Control method and system of linear vibration device, controller and storage medium

Abstract

The invention discloses a control method and system of a linear vibration device, a controller and a storage medium. The method comprises the following steps: acquiring a characteristic zero-crossing time point and a first amplitude of each linear motor in at least two linear motors in a current operation period; determining a starting time point according to the characteristic zero-crossing time point of each linear motor; determining a target driving current of each linear motor according to the first amplitude of each linear motor; and driving the corresponding linear motor according to the target driving current of each linear motor and the starting time point. According to the invention, the starting time point and the target driving current in the next operation period are respectively determined according to the characteristic zero-crossing time point and the first amplitude of each linear motor in the current operation period, so that the corresponding linear motor can be driven according to the starting time point and the target driving current of each linear motor. Driving time synchronization and driving amplitude synchronization of the linear motor are achieved, and noise and vibration of the reciprocating type electric shaver are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and particularly relates to a control method, system, controller and storage medium for a linear vibration device. Background Art

[0002] In order to improve the shaving efficiency, reciprocating electric shavers usually use multiple cutter heads for shaving. In the related art, each linear motor is used to drive two or more cutter heads to reciprocate to improve the shaving efficiency. However, since the number and weight of the cutter heads driven by each linear motor are likely to be different, the driving times and driving amplitudes of each linear motor are asynchronous, resulting in excessive noise and vibration. Therefore, how to synchronize the driving times and driving amplitudes of multiple linear motors and reduce the noise and vibration of the reciprocating electric shaver becomes a technical problem to be further solved. Summary of the Invention

[0003] The present application provides a control method, system, controller and storage medium for a linear vibration device to solve the problem that the driving times and driving amplitudes of each of at least two linear motors are asynchronous, resulting in excessive noise and vibration, and to synchronize the driving times and driving amplitudes of at least two linear motors, thereby reducing the noise and vibration of the reciprocating electric shaver.

[0004] In a first aspect, an embodiment of the present application provides a control method for a linear vibration device, where the linear vibration device includes at least two linear motors, and the method includes: Obtaining a characteristic zero-crossing time point and a first amplitude of each of the at least two linear motors in the current operating cycle; Determining a starting time point according to the characteristic zero-crossing time point of each linear motor, where the starting time point is used to represent the start time of the next operating cycle; Determining a target driving current of each linear motor according to the first amplitude of each linear motor, where the target driving current is used to represent the current for driving the corresponding linear motor to move in the next operating cycle; Driving the corresponding linear motor according to the target driving current of each linear motor and the starting time point.

[0005] In a possible embodiment, the determining the target driving current of each linear motor according to the first amplitude of each linear motor includes: Determining a driving current adjustment amount of each linear motor according to the first amplitude of each linear motor; Determining the target driving current of each linear motor according to the driving current adjustment amount of each linear motor.

[0006] In a possible embodiment, determining the starting time point according to the zero-crossing time points of the characteristics of each linear motor includes: Determining the average zero-crossing time according to the zero-crossing time points of the characteristics of each linear motor; Determining the average zero-crossing time as the starting time point of each linear motor.

[0007] In a possible embodiment, determining the starting time point according to the zero-crossing time points of the characteristics of each linear motor includes: Obtaining the assembly information of each linear motor, where the assembly information is used to characterize the load condition of the corresponding linear motor; Determining the main motor among the at least two linear motors according to the assembly information; Determining the zero-crossing time point of the characteristics of the main motor as the starting time point of each linear motor.

[0008] In a possible embodiment, determining the driving current adjustment amount of each linear motor according to the first amplitude of each linear motor includes: Determining the amplitude difference of each linear motor according to the first amplitude of each linear motor, where the amplitude difference is used to characterize the difference in amplitude of the corresponding linear motor relative to the motors other than the corresponding linear motor among the at least two linear motors; Obtaining multiple adjustment coefficients corresponding to each linear motor; Determining the driving current adjustment amount of each linear motor according to the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor.

[0009] In a possible embodiment, the multiple adjustment coefficients include a first adjustment coefficient, a second adjustment coefficient, and a third adjustment coefficient. The first adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction force, the second adjustment coefficient is used to characterize the correlation characteristic between the historical cumulative error of the corresponding linear motor and the error adjustment force, and the third adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction rate. Determining the driving current adjustment amount of each linear motor according to the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor includes: Determining the amplitude correction force of each linear motor according to the amplitude difference of each linear motor and the corresponding first adjustment coefficient; Determining the error adjustment force of each linear motor according to the amplitude difference of each linear motor and the corresponding second adjustment coefficient; Determining the amplitude correction rate of each linear motor according to the amplitude difference of each linear motor and the corresponding third adjustment coefficient; Determine the drive current adjustment amount of each linear motor according to the amplitude correction force, error adjustment force, and amplitude correction rate of each linear motor.

[0010] In a possible embodiment, the method for obtaining the first amplitude of each linear motor includes the following steps: Obtain the induced electromotive force of each linear motor; Determine the first amplitude of each linear motor according to the induced electromotive force of each linear motor.

[0011] In a second aspect, an embodiment of the present application provides a control system for a linear vibration device. The linear vibration device includes at least two linear motors. The system includes: A first receiving unit, configured to obtain the characteristic zero-crossing time point and the first amplitude of each linear motor among the at least two linear motors in the current operating cycle; A first processing unit, configured to determine a starting time point according to the characteristic zero-crossing time point of each linear motor, where the starting time point is used to represent the start time of the next operating cycle; determine the target drive current of each linear motor according to the first amplitude of each linear motor, where the target drive current is used to represent the current for driving the corresponding linear motor to move in the next operating cycle; and drive the corresponding linear motor according to the target drive current of each linear motor and the starting time point.

[0012] In a third aspect, an embodiment of the present application provides a controller, including a processor, a memory, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The program includes instructions for performing the steps in the method according to any one of the first aspects.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer programs / instructions are stored. When the computer programs / instructions are executed by a processor, the steps of the method according to any one of the first aspects are implemented.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, including computer programs / instructions. When the computer programs / instructions are executed by a processor, some or all of the steps of the method according to any one of the first aspects of the embodiments of the present application are implemented.

[0015] It can be seen that in the present application, the linear vibration device includes at least two linear motors, and the characteristic zero-crossing time points and the first amplitudes of each of the at least two linear motors in the current operation cycle are obtained; the starting time points are determined according to the characteristic zero-crossing time points of each linear motor, and the starting time points are used to represent the start time of the next operation cycle; the target drive currents of each linear motor are determined according to the first amplitudes of each linear motor, and the target drive currents are used to represent the currents for driving the corresponding linear motor to move in the next operation cycle; the corresponding linear motors are driven according to the target drive currents and the starting time points of each linear motor. In this way, the starting time points in the next operation cycle are determined according to the characteristic zero-crossing time points of each linear motor in the current operation cycle, and the target drive currents of each linear motor in the next operation cycle are determined according to the first amplitudes of each linear motor in the current operation cycle, so that the corresponding linear motors can be driven according to the starting time points and the target drive currents of each linear motor, making the drive times and amplitudes of at least two linear motors consistent, greatly reducing the noise and vibration of the linear vibration device, and further reducing the noise and vibration of the reciprocating electric shaver. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order 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 use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is a schematic structural diagram of a reciprocating electric head shaver provided by an embodiment of the present application; Figure 2 is a schematic structural diagram of a controller in a reciprocating electric head shaver provided by an embodiment of the present application; Figure 3 is a schematic flow chart of a control method for a linear vibration device provided by an embodiment of the present application; Figure 4 is a graph showing the change of the displacement of the vibrator of a linear motor with time provided by an embodiment of the present application; Figure 5 is a graph showing the change of the displacement of the vibrator of another linear motor with time provided by an embodiment of the present application; Figure 6 is a schematic flow chart of another control method for a linear vibration device provided by an embodiment of the present application; Figure 7 is a block diagram showing the functional unit composition of a control system for a linear vibration device provided by an embodiment of the present application; Figure 8 It is a functional unit composition block diagram of another control system of a linear vibration device provided by an embodiment of the present application; Figure 9 It is a structural block diagram of a controller provided by an embodiment of the present application. Specific implementation manners

[0018] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0020] Referring to "embodiment" in this article means that a specific feature, structure or characteristic described in combination with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0021] The "and / or" in the embodiments of the present application describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0022] In the embodiments of the present application, the symbol " / " can represent that the associated objects before and after are an "or" relationship. In addition, the symbol " / " can also represent a division sign, that is, perform a division operation. For example, A / B can represent A divided by B.

[0023] The "at least one (item)" or its similar expression in the embodiments of the present application refers to any combination of these items, including any combination of a single item or plural items, meaning one or more, and multiple means two or more. For example, at least one of a, b, or c can represent the following seven cases: a, b, c, a and b, a and c, b and c, a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0024] In the embodiments of the present application, "equal to" can be used in conjunction with "greater than", applicable to the technical solutions adopted when it is greater than, or can be used in conjunction with "less than", applicable to the technical solutions adopted when it is less than. When "equal to" is used in conjunction with "greater than", it is not used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it is not used in conjunction with "greater than".

[0025] To better understand the solutions of the embodiments of the present application, the terminal devices, related concepts, and background that may be involved in the embodiments of the present application will be introduced below.

[0026] (1) Zero-crossing moment point: The moment when a physical quantity or signal changes from a positive value to a negative value or from a negative value to a positive value during the change process, and its value passes through zero.

[0027] (2) Amplitude: When the vibrator (also called the mover) of a linear motor makes a reciprocating motion, the maximum distance that the vibrator deviates from the equilibrium position. During the operation of a reciprocating electric shaver, after the linear motor is powered on, the vibrator drives the cutter head to perform high-frequency reciprocating motion to shave the beard. Generally speaking, an appropriate amplitude can make the cutter head better contact the beard, more effectively cut the beard, and improve the shaving cleanliness. If the amplitude is too large, the reciprocating electric shaver will generate a large amount of noise and strong vibration during operation, which may cause numbness and discomfort in the hand and affect the holding comfort; if the amplitude is too small, the movement range of the cutter head is insufficient, and it may be difficult to shave hard or long beards, reducing the shaving effect.

[0028] To improve the shaving efficiency, a reciprocating electric shaver usually uses two or more motors to drive multiple cutter heads for shaving. In related technologies, the shaving efficiency is improved by making each linear motor drive two or more cutter heads to perform reciprocating motion. However, since the number and weight of the cutter heads driven by each linear motor are very likely to be different, the driving times and driving amplitudes of each linear motor are out of sync, resulting in excessive noise and vibration. Therefore, how to synchronize the driving times and driving amplitudes of multiple linear motors and reduce the noise and vibration of the reciprocating electric shaver has become a further technical problem to be solved.

[0029] To solve the above problems, an embodiment of the present application provides a control method, system, controller, and storage medium for a linear vibration device. The linear vibration device includes at least two linear motors and is applied to a reciprocating electric shaver. The method determines the starting time point in the next operating cycle according to the characteristic zero-crossing time point of each linear motor in the current operating cycle, and determines the target drive current of each linear motor in the next operating cycle according to the first amplitude of each linear motor in the current operating cycle. Thus, the corresponding linear motors can be driven according to the starting time point and the target drive current of each linear motor, so that the drive times of at least two linear motors are the same, the amplitudes are the same, and the movement directions of two adjacent linear motors are opposite, realizing the vibration cancellation of the linear vibration device and greatly reducing the noise and vibration of the reciprocating electric shaver.

[0030] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a reciprocating electric shaver provided by an embodiment of the present application. As Figure 1 shown, the reciprocating electric shaver 100 includes a linear vibration device 110, a controller 120, and a plurality of cutter heads 130. Among them, the linear vibration device 110 includes at least two linear motors. The at least two linear motors may include, for example, a first linear motor 111 and a second linear motor 112. The at least two linear motors are communicatively connected to the controller 120. The plurality of cutter heads 130 are connected to the at least two linear motors, and the at least two linear motors drive the plurality of cutter heads 130 to move. The controller 120 may be a single controller or a controller group composed of multiple controllers.

[0031] Among them, each linear motor includes a driver 201 and a vibrator 202. The driver 201 may include windings, and the vibrator 202 may include permanent magnets. In this example, when a drive current is applied to the driver 201, the driver 201 drives the vibrator 202 to perform linear reciprocating motion. Specifically, the linear vibration device 110 of the reciprocating electric shaver 100 includes two linear motors. By making the drive times of the two linear motors the same, the amplitudes the same, and the movement directions of the vibrators 202 of the two linear motors opposite, the vibrations of the two linear motors are cancelled, and thus the noise and vibration can be effectively reduced.

[0032] Among them, the number of cutter heads driven by each of the at least two linear motors may be the same or different. For example, in this example, the linear vibration device 110 includes two linear motors, and the number of cutter heads 130 driven by the two linear motors is different. One of the linear motors drives one cutter head 130 to move, and this linear motor is set as the first linear motor. The other linear motor drives two cutter heads 130 to move, and this linear motor is set as the second linear motor.

[0033] During the daily use of the reciprocating electric shaver 100, the controller 120 obtains the characteristic zero-crossing time points and the first amplitudes of each of at least two linear motors in the current operating cycle; determines the starting time points according to the characteristic zero-crossing time points of each linear motor, where the starting time points are used to represent the start time of the next operating cycle; determines the target drive current of each linear motor according to the first amplitude of each linear motor, where the target drive current is used to represent the current for driving the corresponding linear motor to move in the next operating cycle; and drives the corresponding linear motor according to the target drive current and the starting time point of each linear motor.

[0034] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a controller in a reciprocating electric shaver provided by an embodiment of the present application. As Figure 2 shown, the controller 120 includes a processor 210 and a memory 220, and the processor 210 is communicatively connected to the memory 220. Among them, one or more programs are stored in the memory 220, and the one or more programs are configured to be executed by the processor 210. The functions of the one or more programs are to obtain the characteristic zero-crossing time points and the first amplitudes of each of at least two linear motors in the current operating cycle; determine the starting time points according to the characteristic zero-crossing time points of each linear motor, where the starting time points are used to represent the start time of the next operating cycle; determine the target drive current of each linear motor according to the first amplitude of each linear motor, where the target drive current is used to represent the current for driving the corresponding linear motor to move in the next operating cycle; and drive the corresponding linear motor according to the target drive current and the starting time point of each linear motor.

[0035] The following introduces a control method for a linear vibration device provided by an embodiment of the present application.

[0036] Please refer to Figure 3 , Figure 3 which is a schematic flowchart of a control method for a linear vibration device provided by an embodiment of the present application, and is applied to the controller 120 in the reciprocating electric shaver 100 as Figure 1 shown. The reciprocating electric shaver 100 includes a linear vibration device 110, a controller 120, and a plurality of cutter heads 130. Among them, the linear vibration device 110 includes at least two linear motors, the at least two linear motors are communicatively connected to the controller 120, the plurality of cutter heads 130 are connected to the at least two linear motors, and the at least two linear motors drive the plurality of cutter heads 130 to move. The controller 120 can be a single controller or a controller group composed of multiple controllers. As Figure 3 shown, the method includes the following steps: Step S310: Obtain the characteristic zero-crossing time point and the first amplitude of each of the at least two linear motors in the current operating cycle.

[0037] Wherein, each operating cycle includes a power-on stage and a power-off detection stage. The power-on stage is the stage in which the vibrator 202 is driven to vibrate by electromagnetic force after the windings of the driver 201 of the linear motor are powered on. The power-off detection stage is the stage in which the induced electromotive force generated by the windings of the driver 201 is detected after the linear motor is powered off. In the power-off detection stage, the vibrator 202 moves without the electromagnetic force of the driver 201, and the driver 201 with windings and the vibrator 202 with permanent magnets move relative to each other, generating an induced electromotive force in the windings of the driver 201. The induced electromotive force generated by the windings of the driver 201 has a linear relationship with the operating condition of the vibrator 202. Therefore, the operating condition of the vibrator 202 can be characterized by the induced electromotive force to provide a power-on reference for the next operating cycle.

[0038] Wherein, each operating cycle includes at least one vibration cycle during the vibration of the linear motor. That is to say, each operating cycle can include one vibration cycle of the linear motor or two or more vibration cycles, which can be specifically set according to the actual situation. After the windings of the driver 201 are powered on, the corresponding vibrator 202 is driven to perform reciprocating linear vibration. The vibrator 202 moves from one end of the vibration path to the other end and runs after turning at the end point. Therefore, the change of the operating cycle can be determined by detecting the time point when the vibrator 202 turns at the end point of the vibration path. Specifically, a power-off detection stage can be set in the operating cycle of the linear motor. In the power-off detection stage, the vibrator 202 moves to the end point of the vibration path. At this time, the speed of the vibrator 202 is zero, and the induced electromotive force generated by the driver 201 is also zero. Therefore, when it is detected that the induced electromotive force decreases to zero, it indicates that the vibrator moves to the end point position of the vibration line, the speed is zero and it turns. The corresponding time point at this time is the zero-crossing time point.

[0039] In each vibration cycle, the vibrator 202 moves to the end point of the vibration path twice, generating two zero-crossing time points. Therefore, according to the number of vibration cycles included in each operation cycle, characteristic zero-crossing time points can be obtained at a preset interval. For example, when each operation cycle includes one vibration cycle, within this operation cycle, the vibrator 202 moves to the end point of the vibration path twice, having two zero-crossing time points. The zero-crossing time points are obtained in the order of once every interval as the characteristic zero-crossing time points. When each operation cycle includes two vibration cycles, within this operation cycle, the vibrator 202 moves to the end point of the vibration path four times, having four zero-crossing time points. The zero-crossing time points are obtained in the order of once every three intervals as the characteristic zero-crossing time points. Generally speaking, each operation cycle includes at least one vibration cycle during the vibration process of the linear motor. The method for obtaining the characteristic zero-crossing time points of each linear motor is: collect the zero-crossing time points of each linear motor in the current operation cycle, and according to the number of vibration cycles included in each operation cycle, obtain the zero-crossing time points at a preset interval as the characteristic zero-crossing time points.

[0040] Wherein, the first amplitude is used to characterize the amplitude of the vibrator of the corresponding linear motor in the current operation cycle. The first amplitude can be obtained during the power-off detection stage of the current operation cycle.

[0041] In a possible embodiment, the method for obtaining the first amplitude of each linear motor includes the following steps: obtain the induced electromotive force of each linear motor; determine the first amplitude of each linear motor according to the induced electromotive force of each linear motor.

[0042] Wherein, there is a linear relationship between the peak value of the induced electromotive force of each linear motor and the amplitude. The step of determining the first amplitude of each linear motor according to the induced electromotive force of each linear motor can specifically be: obtain the peak value of the induced electromotive force of the linear motor, and determine the first amplitude of each linear motor according to the peak value of the induced electromotive force of each linear motor and the linear relationship. The first amplitude of the linear motor can be quickly determined through the peak value of the induced electromotive force and the linear relationship. Wherein, the peak value of the induced electromotive force is used to characterize the maximum instantaneous value of the back electromotive force of the corresponding linear motor in the current operation cycle.

[0043] It can be seen that in this example, the first amplitude of each linear motor is determined through the induced electromotive force of each linear motor. In this way, the first amplitude of each linear motor in the current operation cycle can be accurately determined, and thus the target drive current for driving each linear motor can be determined accordingly, so that the drive times of at least two linear motors are consistent, the amplitudes are consistent, and the movement directions of two adjacent linear motors are opposite, realizing the vibration cancellation of the linear vibration device 110, and greatly reducing the noise and vibration of the reciprocating electric shaver 100.

[0044] Step S320: Determine the starting time point according to the characteristic zero-crossing time points of each linear motor.

[0045] Among them, the starting time point is used to represent the start time of the next operating cycle.

[0046] In a possible embodiment, the determining the starting time point according to the characteristic zero-crossing time points of each linear motor includes: determining the average zero-crossing time according to the characteristic zero-crossing time points of each linear motor; determining the starting time point by using the average zero-crossing time.

[0047] Among them, the determining the average zero-crossing time according to the characteristic zero-crossing time points of each linear motor may specifically be: determining the average value of the characteristic zero-crossing time points of each linear motor as the average zero-crossing time. For example, in the reciprocating electric shaver 100 shown in Figure 1 the starting time point T of the linear vibration device 110 is (T1 + T2) / 2, where T1 is the characteristic zero-crossing time point of the first linear motor, and T2 is the characteristic zero-crossing time point of the second linear motor.

[0048] Exemplarily, please refer to Figure 4 , Figure 4 which is a graph showing the change of the displacement of the vibrator of a linear motor with time provided by an embodiment of the present application. As shown in Figure 4 , the solid line is the graph showing the change of the displacement of the vibrator of the first linear motor with time, and the dashed line is the graph showing the change of the displacement of the vibrator of the second linear motor with time. In the current operating cycle, the characteristic zero-crossing time point of the first linear motor is T1, and the characteristic zero-crossing time point of the second linear motor is T2. Then, the starting time points of the first linear motor and the second linear motor in the next operating cycle are both T3, where T3 is (T1 + T2) / 2.

[0049] It can be seen that in this example, by determining the average value of the characteristic zero-crossing time points of each linear motor as the starting time point of the next operating cycle, regardless of the number of cutter heads 130 driven by each linear motor in the reciprocating electric shaver 100, and even when no cutter head is assembled, the starting time point of power-on in the next operating cycle can be adjusted in real time, without the need to judge the quality of the assembled cutter head, and the problem of phase asynchronization caused by differences in motor quality and cutter head quality can be avoided, thereby realizing synchronous driving time and synchronous driving amplitude, and significantly reducing the noise and vibration of the reciprocating electric shaver 100.

[0050] In a possible embodiment, determining the starting time point according to the zero-crossing time points of the characteristics of each linear motor includes: obtaining the assembly information of each linear motor, where the assembly information is used to characterize the load condition of the corresponding linear motor; determining the main motor among the at least two linear motors according to the assembly information; and determining the zero-crossing time point of the characteristics of the main motor as the starting time point.

[0051] Wherein, the assembly information includes the load condition of the corresponding linear motor, such as the number and mass of the tool heads assembled on the linear motor. The assembly information may also include the self-mass of the linear motor.

[0052] Wherein, determining the main motor among the at least two linear motors according to the assembly information may specifically be: determining the total mass of each linear motor and the corresponding load according to the assembly information, where the total mass is the sum of the self-mass of the corresponding linear motor and the mass of the assembled tool head; and determining the motor with the largest total mass as the main motor.

[0053] Wherein, the motors other than the main motor among the at least two linear motors are slave motors.

[0054] Wherein, determining the zero-crossing time point of the characteristics of the main motor as the starting time point may, for example, be: when the main motor in the reciprocating electric shaver 100 as shown in Figure 1 is the second linear motor and the first linear motor drives two tool heads, the starting time point is the zero-crossing time point of the characteristics of the second linear motor.

[0055] Wherein, the main motor and the slave motor can also be directly set and changed by manual operation.

[0056] Exemplarily, please refer to Figure 5 , Figure 5 which is a graph showing the change of the displacement of the vibrator of another linear motor provided by an embodiment of the present application over time. As shown in Figure 5 , the solid line is the graph showing the change of the displacement of the vibrator of the first linear motor over time, and the dashed line is the graph showing the change of the displacement of the vibrator of the second linear motor over time. The sum of the self-mass of the first linear motor and the mass of the assembled tool head is less than the sum of the self-mass of the second linear motor and the mass of the assembled tool head, that is, the second linear motor is the main motor. In the current operating cycle, the zero-crossing time point of the characteristics of the first linear motor is T1, and the zero-crossing time point of the characteristics of the second linear motor is T2. Then the starting time points of the first linear motor and the second linear motor in the next operating cycle are both T2.

[0057] It can be seen that in this example, by determining the main motors of at least two linear motors and determining the zero-crossing time point of the characteristics of the main motors as the starting time point, when the main motors start the next operation cycle, the slave motors can also start the next operation cycle, realizing the synchronization of driving time and driving amplitude, and can greatly reduce the noise and vibration of the reciprocating electric shaver 100; moreover, when multiple cutter heads are assembled on at least two linear motors in a fixed structure, the computational amount for determining the starting time point is small and the response speed is faster.

[0058] Step S330, determining the target drive current of each linear motor according to the first amplitude of each linear motor.

[0059] Wherein, the target drive current is used to characterize the current for driving the corresponding linear motor to move in the next operation cycle.

[0060] Wherein, the magnitude of the target drive current is positively correlated with the magnitude of the amplitude of the corresponding linear motor in the next operation cycle.

[0061] In a possible embodiment, the determining the target drive current of each linear motor according to the first amplitude of each linear motor includes: determining the drive current adjustment amount of each linear motor according to the first amplitude of each linear motor; determining the target drive current of each linear motor according to the drive current adjustment amount of each linear motor.

[0062] Wherein, the drive current adjustment amount is used to characterize the adjustment amount and adjustment direction of the corresponding linear motor for the current drive current in the next operation cycle, and the current drive current is the drive current of the corresponding linear motor in the current operation cycle.

[0063] Wherein, the determining the target drive current of each linear motor according to the drive current adjustment amount of each linear motor can specifically be: determining the sum of the current drive current of each linear motor and the drive adjustment amount of each linear motor as the target drive current of each linear motor. For example, it can be: As Figure 1 shown, the current drive current of the first linear motor in the reciprocating electric shaver 100 is IA, the current drive current of the second linear motor is IB, the drive current adjustment amount of the first linear motor is ΔIA, and the drive current adjustment amount of the second linear motor is ΔIB, then the target drive current I1 of the first linear motor = IA + ΔIA, and the target drive current I2 of the second linear motor = IB + ΔIB.

[0064] It can be seen that in this example, the driving current adjustment amount of each linear motor is determined according to the first amplitude of each linear motor, and then the target driving current of each linear motor is determined according to the driving current adjustment amount of each linear motor, so that the driving times of at least two linear motors are the same, the amplitudes are the same, and the moving directions of two adjacent linear motors are opposite, achieving vibration cancellation of the linear vibration device 110, and capable of greatly reducing the noise and vibration of the reciprocating electric shaver 100.

[0065] In a possible embodiment, the determining the driving current adjustment amount of each linear motor according to the first amplitude of each linear motor includes: determining the amplitude difference of each linear motor according to the first amplitude of each linear motor, where the amplitude difference is used to represent the difference in amplitude of the corresponding linear motor relative to the motors other than the corresponding linear motor among the at least two linear motors; obtaining multiple adjustment coefficients corresponding to each linear motor; and determining the driving current adjustment amount of each linear motor according to the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor.

[0066] Among them, the determining the amplitude difference of each linear motor according to the first amplitude of each linear motor, for example, may be: Figure 1 For the reciprocating electric shaver 100 shown, the first amplitude of the first linear motor is A1, and the first amplitude of the second linear motor is A2, then the amplitude difference ΔA between the first linear motor and the second linear motor is A1 - A2.

[0067] Among them, please refer to Figure 6 , Figure 6 which is a schematic flow chart of another control method for a linear vibration device provided by an embodiment of the present application. As Figure 6 shown, the determining the target driving current of each linear motor according to the first amplitude of each linear motor specifically includes the following steps: Step S3311, determining the amplitude difference of each linear motor according to the first amplitude of each linear motor.

[0068] Among them, the amplitude difference is used to represent the difference in amplitude of the corresponding linear motor relative to the motors other than the corresponding linear motor among the at least two linear motors; Step S3312, obtaining multiple adjustment coefficients corresponding to each linear motor.

[0069] Step S3313, determining the driving current adjustment amount of each linear motor according to the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor.

[0070] Step S332: Determine the target drive current of each linear motor according to the drive current adjustment amount of each linear motor.

[0071] It can be seen that in this example, according to the amplitude difference of each linear motor and multiple adjustment coefficients corresponding to each linear motor, the drive current adjustment amount of each linear motor is determined. Then, according to the drive current adjustment amount of each linear motor, the target drive current of each linear motor is determined, so that the drive times of at least two linear motors are consistent, the amplitudes are consistent, and the moving directions of two adjacent linear motors are opposite, realizing the vibration cancellation of the linear vibration device 110, and capable of greatly reducing the noise and vibration of the reciprocating electric shaver 100.

[0072] In a possible embodiment, the multiple adjustment coefficients include a first adjustment coefficient, a second adjustment coefficient, and a third adjustment coefficient. The first adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction force. The second adjustment coefficient is used to characterize the correlation characteristic between the historical cumulative error of the corresponding linear motor and the error adjustment force. The third adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction rate. The determining the drive current adjustment amount of each linear motor according to the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor includes: determining the amplitude correction force of each linear motor according to the amplitude difference of each linear motor and the corresponding first adjustment coefficient; determining the error adjustment force of each linear motor according to the amplitude difference of each linear motor and the corresponding second adjustment coefficient; determining the amplitude correction rate of each linear motor according to the amplitude difference of each linear motor and the corresponding third adjustment coefficient; and determining the drive current adjustment amount of each linear motor according to the amplitude correction force, error adjustment force, and amplitude correction rate of each linear motor.

[0073] Among them, the amplitude correction force is used to correct the deviation of the first amplitude of the corresponding linear motor in the next operation cycle. For example, if the first amplitude of the first linear motor is too large, the amplitude correction force of the first linear motor can indicate that the drive current in the next operation cycle is reduced, so that the amplitude of the first linear motor moves towards the equilibrium direction. The determining the amplitude correction force of each linear motor according to the amplitude difference of each linear motor and the corresponding first adjustment coefficient can specifically be through the following formula:

[0074] Among them, is the amplitude correction force, is the first adjustment coefficient.

[0075] Among them, the error adjustment force is used to eliminate the historical cumulative error of the corresponding linear motor in the next operation cycle. For example, if the first linear motor has a continuously small first amplitude due to running wear, the error adjustment force of the first linear motor can indicate an increase in the drive current in the next operation cycle to balance the error. The error adjustment force of each linear motor is determined according to the amplitude difference of each linear motor and the corresponding second adjustment coefficient, and specifically can be calculated by the following formula:

[0076] Wherein, is the error adjustment force, is the second adjustment coefficient.

[0077] Among them, the amplitude correction rate is used to control the adjustment rate of the drive current in the next operation cycle to suppress inertial shock. For example, when the amplitude of the first linear motor drops rapidly, the amplitude correction rate of the first linear motor can reduce the drive current of the first linear motor to avoid reverse deviation caused by excessive adjustment. The amplitude correction rate of each linear motor is determined according to the amplitude difference of each linear motor and the corresponding third adjustment coefficient, and specifically can be calculated by the following formula:

[0078] Wherein, is the amplitude correction rate, is the third adjustment coefficient.

[0079] Among them, the adjustment amount of the drive current of each linear motor is determined according to the amplitude correction force, error adjustment force and amplitude correction rate of each linear motor, and specifically can be calculated by the following formula:

[0080] It can be seen that in this example, according to the first adjustment coefficient, second adjustment coefficient and third adjustment coefficient of each linear motor, the amplitude correction force, error adjustment force and amplitude correction rate of each linear motor are determined respectively, and then the adjustment amount of the drive current of each linear motor is accurately determined according to the amplitude correction force, error adjustment force and amplitude correction rate, so as to determine the target drive current according to the adjustment amount of the drive current, so that the drive times of at least two linear motors are the same, the amplitudes are the same, and the moving directions of two adjacent linear motors are opposite, realizing the vibration cancellation of the linear vibration device 110, and can greatly reduce the noise and vibration of the reciprocating electric shaver 100.

[0081] Step S340, drive the corresponding linear motor according to the target drive current of each linear motor and the starting time point.

[0082] Among them, driving the corresponding linear motor according to the target driving current of each linear motor and the starting time point may specifically be: driving the corresponding linear motor with the target driving current of each linear motor at the starting time point.

[0083] It can be seen that in this application, the controller obtains the characteristic zero-crossing time point and the first amplitude of each linear motor in at least two linear motors in the current operation cycle; determines the starting time point according to the characteristic zero-crossing time point of each linear motor, and the starting time point is used to represent the start time of the next operation cycle; determines the target driving current of each linear motor according to the first amplitude of each linear motor, and the target driving current is used to represent the current for driving the corresponding linear motor to move in the next operation cycle; drives the corresponding linear motor according to the target driving current and the starting time point of each linear motor. In this way, the starting time point in the next operation cycle is determined according to the characteristic zero-crossing time point of each linear motor in the current operation cycle, and the target driving current of each linear motor in the next operation cycle is determined according to the first amplitude of each linear motor in the current operation cycle, so that the corresponding linear motor can be driven according to the starting time point and the target driving current of each linear motor, making the driving times of at least two linear motors consistent, the amplitudes consistent, and the movement directions of two adjacent linear motors opposite, realizing the vibration cancellation of the linear vibration device 110, and capable of greatly reducing the noise and vibration of the reciprocating electric shaver 100.

[0084] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order for the controller to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combined with the units and algorithm steps of each example described in the embodiments provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware 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 present application.

[0085] Consistent with the above-described embodiments, please refer to Figure 7 , Figure 7 which is a block diagram of the functional unit composition of a control system of a linear vibration device provided by an embodiment of the present application, as Figure 7As shown, the control system 700 of the linear vibration device includes: a first receiving unit 701, configured to obtain the characteristic zero-crossing time points and the first amplitudes of each of the at least two linear motors in the current operating cycle; a first processing unit 702, configured to determine a starting time point according to the characteristic zero-crossing time points of each of the linear motors, where the starting time point is used to represent the start time of the next operating cycle; determine the target drive current of each of the linear motors according to the first amplitudes of each of the linear motors, where the target drive current is used to represent the current for driving the corresponding linear motor to move in the next operating cycle; and drive the corresponding linear motor according to the target drive current of each of the linear motors and the starting time point.

[0086] In a possible embodiment, the control system 700 of the linear vibration device is further configured to: obtain the peak value of the induced electromotive force, the magnetic induction intensity, and the effective length of the coil of each of the linear motors; determine the maximum speed of the vibrator of each of the linear motors according to the peak value of the induced electromotive force, the magnetic induction intensity, and the effective length of the coil of each of the linear motors; and determine the first amplitude of each of the linear motors according to the maximum speed of the vibrator of each of the linear motors and the natural frequency of each of the linear motors.

[0087] In a possible embodiment, in terms of determining the starting time point according to the characteristic zero-crossing time points of each of the linear motors, the first processing unit 702 is specifically configured to: determine the average zero-crossing time according to the characteristic zero-crossing time points of each of the linear motors; and determine the starting time point by using the average zero-crossing time.

[0088] In a possible embodiment, in terms of determining the starting time point according to the characteristic zero-crossing time points of each of the linear motors, the first processing unit 702 is specifically configured to: obtain the assembly information of each of the linear motors, where the assembly information is used to represent the situation of the corresponding linear motor assembling the tool head; determine the main motor among the at least two linear motors according to the assembly information; and determine the characteristic zero-crossing time point of the main motor as the starting time point.

[0089] In a possible embodiment, in terms of determining the target drive current of each of the linear motors according to the first amplitudes of each of the linear motors, the first processing unit 702 is specifically configured to: determine the drive current adjustment amount of each of the linear motors according to the first amplitudes of each of the linear motors; and determine the target drive current of each of the linear motors according to the drive current adjustment amount of each of the linear motors.

[0090] In a possible embodiment, in determining the driving current adjustment amount of each linear motor according to the first amplitude of each linear motor, the first processing unit 702 is specifically configured to: determine the amplitude difference of each linear motor according to the first amplitude of each linear motor, where the amplitude difference is used to characterize the difference in amplitude of the corresponding linear motor relative to the motors other than the corresponding linear motor among the at least two linear motors; obtain a plurality of adjustment coefficients corresponding to each linear motor; and determine the driving current adjustment amount of each linear motor according to the amplitude difference of each linear motor and the plurality of adjustment coefficients corresponding to each linear motor.

[0091] In a possible embodiment, the plurality of adjustment coefficients include a first adjustment coefficient, a second adjustment coefficient, and a third adjustment coefficient. The first adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction force, the second adjustment coefficient is used to characterize the correlation characteristic between the historical cumulative error of the corresponding linear motor and the error adjustment force, and the third adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction rate. In determining the driving current adjustment amount of each linear motor according to the amplitude difference of each linear motor and the plurality of adjustment coefficients corresponding to each linear motor, the first processing unit 702 is specifically configured to: determine the amplitude correction force of each linear motor according to the amplitude difference of each linear motor and the corresponding first adjustment coefficient; determine the error adjustment force of each linear motor according to the amplitude difference of each linear motor and the corresponding second adjustment coefficient; determine the amplitude correction rate of each linear motor according to the amplitude difference of each linear motor and the corresponding third adjustment coefficient; and determine the driving current adjustment amount of each linear motor according to the amplitude correction force, the error adjustment force, and the amplitude correction rate of each linear motor.

[0092] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be elaborated here.

[0093] In the case of adopting an integrated unit, as Figure 8 shown, Figure 8 is a functional unit composition block diagram of another control system of a linear vibration device provided by an embodiment of the present application. In Figure 8In it, the control system 700 of the linear vibration device includes: a processing module 812 and a communication module 811. The processing module 812 is used to control and manage the operation of the control system 700 of the linear vibration device. For example, it executes the steps of the first receiving unit 701 and the first processing unit 702, and / or is used to execute other processes of the technologies described herein. The communication module 811 is used to support the interaction between a control system 700 of a linear vibration device and other devices. As Figure 8 shown, the control system 700 of the linear vibration device may further include a storage module 813, and the storage module 813 is used to store the program code and data of the control system 700 of the linear vibration device.

[0094] Among them, the processing module 812 may be a processor or a controller. For example, it may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication module 811 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 813 may be a memory.

[0095] Among them, all relevant contents of each scenario involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be repeated here. The above control system 700 of the linear vibration device can all execute the above Figure 3 shown control method of the linear vibration device.

[0096] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more collections of available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0097] Figure 9 is a block diagram of a controller provided by an embodiment of the present application. As Figure 9 shown, the controller 120 may include one or more of the following components: a processor 210, and a memory 220 coupled to the processor 210. The memory 220 may store one or more computer programs 221, and the one or more computer programs 221 may be configured to implement the methods described in the above embodiments when executed by one or more processors 210.

[0098] The processor 210 may include one or more processing cores. The processor 210 connects various parts within the entire controller 120 through various interfaces and circuits. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 220, and by invoking data stored in the memory 220, it performs various functions of the controller 120 and processes data. Optionally, the processor 210 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 210 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the displayed content; the modem is used to process wireless communications. It can be understood that the above modem may not be integrated into the processor 210 and may be implemented separately through a communication chip.

[0099] The memory 220 may include random access memory (RAM) and may also include read-only memory (ROM). The memory 220 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 220 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above various method embodiments, etc. The data storage area can also store data created by the controller 120 during use.

[0100] It can be understood that the controller 120 may include more or fewer structural elements than those in the above structural block diagram, which is not limited herein. An embodiment of the present application provides a computer-readable storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps of the method according to any possible embodiment are implemented.

[0101] It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0102] In several embodiments provided by the present application, it should be understood that the disclosed methods, devices, and systems can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for example, the division of the units is only a logical function division, and there can be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0103] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can be physically included separately, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0105] The integrated unit implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drive, mobile hard disk, magnetic disk, optical disc, volatile memory, or non-volatile memory. Among them, the non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and directrambus RAM (DR RAM), etc., all of which are various media that can store program code.

[0106] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, all within the protection scope of the present invention.

Claims

1. A control method for a linear vibration device, characterized in that, The linear vibration device includes at least two linear motors, and the method includes: Obtaining the characteristic zero-crossing time points and the first amplitudes of each of the at least two linear motors in the current operation cycle; Determining a starting time point according to the characteristic zero-crossing time points of each of the linear motors, where the starting time point is used to represent the start time of the next operation cycle; Determining a target drive current for each of the linear motors according to the first amplitudes of each of the linear motors, where the target drive current is used to represent the current for driving the corresponding linear motor to move in the next operation cycle; Driving the corresponding linear motor according to the target drive current of each of the linear motors and the starting time point.

2. The method according to claim 1, characterized in that, The determining the target drive current for each of the linear motors according to the first amplitudes of each of the linear motors includes: Determining a drive current adjustment amount for each of the linear motors according to the first amplitudes of each of the linear motors; Determining the target drive current for each of the linear motors according to the drive current adjustment amount of each of the linear motors.

3. The method according to claim 1, characterized in that The determining the starting time point according to the characteristic zero-crossing time points of each of the linear motors includes: Determining an average zero-crossing time according to the characteristic zero-crossing time points of each of the linear motors; Determining the average zero-crossing time as the starting time point of each of the linear motors.

4. The method according to claim 1, characterized in that, The determining the starting time point according to the characteristic zero-crossing time points of each of the linear motors includes: Obtaining the assembly information of each of the linear motors, where the assembly information is used to represent the load condition of the corresponding linear motor; Determining a main motor among the at least two linear motors according to the assembly information; Determining the characteristic zero-crossing time point of the main motor as the starting time point of each of the linear motors.

5. The method according to claim 2, wherein The determining the drive current adjustment amount for each of the linear motors according to the first amplitudes of each of the linear motors includes: Determining an amplitude difference for each of the linear motors according to the first amplitude of each of the linear motors, where the amplitude difference is used to represent the difference in amplitude of the corresponding linear motor relative to the amplitudes of the linear motors other than the corresponding linear motor among the at least two linear motors; Obtaining a plurality of adjustment coefficients corresponding to each of the linear motors; Determining the drive current adjustment amount for each of the linear motors according to the amplitude difference of each of the linear motors and the plurality of adjustment coefficients corresponding to each of the linear motors.

6. The method according to claim 5, characterized in that, The plurality of adjustment coefficients include a first adjustment coefficient, a second adjustment coefficient, and a third adjustment coefficient. The first adjustment coefficient is used to represent the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction force, the second adjustment coefficient is used to represent the correlation characteristic between the historical cumulative error of the corresponding linear motor and the error adjustment force, and the third adjustment coefficient is used to represent the correlation characteristic between the amplitude difference of the corresponding linear motor and the amplitude correction rate. The determining the drive current adjustment amount for each of the linear motors according to the amplitude difference of each of the linear motors and the plurality of adjustment coefficients corresponding to each of the linear motors includes: Determining the amplitude correction force for each of the linear motors according to the amplitude difference of each of the linear motors and the corresponding first adjustment coefficient; Determine the error adjustment force of each linear motor according to the amplitude difference of each linear motor and the corresponding second adjustment coefficient; Determine the amplitude correction rate of each linear motor according to the amplitude difference of each linear motor and the corresponding third adjustment coefficient; Determine the drive current adjustment amount of each linear motor according to the amplitude correction force, error adjustment force and amplitude correction rate of each linear motor.

7. The method according to any one of claims 1-6, characterized in that, The method for obtaining the first amplitude of each linear motor includes the following steps: Obtain the induced electromotive force of each linear motor; Determine the first amplitude of each linear motor according to the induced electromotive force of each linear motor.

8. A control system for a linear vibration device, characterized in that, The linear vibration device includes at least two linear motors, and the system includes: A first receiving unit, configured to obtain the characteristic zero-crossing time point and the first amplitude of each linear motor among the at least two linear motors in the current operation cycle; A first processing unit, configured to determine a starting time point according to the characteristic zero-crossing time point of each linear motor, where the starting time point is used to represent the start time of the next operation cycle; determine the target drive current of each linear motor according to the first amplitude of each linear motor, where the target drive current is used to represent the current for driving the corresponding linear motor to move in the next operation cycle; drive the corresponding linear motor according to the target drive current of each linear motor and the starting time point.

9. A controller, characterized in that, Comprising a processor, a memory, and one or more programs, the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for performing the steps in the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, On which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1-7 are implemented.

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