration data.

[0014] In a possible implementation, the plurality of target vibration data includes a plurality of target acceleration data; the obtaining of the actual vibration value of the motor corresponding to the current vibration event according to the plurality of target vibration data includes: calculating the peak-to-peak value or the effective value of the acceleration of the motor corresponding to the current vibration event according to the plurality of target acceleration data to obtain the actual vibration value of the motor corresponding to the current vibration event.

[0015] In a possible implementation, the plurality of target vibration data includes a plurality of target acceleration data; the method further includes: determining the maximum displacement amount of the motor corresponding to the current vibration event according to the plurality of target acceleration data of the motor corresponding to the current vibration event; and if the maximum displacement amount is greater than a preset safe displacement amount, determining the signal to be adjusted as the driving signal of the motor corresponding to the vibration event to be executed.

[0016] According to a second aspect of the embodiments of the present application, a motor drive signal adjustment device is provided, including: an acquisition module, configured to determine a drive signal corresponding to a current vibration event of the motor as a signal to be adjusted, and acquire an actual vibration value of the motor corresponding to the current vibration event based on the signal to be adjusted, where the actual vibration value is obtained by driving the motor to vibrate based on the signal to be adjusted and is used to indicate the vibration intensity of the motor; a ratio operation module, configured to obtain a vibration adjustment ratio according to the actual vibration value and a given target vibration value; a parameter determination module, configured to obtain a vibration adjustment parameter of the motor according to the vibration adjustment ratio; and an adjustment module, configured to adjust the signal to be adjusted according to the vibration adjustment parameter to obtain a drive signal corresponding to a to-be-executed vibration event of the motor; where the to-be-executed vibration event is a vibration event to be executed after the current vibration event among the vibration events executed by the motor.

[0017] According to a third aspect of the embodiments of the present application, an electronic device is provided, including: a processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus; the memory is configured to store at least one executable instruction, and the executable instruction causes the processor to execute the method according to any one of the embodiments of the first aspect described above.

[0018] According to a fourth aspect of the embodiments of the present application, a computer storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method according to any one of the embodiments of the first aspect described above is implemented.

[0019] In the embodiments of the present application, by using the drive signal corresponding to the current vibration event of the motor as the signal to be adjusted, detecting the actual vibration value obtained when the motor vibrates under the drive of the signal to be adjusted, and analyzing the vibration adjustment ratio between the actual vibration value and the target vibration value, the signal to be adjusted is optimized and adjusted to obtain the drive signal for the next to-be-executed vibration event of the motor. Thereby, through iterative optimization and adjustment of the drive signals for previous vibration events, the gap between the actual vibration value and the target vibration value of the motor can be continuously reduced, enabling the actual vibration level of the motor to gradually approach the ideal vibration level, effectively reducing the vibration deviation of the motor caused by factors such as temperature change and component aging, making the motor have better robustness, and effectively improving the user's vibration feeling experience. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments described in the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0021] Figure 1 is a flowchart of the steps of a method for adjusting a motor drive signal provided by an alternative embodiment of the present application;

[0022] Figure 2 is a flowchart of the steps of another method for adjusting a motor drive signal provided by an alternative embodiment of the present application;

[0023] Figure 3 is a flowchart of the steps of another method for obtaining an actual vibration value provided by an alternative embodiment of the present application;

[0024] Figure 4 is a schematic diagram of vibration data before and after screening provided by an alternative embodiment of the present application;

[0025] Figure 5 is a schematic diagram of vibration data before and after interpolation provided by an alternative embodiment of the present application;

[0026] Figure 6 is a structural block diagram of a device for adjusting a motor drive signal provided by an alternative embodiment of the present application;

[0027] Figure 7 is a schematic diagram of the structure of an electronic device provided by an alternative embodiment of the present application. Detailed implementation manners

[0028] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the embodiments of the present application.

[0029] The terms used in the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the", and "said" used in the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0031] The first aspect of the embodiments of this application provides a method for adjusting a motor drive signal to solve the above problems.

[0032] As Figure 1 shown, the method for adjusting a motor drive signal provided by the embodiments of this application includes:

[0033] S110: Determine the drive signal corresponding to the current vibration event of the motor as the signal to be adjusted, and obtain the actual vibration value of the motor corresponding to the current vibration event based on the signal to be adjusted.

[0034] In practical applications, the motor can be driven to vibrate based on the signal to be adjusted (i.e., the drive signal of the current vibration event), and the actual vibration value of the motor corresponding to the current vibration event can be obtained.

[0035] In this embodiment, the actual vibration value is a parameter used to indicate the vibration intensity of the motor. The drive signal (signal to be adjusted) of the current vibration event can be the original drive signal or an adjusted drive signal obtained by adjusting the original drive signal. For example, in the case where the vibration event is the initial vibration event, the drive signal of the initial vibration event can be regarded as the original drive signal, and the drive signals of subsequent vibration events can be regarded as adjusted drive signals obtained by adjusting the original drive signal.

[0036] In some embodiments, the actual vibration value of the motor can be obtained by detecting at least one of parameters such as the acceleration, speed, vibration amplitude, vibration frequency, etc. of the motor vibration.

[0037] S120: Obtain a vibration adjustment ratio according to the actual vibration value and the given target vibration value.

[0038] In some embodiments, a quotient operation can be performed according to the target vibration value and the actual vibration value to obtain the vibration adjustment ratio. Among them, the vibration adjustment ratio is used to express the deviation between the actual vibration amount and the target vibration amount of the motor.

[0039] It should be noted that when applying the embodiments of the present application to multiple motors of the same model, the target vibration values corresponding to each motor can be the same or different. It should be understood that generally, multiple motors produced in the same batch generally have the same model. Compared with multiple motors manufactured in different batches, the performance differences between multiple motors in the same batch are relatively small.

[0040] In some embodiments, when applying the embodiments of the present application to multiple motors in the same batch and setting the target vibration values corresponding to each motor to be the same, the original vibration values of each motor in the same batch vibrating under the drive of a given original drive signal can be obtained, and the median value of the original vibration values of each motor in this batch is determined as the target vibration value corresponding to each motor in this batch.

[0041] S130: Obtain the vibration adjustment parameter of the motor according to the vibration adjustment ratio.

[0042] In some embodiments, the vibration adjustment parameter of the motor may include at least one of a target voltage adjustment parameter and a target frequency adjustment parameter. Among them, the target voltage adjustment parameter is used to adjust the voltage value of the signal to be adjusted, that is, the vibration amplitude of the signal to be adjusted; the target frequency adjustment parameter is used to adjust the vibration frequency of the signal to be adjusted. According to the actual scenario usage requirements, one of only the target voltage adjustment parameter and the target frequency adjustment parameter can be selected to adjust the vibration amplitude or vibration frequency of the signal to be adjusted. It is also possible to simultaneously adjust the vibration amplitude and vibration frequency of the signal to be adjusted by combining the use of the target voltage adjustment parameter and the target frequency adjustment parameter. Therefore, the drive signal adjustment method of this embodiment can be flexibly applied to different motor vibration usage scenarios.

[0043] In some embodiments, the target voltage adjustment parameter may be equal to the vibration adjustment ratio, or the target voltage adjustment parameter can be obtained by converting the vibration adjustment ratio.

[0044] Exemplarily, the target voltage adjustment parameter can be determined by the following formula 1:

[0045] Target voltage adjustment parameter = (vibration adjustment ratio + 1) / 2 Formula 1

[0046] In some embodiments, by comparing the current vibration frequency of the motor corresponding to the current vibration event with the given resonance frequency of the motor, and based on the comparison result, the current vibration frequency is adjusted using the given adjustment step frequency (where the adjustment step frequency is a positive value) to obtain the target frequency adjustment parameter.

[0047] Specifically, if the current vibration frequency is greater than the given resonance frequency, the negative value of the adjustment step frequency can be determined as the target frequency modulation parameter; if the current vibration frequency is less than the given resonance frequency, the adjustment step frequency can be directly determined as the target frequency modulation parameter; if the current vibration frequency is equal to the given resonance frequency, the target frequency modulation parameter can be set to zero, that is, no adjustment is made for the current vibration frequency.

[0048] In some embodiments, the adjustment step frequency can be between 0.1 and 1 (including the critical values). Preferably, the adjustment step frequency can be set to 0.2.

[0049] Exemplarily, when the adjustment step frequency is 0.2, if the comparison result shows that the current vibration frequency is greater than the given resonance frequency, the negative value of the adjustment step frequency (i.e., -0.2) can be determined as the target frequency modulation parameter; if the comparison result shows that the current vibration frequency is less than the given resonance frequency, the adjustment step frequency value (i.e., 0.2) can be determined as the target frequency modulation parameter.

[0050] In some embodiments, the target voltage regulation parameter can be calculated first according to the vibration adjustment ratio, and based on the calculation result of the target voltage regulation parameter, the target frequency modulation parameter can be selectively adjusted to further improve the adjustment effect of the vibration adjustment parameter (for the specific implementation solution of this embodiment, it will be described in detail in the following Figure 2 embodiment).

[0051] As a feasible implementation, the maximum adjustment value and the minimum adjustment value of the vibration adjustment parameter (any one of the target voltage regulation parameter and the target frequency modulation parameter) can be further defined. Among them, when the vibration adjustment parameter is greater than the maximum adjustment value, the maximum adjustment value is determined as the final vibration adjustment parameter. Similarly, when the vibration adjustment parameter is less than the minimum adjustment value, the minimum adjustment value is determined as the final vibration adjustment parameter.

[0052] S140: Adjust the signal to be adjusted according to the vibration adjustment parameter to obtain the drive signal of the motor corresponding to the vibration event to be executed.

[0053] In this embodiment, the vibration event to be executed is a vibration event to be executed after the current vibration event among the vibration events executed by the motor. For example, when the current vibration event is the i-th vibration event, the vibration event to be executed is the (i + 1)-th vibration event (the vibration event not yet executed).

[0054] Specifically, after obtaining the vibration adjustment parameter, the characteristics such as the vibration amplitude and frequency of the signal to be adjusted can be adjusted based on the vibration adjustment parameter to obtain the drive signal of the motor corresponding to the vibration event to be executed.

[0055] In some embodiments, the adjusted voltage amplitude of the signal to be adjusted can be obtained based on the product result of the target voltage regulation parameter and the voltage amplitude of the signal to be adjusted, the adjusted vibration frequency of the signal to be adjusted can be obtained based on the summation result of the target frequency modulation parameter and the vibration frequency of the signal to be adjusted, and the drive signal of the motor corresponding to the vibration event to be executed can be obtained based on the adjusted voltage amplitude, the adjusted vibration frequency, and the vibration time of the signal to be adjusted.

[0056] The following will describe the adjustment implementation solution of the signal to be adjusted in conjunction with Equation 2-1 and Equation 2-2:

[0057] In an alternative embodiment of the present application, the signal to be adjusted can be expressed as the following Equation 2-1:

[0058] V i = Asin(2π×f×t) Equation 2-1

[0059] In Equation 2-1, V i represents the signal value of the signal to be adjusted (i.e., the drive signal of the motor corresponding to the i-th vibration event), that is, the voltage value of the signal to be adjusted; A represents the vibration amplitude of the signal to be adjusted, that is, the voltage amplitude; f represents the vibration frequency of the signal to be adjusted; t represents the vibration time of the signal to be adjusted, where t is a variable value that changes accordingly with the vibration time.

[0060] According to the above Equation 2-1, the drive signal of the motor corresponding to the vibration event to be executed can be expressed as the following Equation 2-2:

[0061]

[0062] In Equation 2-2, V i+1 represents the signal value of the drive signal of the motor corresponding to the vibration event to be executed (i.e., the drive signal of the motor corresponding to the (i + 1)-th vibration event), k represents the target voltage regulation parameter, (k×A) represents the adjusted voltage amplitude, represents the target frequency modulation parameter, represents the adjusted vibration frequency.

[0063] In summary, in the motor drive signal adjustment method of this embodiment, the drive signal corresponding to the current vibration event of the motor is determined as the signal to be adjusted. Based on the signal to be adjusted, the actual vibration value of the motor corresponding to the current vibration event is obtained. By comparing the actual vibration value with the given target vibration value, the vibration adjustment parameter of the motor is calculated, and based on this, the current signal to be adjusted of the motor is optimized and adjusted to obtain the drive signal of the vibration event to be executed after the current vibration event. Thus, in this embodiment, by iteratively optimizing the drive signals of each vibration event executed by the motor, the gap between the actual vibration value and the target vibration value of each vibration event can be continuously reduced, so that the actual vibration level of the motor can gradually approach the ideal vibration level, and the deviation of the motor vibration caused by factors such as temperature change and component aging can be effectively reduced, effectively avoiding the situation of the motor hitting the shell during vibration (the situation where the motor collides with the packaging shell due to the vibration deviation of the motor), so as to improve the vibration experience of the user.

[0064] Figure 2 This is the motor drive signal adjustment method of another embodiment of the present application. This embodiment is a specific implementation solution of the above step S130. As shown in the figure, this embodiment mainly includes:

[0065] S131. Determine the target voltage regulation parameter according to the vibration adjustment ratio.

[0066] In some embodiments, the target voltage regulation parameter may be equal to the vibration adjustment ratio; or the vibration adjustment ratio can be converted through the above formula 1 to obtain the target voltage regulation parameter.

[0067] S132. Compare the target voltage regulation parameter with the given voltage regulation range. If the target voltage regulation parameter does not fall within the given voltage regulation range, execute S133. If the target voltage regulation parameter falls within the given voltage regulation range, execute Figure 1 S140.

[0068] In some embodiments, the given voltage regulation range of the motor may be between 0.8 and 1.2 (including the critical values), but it is not limited thereto, and can be flexibly adjusted based on the actual application scenario of the motor. This embodiment does not limit this.

[0069] In this embodiment, if the judgment result is that the target voltage regulation parameter falls within the given voltage regulation range, the calculation of the target frequency modulation parameter is no longer continued, but S140 is directly executed, so that in S140, only the target voltage regulation parameter is used to adjust the signal to be adjusted.

[0070] S133. According to the comparison result between the current vibration frequency of the motor corresponding to the current vibration event and the given resonance frequency of the motor, adjust the current vibration frequency using the given adjustment step frequency to obtain the target frequency modulation parameter, and continue to execute S140.

[0071] In this embodiment, the adjustment step frequency is set to a positive value. If the current vibration frequency is greater than the given resonance frequency, the negative value of the adjustment step frequency can be determined as the target frequency modulation parameter. If the current vibration frequency is less than the given resonance frequency, the adjustment step frequency is directly determined as the target frequency modulation parameter. If the current vibration frequency is equal to the given resonance frequency, no adjustment is made to the current vibration frequency.

[0072] In some embodiments, the adjustment step frequency can range from 0.1 to 1 (including the critical values). Preferably, the adjustment step frequency can be set to 0.2.

[0073] Exemplarily, when the adjustment step frequency is 0.2, if the comparison result shows that the current vibration frequency is greater than the given resonance frequency, the negative value of the adjustment step frequency (i.e., -0.2) can be determined as the target frequency modulation parameter. If the comparison result shows that the current vibration frequency is less than the given resonance frequency, the adjustment step frequency value (i.e., 0.2) is determined as the target frequency modulation parameter.

[0074] In summary, in the embodiment of the present application, first, according to the vibration adjustment ratio, the target voltage adjustment parameter is determined, and then it is compared whether the target voltage adjustment parameter falls within the given voltage adjustment range to judge whether using the target voltage adjustment parameter to perform scaling adjustment on the signal to be adjusted is sufficient to complete the adjustment of the signal to be adjusted. Among them, when the target voltage adjustment parameter falls within the given voltage adjustment range, the signal to be adjusted can be adjusted only by using the target voltage adjustment parameter, omitting the calculation of the target frequency modulation parameter to save calculation time and calculation resources. When the target voltage adjustment parameter does not fall within the given voltage adjustment range, continue to calculate the target frequency modulation parameter according to the comparison result between the current vibration frequency of the motor corresponding to the current vibration event and the given resonance frequency of the motor, and subsequently, in combination with using the target voltage adjustment parameter and the target frequency modulation parameter, perform multi-dimensional adjustment on the signal to be adjusted, thereby improving the optimization adjustment performance of the signal to be adjusted and ensuring the accuracy of the adjustment result of the motor drive signal.

[0075] Figure 3 This is the processing flow of the motor drive signal adjustment method according to another embodiment of the present application. This embodiment shows the specific acquisition scheme of the actual vibration value of the motor corresponding to the current vibration event in the above S110. As Figure 3 shown, this embodiment mainly includes:

[0076] S310. Drive the motor to vibrate using the signal to be adjusted, and collect multiple measured vibration data of the motor corresponding to the current vibration event.

[0077] The motor can be a vibration motor of electronic devices such as mobile phones, tablets, and smart bracelets. Through sensors such as accelerometers inside or outside the electronic device, the measured vibration data of the motor corresponding to the current vibration event can be collected.

[0078] The inventors of the present application have found through research that when sensors for collecting and measuring vibration data are built into an electronic device where a motor is located, the movement of the electronic device itself will cause the measured vibration data collected by the sensors to have a low-frequency trend term. As a feasible implementation, the measured vibration data of the motor can be the actual acceleration data of the motor vibration, such as Figure 4 shown, where L1 is the curve obtained by fitting the measured vibration data and the interpolated vibration data collected by the acceleration sensor in the electronic device when the electronic device is in a moving state and the motor in the motor vibrates. Due to the movement of the electronic device itself, the center of this curve has a large offset. It should be understood that Figure 4 in which the abscissa is time and the ordinate is the value of the measured vibration data of the motor, for example, it can be the value of the actual acceleration.

[0079] S320. Perform interpolation processing on multiple measured vibration data to obtain multiple interpolated vibration data corresponding to the current vibration event of the motor.

[0080] In some embodiments, the spline interpolation method can be used to perform interpolation processing on each measured vibration data to obtain multiple interpolated vibration data of the motor, so as to improve the accuracy of the adjustment result of the motor drive signal by expanding the vibration data of the motor.

[0081] Specifically, the time between two adjacent measured vibration data among the multiple measured vibration data can be used as the interpolation interval, and the interpolation interval can be divided into several sub-intervals. Each sub-interval uses a low-order polynomial (for example, a cubic polynomial) to fit the measured vibration data to fit the change of the measured vibration data in each sub-interval. As Figure 5 shown, in the figure, L3 represents the line segment obtained by connecting multiple measured vibration data collected, and L4 represents the line segment obtained by fitting multiple measured vibration data based on the spline interpolation method. Figure 5 In which the abscissa is time and the ordinate is the value of the measured vibration data of the motor, for example, it can be the value of the actual acceleration.

[0082] It should be understood that compared with the line segment formed by connecting the interpolated vibration data obtained by using the linear interpolation method, the line segment formed by connecting the interpolated vibration data obtained based on the spline interpolation method is usually smoother. Therefore, compared with the linear interpolation method, the interpolated vibration data obtained by the spline interpolation method has higher accuracy. In the embodiments of the present application, interpolation processing is performed on multiple measured vibration data based on the spline interpolation method to obtain multiple interpolated vibration data, which can accurately fit the vibration of the motor corresponding to the current vibration event.

[0083] S330. According to the given signal frequency, screen multiple measured vibration data and multiple interpolated vibration data to obtain multiple target vibration data corresponding to the current vibration event of the motor.

[0084] By the given signal frequency, multiple measured vibration data and multiple interpolated vibration data can be screened to remove the trend terms caused by the movement of the electronic device itself in the multiple measured vibration data and multiple interpolated vibration data, and multiple target vibration data that can accurately represent the vibration process of the motor corresponding to the current vibration event can be obtained. As Figure 4 shown, where L2 is the curve obtained by screening the data in L1 according to the given signal frequency.

[0085] As a feasible implementation, a corresponding high-pass filter can be set according to the given signal frequency, and the multiple measured vibration data and multiple interpolated vibration data are screened by the high-pass filter, and the measured vibration data and interpolated vibration data less than the given signal frequency are screened out. Optionally, the given signal frequency can be 100 Hz, and the high-pass filter can be a second-order IIR (Infinite Impulse Response) high-pass filter.

[0086] Through the above process, the embodiments of the present application can solve the interference of the trend terms, so that the sensors in the electronic device where the motor is located can be directly used to collect the measured vibration data of the motor, without having to additionally install sensors for collecting the measured vibration data of the motor outside the electronic device, which can greatly facilitate the collection of the measured vibration data of the motor and obtain multiple target vibration data of the motor corresponding to the current vibration event.

[0087] S340. Obtain the actual vibration value of the motor corresponding to the current vibration event according to the multiple target vibration data.

[0088] The actual vibration value of the motor corresponding to the current vibration event can be determined according to the multiple target vibration data. For example, the peak value, average value, etc. of the target vibration data can be used as the actual vibration value of the current vibration event. Of course, the actual vibration value can also be determined in other suitable ways according to the multiple target vibration data, and the present application does not limit this.

[0089] In some alternative embodiments, the target vibration data of the motor includes target acceleration data.

[0090] Specifically, according to the multiple target acceleration data of the motor, the peak-to-peak acceleration or the effective value of the acceleration of the motor corresponding to the current vibration event can be calculated to obtain the actual vibration value of the motor corresponding to the current vibration event.

[0091] As a feasible implementation, the peak-to-peak acceleration of the motor corresponding to the current vibration event can be calculated by the following formula 3:

[0092] acc pp =max(acc debounce )-min(acc debounce) Equation 3

[0093] In Equation 3, acc pp represents the peak-to-peak acceleration of the motor corresponding to the current vibration event, acc debounce represents multiple target vibration data of the motor corresponding to the current vibration event, max(*) represents taking the maximum value of the parameters within the parentheses, and min(*) represents taking the minimum value of the parameters within the parentheses.

[0094] The effective value of the acceleration of the motor corresponding to the current vibration event can be calculated by the following Equation 4:

[0095]

[0096] In Equation 4, acc rms represents the effective value of the acceleration of the motor corresponding to the current vibration event, N represents the total number of target acceleration data, acc debounce (n) represents the nth target acceleration data among the multiple target vibration data of the motor corresponding to the current vibration event.

[0097] Since the target acceleration data of the motor can intuitively represent the change in the vibration speed of the motor corresponding to the current vibration event, the vibration speed and vibration displacement of the motor corresponding to the current vibration event can be obtained by performing a double integration operation on the target acceleration data. Therefore, in this embodiment, using the target acceleration data as the target vibration data can effectively indicate the vibration intensity of the motor and improve the adjustment effect of the motor drive signal.

[0098] Furthermore, since the peak-to-peak acceleration of the motor corresponding to the current vibration event is used to represent the difference between the maximum value and the minimum value of the target acceleration data, by using the peak-to-peak acceleration as the actual vibration value of the motor corresponding to the current vibration event, the vibration intensity of the motor can be intuitively shown. In addition, by calculating the effective value of the acceleration of the motor corresponding to the current vibration event as the actual vibration value of the motor corresponding to the current vibration event, the effectiveness of the actual vibration value can be ensured.

[0099] In some alternative embodiments, in the case of using the target acceleration data as the target vibration data, the motor drive signal adjustment method provided by the embodiments of the present application further includes: determining the maximum displacement amount of the motor corresponding to the current vibration event according to the multiple target acceleration data of the motor corresponding to the current vibration event; if the maximum displacement amount is greater than the preset safe displacement amount, determining the signal to be adjusted as the drive signal of the motor corresponding to the vibration event to be executed.

[0100] Specifically, based on multiple target acceleration data of the motor corresponding to the current vibration event, a target acceleration curve or a target acceleration function of the motor corresponding to the current vibration event can be fitted. Based on the target acceleration curve or the target acceleration function, by performing a second integral on the target acceleration function values of the motor on the target acceleration curve, the displacement of the motor can be obtained. By taking the maximum value of this displacement, the maximum displacement of the motor corresponding to the current vibration event can be obtained.

[0101] As a feasible implementation, the displacement of the motor can be calculated by Equation 5 below:

[0102]

[0103] In Equation 5, x represents the displacement of the motor; T represents the vibration duration of the motor; t represents the vibration time; a(t) represents the target acceleration function of the motor corresponding to the current vibration event fitted based on multiple target acceleration data of the motor corresponding to the current vibration event.

[0104] It should be noted that in the embodiments of the present application, only on the premise that it is determined that the maximum displacement of the motor is less than or equal to the safe displacement, the following Figure 1 processing steps of the embodiment can be executed to adjust the signal to be adjusted. Specifically, in the case where the maximum displacement of the motor exceeds the safe displacement, even if the Figure 1 shown steps are used to adjust the drive signal, the adjusted drive signal may still cause the displacement of the motor to be too large, resulting in the problem of the motor hitting the shell and causing damage to the motor. Therefore, in the case where the maximum displacement of the motor corresponding to the current vibration event exceeds the safe displacement, the embodiments of the present application do not perform the optimization adjustment of the drive signal, and directly determine the signal to be adjusted as the drive signal of the motor corresponding to the vibration event to be executed, and continue to drive the motor to vibrate with the current signal to be adjusted to avoid the motor hitting the shell and ensure the normal operation of the motor.

[0105] According to the second aspect of the embodiments of the present application, a motor drive signal adjustment device is provided, as Figure 6 shown, the motor drive signal adjustment device 600 includes:

[0106] An acquisition module 610, configured to determine the drive signal of the motor corresponding to the current vibration event as the signal to be adjusted, and obtain the actual vibration value of the motor corresponding to the current vibration event based on the signal to be adjusted. The actual vibration value is obtained by driving the motor to vibrate based on the drive signal of the current vibration event and is used to indicate the vibration intensity of the motor;

[0107] A ratio operation module 620, configured to obtain a vibration adjustment ratio according to the actual vibration value and a given target vibration value;

[0108] A parameter determination module 630, configured to obtain a vibration adjustment parameter of the motor according to a vibration adjustment ratio.

[0109] An adjustment module 640, configured to adjust a signal to be adjusted according to the vibration adjustment parameter to obtain a driving signal of the motor corresponding to a vibration event to be executed, where the vibration event to be executed is a vibration event to be executed after the current vibration event among the vibration events executed by the motor.

[0110] The motor driving signal adjustment device provided in the embodiment of the present application and the foregoing embodiment of the motor driving signal adjustment method are based on the same inventive concept and can achieve the same effect. The specific implementation process can refer to the description in the foregoing embodiment of the motor driving signal adjustment method, and will not be elaborated herein.

[0111] According to the third aspect of the embodiment of the present application, an electronic device is further provided. Specifically as follows: Refer to Figure 7 , which shows a schematic structural diagram of an electronic device according to an embodiment of the present application. The specific implementation of the electronic device is not limited in the specific embodiment of the present application.

[0112] As Figure 7 shown, the electronic device may include: a processor 702, a communication interface 704, a memory 706, and a communication bus 708.

[0113] Wherein:

[0114] The processor 702, the communication interface 704, and the memory 706 communicate with each other through the communication bus 708.

[0115] The communication interface 704 is configured to communicate with other electronic devices or servers.

[0116] The processor 702 is configured to execute a program 710, and specifically may execute relevant steps in the foregoing embodiment of the motor driving signal adjustment method.

[0117] Specifically, the program 710 may include program code, and the program code includes computer operation instructions.

[0118] The processor 702 may be a CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiment of the present application. One or more processors included in the intelligent device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0119] A memory 706 for storing a program 710. The memory 706 may include a high-speed RAM memory and may also include non-volatile memory, such as at least one magnetic disk memory.

[0120] The program 710 may include multiple computer instructions. Specifically, the program 710 may cause the processor 702 to perform operations corresponding to the motor drive signal adjustment method described in any one of the foregoing method embodiments through multiple computer instructions.

[0121] For the specific implementation of each step in the program 710, reference may be made to the corresponding descriptions in the corresponding steps and units in the foregoing method embodiments, and they have corresponding beneficial effects, which will not be elaborated here. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the devices and modules described above may refer to the corresponding process descriptions in the foregoing method embodiments, which will not be elaborated here.

[0122] The embodiments of the present application also provide a computer storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the method described in any one of the foregoing method embodiments. The computer storage medium includes but is not limited to: Compact Disc Read-Only Memory (CD-ROM), Random Access Memory (RAM), floppy disk, hard disk, magneto-optical disk, etc.

[0123] It should be noted that according to the needs of implementation, each component / step described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0124] Those of ordinary skill in the art can realize that the units and method steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can 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 embodiments of the present application.

[0125] The above embodiments are only used to illustrate the embodiments of the present application, rather than limiting the embodiments of the present application. Those of ordinary skill in the relevant technical field can also make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The patent protection scope of the embodiments of the present application shall be defined by the claims.

Claims

1. A motor drive signal adjustment method, characterized in that: include: Determine a driving signal of the motor corresponding to the current vibration event as a signal to be adjusted, and obtain an actual vibration value of the motor corresponding to the current vibration event based on the signal to be adjusted, wherein the actual vibration value is obtained by driving the motor to vibrate based on the signal to be adjusted and is used to indicate the vibration intensity of the motor; Obtaining a vibration adjustment ratio according to the actual vibration value and a given target vibration value; Obtaining a vibration adjustment parameter of the motor according to the vibration adjustment ratio; The signal to be adjusted is adjusted according to the vibration adjustment parameter to obtain a driving signal of the motor corresponding to a vibration event to be executed, wherein the vibration event to be executed is a vibration event to be executed subsequent to the current vibration event among the vibration events executed by the motor.

2. The method according to claim 1, characterized in that The vibration adjustment parameters include target voltage adjustment parameters and / or target frequency adjustment parameters; The step of adjusting the signal to be adjusted according to the vibration adjustment parameter to obtain a driving signal of the motor corresponding to the vibration event to be executed includes: The target voltage adjustment parameter is used to perform scaling adjustment on the signal to be adjusted, and / or the target frequency adjustment parameter is used to perform scaling adjustment on the signal to be adjusted, so as to obtain a driving signal of the motor corresponding to the vibration event to be executed.

3. The method according to claim 2, characterized in that The vibration adjustment parameters include the target voltage adjustment parameters and the target frequency adjustment parameters; The step of adjusting the signal to be adjusted according to the vibration adjustment parameter to obtain a driving signal of the motor corresponding to the vibration event to be executed includes: According to the product result of the target voltage regulation parameter and the voltage amplitude of the signal to be adjusted, the adjusted voltage amplitude of the signal to be adjusted is obtained; according to the sum result of the target frequency modulation parameter and the vibration frequency of the signal to be adjusted, the adjusted vibration frequency of the signal to be adjusted is obtained; A driving signal of the motor corresponding to the vibration event to be executed is obtained according to the adjustment voltage amplitude, the adjustment vibration frequency, and the vibration time of the signal to be adjusted.

4. The method according to claim 1, characterized in that: The vibration adjustment parameters include target voltage adjustment parameters and target frequency adjustment parameters; The step of obtaining the vibration adjustment parameter of the motor according to the vibration adjustment ratio includes: Determining the target voltage regulation parameter according to the vibration adjustment ratio; The target voltage regulation parameter is compared with a given voltage regulation range. If the target voltage regulation parameter does not fall within the given voltage regulation range, the target frequency regulation parameter is obtained according to a comparison result of a current vibration frequency of the motor corresponding to the current vibration event and a given resonant frequency of the motor.

5. The method according to claim 4, characterized in that The obtaining the target frequency modulation parameter according to a comparison result of the current vibration frequency of the motor corresponding to the current vibration event and the given resonance frequency of the motor comprises: If the current vibration frequency is greater than the given resonant frequency, a negative value of the given adjustment step frequency is determined as the target frequency modulation parameter; or If the current vibration frequency is less than the given resonance frequency, determining the value of the adjusted step frequency as the target frequency modulation parameter; Wherein, the adjustment step frequency is a positive number.

6. The method according to claim 4, characterized in that The step of determining the target voltage regulation parameter according to the vibration adjustment ratio includes: determining the vibration adjustment ratio as the target voltage adjustment parameter; or The vibration adjustment ratio is converted using a given voltage regulation parameter conversion formula to obtain the target voltage regulation parameter; The given voltage regulation parameter conversion formula is expressed as: target voltage regulation parameter=(vibration adjustment ratio+1) / 2.

7. The method according to claim 1, characterized in that The obtaining of the actual vibration value of the motor corresponding to the current vibration event comprises: Using the signal to be adjusted to drive the motor to vibrate, collecting a plurality of measured vibration data of the motor corresponding to the current vibration event; Performing interpolation processing on the plurality of measured vibration data to obtain a plurality of interpolated vibration data of the motor corresponding to the current vibration event; According to a given signal frequency, the plurality of measured vibration data and the plurality of interpolated vibration data are screened to obtain a plurality of target vibration data of the motor corresponding to a current vibration event; An actual vibration value of the motor corresponding to the current vibration event is obtained according to the plurality of target vibration data.

8. The method according to claim 7, characterized in that The interpolation processing is performed on the plurality of measured vibration data to obtain a plurality of interpolated vibration data of the motor corresponding to the current vibration event, comprising: Based on the spline interpolation method, the plurality of measured vibration data are interpolated to obtain the plurality of interpolated vibration data.

9. The method according to claim 7, characterized in that: The plurality of target vibration data includes a plurality of target acceleration data; The step of obtaining, according to the plurality of target vibration data, an actual vibration value of the motor corresponding to the current vibration event comprises: The peak-to-peak value of acceleration or the effective value of acceleration of the motor corresponding to the current vibration event is calculated according to the multiple target acceleration data to obtain the actual vibration value of the motor corresponding to the current vibration event.

10. The method according to claim 7, characterized in that The plurality of target vibration data includes a plurality of target acceleration data; The method further comprises: determining a maximum displacement of the motor corresponding to the current vibration event according to a plurality of target acceleration data of the motor corresponding to the current vibration event; If the maximum displacement is greater than the preset safety displacement, the signal to be adjusted is determined as a driving signal of the motor corresponding to the vibration event to be executed [AW20240061ICN1][HS2411050CCN].

11. A motor drive signal adjustment device, characterized in that: include: an acquisition module, configured to determine a driving signal of a motor corresponding to a current vibration event as a signal to be adjusted, and to acquire an actual vibration value of the motor corresponding to the current vibration event based on the signal to be adjusted, wherein the actual vibration value is obtained by driving the motor to vibrate based on the signal to be adjusted and is used to indicate the vibration intensity of the motor; A ratio calculation module, used for obtaining a vibration adjustment ratio according to the actual vibration value and a given target vibration value; a parameter determination module, configured to obtain a vibration adjustment parameter of the motor according to the vibration adjustment ratio; The adjustment module adjusts the signal to be adjusted according to the vibration adjustment parameter to obtain a driving signal of the motor corresponding to the vibration event to be executed; wherein the vibration event to be executed is a vibration event to be executed after the current vibration event among the vibration events executed by the motor.

12. An electronic device comprising: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the method according to any one of claims 1 to 10.

13. A computer storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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