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

Abstract

A control method, system, controller, and storage medium for a linear vibration device are disclosed. The method obtains the characteristic zero-crossing moment and first amplitude of each of at least two linear motors in a current operating cycle; determines a starting moment based on the characteristic zero-crossing moment of each linear motor; determines a target drive current for each linear motor based on the first amplitude of each linear motor; and drives the corresponding linear motor based on the target drive current and starting moment of each linear motor. The present application determines the starting moment and target drive current for the next operating cycle based on the characteristic zero-crossing moment and first amplitude of each linear motor in the current operating cycle, thereby driving the corresponding linear motor based on the starting moment and the target drive current of each linear motor. This achieves drive time synchronization and drive amplitude synchronization for the linear motors, reducing noise and vibration in a reciprocating electric shaver.

Description

Technical Field

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

[0002] To improve shaving efficiency, reciprocating electric shavers typically use multiple blade heads. In related art, shaving efficiency is improved by having each linear motor drive two or more blade heads to perform reciprocating motion. However, since the number and weight of blade heads driven by each linear motor are likely to be different, the drive timing and drive amplitude of each linear motor are not synchronized, resulting in excessive noise and vibration. Therefore, how to synchronize the drive timing and drive amplitude of multiple linear motors and reduce the noise and vibration of reciprocating electric shavers has become a technical problem that needs to be further solved. Summary of the Invention

[0003] The present application proposes a control method, system, controller, and storage medium for a linear vibration device to address the problem of excessive noise and vibration caused by asynchronous driving timing and driving amplitude of each of at least two linear motors. The method achieves synchronization of the driving timing and driving amplitude of at least two linear motors, thereby reducing the noise and vibration of a reciprocating electric shaver.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling a linear vibration device, wherein the linear vibration device includes at least two linear motors, the method comprising:

[0005] Obtaining a characteristic zero-crossing time point and a first amplitude of each of the at least two linear motors in a current operation cycle;

[0006] Determining a starting time point according to a characteristic zero-crossing time point of each linear motor, wherein the starting time point is used to represent a start time of a next operation cycle;

[0007] determining a target driving current of each linear motor according to the first amplitude of each linear motor, wherein the target driving current is used to represent a current that drives the corresponding linear motor to move in the next operation cycle;

[0008] The corresponding linear motor is driven according to the target driving current of each linear motor and the starting time point.

[0009] In a possible embodiment, determining the target driving current of each linear motor according to the first amplitude of each linear motor includes:

[0010] determining a driving current adjustment amount of each linear motor according to the first amplitude of each linear motor;

[0011] The target driving current of each linear motor is determined according to the driving current adjustment amount of each linear motor.

[0012] In a possible embodiment, determining the starting time point according to the characteristic zero-crossing time point of each linear motor includes:

[0013] Determine a zero-crossing time average value according to the characteristic zero-crossing time point of each linear motor;

[0014] The average value of the zero-crossing time is determined as the starting time point of each linear motor.

[0015] In a possible embodiment, determining the starting time point according to the characteristic zero-crossing time point of each linear motor includes:

[0016] Acquire assembly information of each linear motor, where the assembly information is used to characterize a load condition of the corresponding linear motor;

[0017] determining a main motor among the at least two linear motors according to the assembly information;

[0018] The characteristic zero-crossing time point of the main motor is determined as the starting time point of each linear motor.

[0019] In a possible embodiment, determining the drive current adjustment amount of each linear motor according to the first amplitude of each linear motor includes:

[0020] determining an amplitude difference of each linear motor according to the first amplitude of each linear motor, wherein the amplitude difference is used to represent a difference in amplitude of the corresponding linear motor relative to an amplitude of a motor other than the corresponding linear motor among the at least two linear motors;

[0021] Obtaining a plurality of adjustment coefficients corresponding to each linear motor;

[0022] The driving current adjustment amount of each linear motor is determined according to the amplitude difference of each linear motor and a plurality of adjustment coefficients corresponding to each linear motor.

[0023] 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 and the amplitude correction force of the corresponding linear motor. The second adjustment coefficient is used to characterize the correlation characteristic between the historical accumulated error and the error adjustment force of the corresponding linear motor. The third adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference and the amplitude correction rate of the corresponding linear motor. Determining the drive current adjustment amount of each linear motor based on the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor includes:

[0024] determining an amplitude correction force of each linear motor according to the amplitude difference of each linear motor and a corresponding first adjustment coefficient;

[0025] determining an error adjustment force of each linear motor according to the amplitude difference of each linear motor and a corresponding second adjustment coefficient;

[0026] determining an amplitude correction rate of each linear motor according to the amplitude difference of each linear motor and a corresponding third adjustment coefficient;

[0027] The driving current adjustment amount of each linear motor is determined according to the amplitude correction force, the error adjustment force and the amplitude correction rate of each linear motor.

[0028] In a possible embodiment, the method for obtaining the first amplitude of each linear motor includes the following steps:

[0029] Obtaining the induced electromotive force of each linear motor;

[0030] A first amplitude of each linear motor is determined according to an induced electromotive force of each linear motor.

[0031] In a second aspect, an embodiment of the present application provides a control system for a linear vibration device, wherein the linear vibration device includes at least two linear motors, and the system includes:

[0032] a first receiving unit, configured to obtain a characteristic zero-crossing moment and a first amplitude of each of the at least two linear motors in a current operation cycle;

[0033] The first processing unit is configured to determine a starting time point based on a characteristic zero-crossing time point of each linear motor, the starting time point being used to represent a start time of a next operating cycle; determine a target drive current for each linear motor based on a first amplitude of each linear motor, the target drive current being used to represent a current that drives the corresponding linear motor to move in the next operating cycle; and drive the corresponding linear motor based on the target drive current of each linear motor and the starting time point.

[0034] In a third aspect, an embodiment of the present application provides a controller comprising a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the method described in any one of the first aspects.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements part or all of the steps of the method described in any one of the first aspects of the embodiment of the present application.

[0037] As can be seen, in the present application, the linear vibration device includes at least two linear motors, obtains a characteristic zero-crossing time point and a first amplitude for each of the at least two linear motors in a current operating cycle; determines a starting time point based on the characteristic zero-crossing time point of each linear motor, the starting time point being used to represent the start time of the next operating cycle; determines a target drive current for each linear motor based on the first amplitude of each linear motor, the target drive current being used to represent the current that drives the corresponding linear motor to move in the next operating cycle; and drives the corresponding linear motor based on the target drive current and the starting time point. In this way, the starting time point for the next operating cycle is determined based on the characteristic zero-crossing time point of each linear motor in the current operating cycle, and the target drive current for each linear motor in the next operating cycle is determined based on the first amplitude of each linear motor in the current operating cycle. Thus, the corresponding linear motors can be driven based on the starting time point and the target drive current of each linear motor, ensuring that the driving time and amplitude of the at least two linear motors are consistent, significantly reducing the noise and vibration of the linear vibration device, and thereby reducing the noise and vibration of the reciprocating electric shaver. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] Figure 1 This is a schematic structural diagram of a reciprocating electric head shaver provided in an embodiment of the present application;

[0040] Figure 2 This is a schematic structural diagram of a controller in a reciprocating electric shaver provided in an embodiment of the present application;

[0041] Figure 3 1 is a flow chart of a method for controlling a linear vibration device provided in an embodiment of the present application;

[0042] Figure 4 is a graph showing the displacement of a vibrator of a linear motor as a function of time provided in an embodiment of the present application;

[0043] Figure 5 is a graph showing the displacement of a vibrator of another linear motor provided in an embodiment of the present application over time;

[0044] Figure 6 1 is a flow chart of another method for controlling a linear vibration device provided in an embodiment of the present application;

[0045] Figure 7 This is a block diagram of the functional units of a control system of a linear vibration device provided in an embodiment of the present application;

[0046] Figure 8 This is a block diagram of the functional units of a control system of another linear vibration device provided in an embodiment of the present application;

[0047] Figure 9 This is a structural block diagram of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0050] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0051] In the embodiments of this application, "and / or" describes the relationship between 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; and B exists alone. A and B can be singular or plural.

[0052] In the embodiments of the present application, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. In addition, the symbol " / " can also represent a division sign, that is, performing a division operation. For example, A / B can mean A divided by B.

[0053] In the embodiments of the present application, "at least one item" or similar expressions refers to any combination of these items, including any combination of single items or plural items, and refers to one or more, and multiple refers to two or more. For example, at least one item (item) of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0054] In the embodiments of this application, "equal to" can be used in conjunction with "greater than" and is applicable to the technical solution adopted when "greater than" is used, and can also be used in conjunction with "less than" and is applicable to the technical solution adopted when "less than" is used. When "equal to" is used in conjunction with "greater than", it should not be used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it should not be used in conjunction with "greater than".

[0055] In order to better understand the solutions of the embodiments of the present application, the terminal devices, related concepts and backgrounds that may be involved in the embodiments of the present application are first introduced below.

[0056] (1) Zero-crossing moment: 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 process of change, and its value passes through zero.

[0057] (2) Amplitude: The maximum distance that the vibrator (also called the mover) of the linear motor deviates from the equilibrium position when it makes reciprocating motion. During the operation of a reciprocating electric shaver, after the linear motor is powered on, the vibrator drives the cutter head to make high-frequency reciprocating motion to shave the beard. Generally speaking, a suitable amplitude can allow the cutter head to better contact the beard, cut the beard more effectively, and improve the cleanliness of the shave. If the amplitude is too large, the reciprocating electric shaver will produce loud noise and strong vibration during operation, which may cause numbness and discomfort in the hand, affecting the comfort of holding; if the amplitude is too small, the cutter head will not move enough, which may make it difficult to shave hard or long beards, reducing the shaving effect.

[0058] To improve shaving efficiency, reciprocating electric shavers typically use two or more motors to drive multiple cutter heads for shaving. In related art, shaving efficiency is improved by having 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 likely to be different, the driving time and driving amplitude of each linear motor are not synchronized, resulting in excessive noise and vibration. Therefore, how to synchronize the driving time and driving amplitude of multiple linear motors and reduce the noise and vibration of reciprocating electric shavers has become a technical problem that needs to be further solved.

[0059] To address the aforementioned issues, embodiments of the present application provide a control method, system, controller, and storage medium for a linear vibration device comprising at least two linear motors for use in a reciprocating electric shaver. The method determines the starting time point of the next operating cycle based on 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 based on the first amplitude of each linear motor in the current operating cycle. This method drives the corresponding linear motors based on the starting time point and the target drive current of each linear motor, ensuring that the drive times and amplitudes of at least two linear motors are consistent, and that adjacent linear motors move in opposite directions. This achieves vibration cancellation in the linear vibration device and significantly reduces the noise and vibration of the reciprocating electric shaver.

[0060] See also Figure 1 , Figure 1 Schematic diagram of the structure of a reciprocating electric shaver provided in the embodiment of the present application. Figure 1As shown, a reciprocating electric shaver 100 includes a linear vibration device 110, a controller 120, and a plurality of cutting heads 130. The linear vibration device 110 includes at least two linear motors, which 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, and the plurality of cutting heads 130 are connected to the at least two linear motors, which drive the plurality of cutting heads 130 to move. The controller 120 may be a single controller or a controller group consisting of multiple controllers.

[0061] Each linear motor includes a driver 201 and a vibrator 202. The driver 201 may include a winding, and the vibrator 202 may include a permanent magnet. In this example, when a driving 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 driving time and amplitude of the two linear motors consistent and the movement directions of the vibrators 202 of the two linear motors opposite, the vibrations of the two linear motors are offset, thereby effectively reducing noise and vibration.

[0062] The number of cutting 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 two linear motors drive different numbers of cutting heads 130. One of the linear motors drives one cutting head 130, and this linear motor is designated as the first linear motor. The other linear motor drives two cutting heads 130, and this linear motor is designated as the second linear motor.

[0063] During daily use of the reciprocating electric shaver 100, the controller 120 obtains the characteristic zero-crossing time point and the first amplitude of each linear motor of at least two linear motors in the current operating cycle; determines the starting time point based on 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 operating cycle; determines the target drive current of each linear motor based on the first amplitude of each linear motor, and the target drive current is used to represent the current that drives the corresponding linear motor to move in the next operating cycle; and drives the corresponding linear motor based on the target drive current and the starting time point of each linear motor.

[0064] See also Figure 2 , Figure 2 Schematic diagram of the structure of a controller in a reciprocating electric shaver provided in an embodiment of the present application. Figure 2As shown, the controller 120 includes a processor 210 and a memory 220, and the processor 210 is in communication with the memory 220. The memory 220 stores one or more programs, 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 point and first amplitude of each of at least two linear motors in the current operating cycle; determine the starting time point based on 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 operating cycle; determine the target drive current of each linear motor based on the first amplitude of each linear motor, and the target drive current is used to represent the current that drives the corresponding linear motor to move in the next operating cycle; and drive the corresponding linear motor based on the target drive current and the starting time point of each linear motor.

[0065] The following describes a control method for a linear vibration device provided by an embodiment of the present application.

[0066] See also Figure 3 , Figure 3 This is a flow chart of a control method for a linear vibration device provided by an embodiment of the present application, which is applied to Figure 1 The controller 120 in the reciprocating electric shaver 100 shown in the figure comprises a linear vibration device 110, a controller 120 and a plurality of cutter heads 130, wherein the linear vibration device 110 comprises at least two linear motors, the at least two linear motors are in communication with 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 consisting of a plurality of controllers. Figure 3 As shown, the method includes the following steps:

[0067] Step S310 , obtaining a characteristic zero-crossing time point and a first amplitude of each of the at least two linear motors in a current operation cycle.

[0068] Each operating cycle includes a power-on phase and a power-off detection phase. The power-on phase is the phase in which the linear motor's driver 201 windings are energized and the vibrator 202 is driven to vibrate by electromagnetic force. The power-off detection phase is the phase in which the linear motor detects the induced electromotive force generated by the driver 201 windings after power is off. During the power-off detection phase, the vibrator 202 moves without the electromagnetic force of the driver 201. The driver 201 with the windings and the vibrator 202 with the permanent magnets move relative to each other, generating an induced electromotive force. The induced electromotive force generated by the driver 201 windings has a linear relationship with the operating status of the vibrator 202. Therefore, the induced electromotive force can be used to characterize the operating status of the vibrator 202 and provide a power-on reference for the next operating cycle.

[0069] Wherein, each operating cycle includes at least one vibration cycle in the vibration process of the linear motor, that is to say, each operating cycle can include one vibration cycle of the linear motor, and can also include more than two vibration cycles, and can be specifically set according to actual conditions. After the winding of the driver 201 is energized, it drives the corresponding vibrator 202 to perform reciprocating linear vibration, and the vibrator 202 moves from one end of the vibration route to the other end, and operates after the endpoint turns. Therefore, the change of the operating cycle can be determined by detecting the time point when the vibrator 202 turns at the endpoint of the vibration route. Specifically, a power-off detection phase can be set in the operating cycle of the linear motor. In the power-off detection phase, the vibrator 202 moves to the endpoint of the vibration route. 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 is reduced to zero, it indicates that the vibrator has moved to the end position of the vibration route, the speed is zero and it turns, and the corresponding time point is the zero-crossing moment.

[0070] In each vibration cycle, the vibrator 202 moves to the vibration route endpoint twice, and produces two zero-crossing time points. Therefore, according to the number of vibration cycles included in each operating cycle, characteristic zero-crossing time points can be obtained at preset intervals. For example, when each operating cycle includes one vibration cycle, within this operating cycle, the vibrator 202 moves to the vibration route endpoint twice, and has two zero-crossing time points. Zero-crossing time points are obtained in an order spaced once as characteristic zero-crossing time points. When each operating cycle includes two vibration cycles, within this operating cycle, the vibrator 202 moves to the vibration route endpoint four times, and has four zero-crossing time points. Zero-crossing time points are obtained in an order spaced three times as characteristic zero-crossing time points. In summary, each operating cycle includes at least one vibration cycle in the linear motor vibration process, and the acquisition method of the characteristic zero-crossing time point of each linear motor is: collect the zero-crossing time points of each linear motor in the current operating cycle, and according to the number of vibration cycles included in each operating cycle, obtain the zero-crossing time points in an order spaced three times as characteristic zero-crossing time points.

[0071] The first amplitude is used to represent the amplitude of the vibrator of the corresponding linear motor in the current operation cycle. The first amplitude can be obtained during a power failure detection phase of the current operation cycle.

[0072] In a possible embodiment, the method for acquiring the first amplitude of each linear motor includes the following steps: acquiring the induced electromotive force of each linear motor; and determining the first amplitude of each linear motor according to the induced electromotive force of each linear motor.

[0073] There is a linear relationship between the peak value and amplitude of the induced electromotive force of each linear motor. Determining the first amplitude of each linear motor based on the induced electromotive force of each linear motor can specifically include obtaining the peak value of the induced electromotive force of the linear motor and determining the first amplitude of each linear motor based on the peak value and the linear relationship of the induced electromotive force of each linear motor. The first amplitude of the linear motor can be quickly determined based on the peak value and linear relationship of the induced electromotive force. The peak value of the induced electromotive force is used to represent the maximum instantaneous value of the back electromotive force of the corresponding linear motor during the current operating cycle.

[0074] As can be seen, in this example, the first amplitude of each linear motor is determined by the induced electromotive force of each linear motor. This allows the first amplitude of each linear motor in its current operating cycle to be accurately determined, thereby determining the target drive current for each linear motor. This ensures that the drive timing and amplitude of at least two linear motors are consistent, and that adjacent linear motors move in opposite directions. This achieves vibration cancellation in the linear vibrating device 110, significantly reducing the noise and vibration of the reciprocating electric shaver 100.

[0075] Step S320: determining a starting time point according to the characteristic zero-crossing time point of each linear motor.

[0076] The starting time point is used to represent the start time of the next operation cycle.

[0077] In a possible embodiment, determining the starting time point based on the characteristic zero-crossing time point of each linear motor includes: determining an average value of the zero-crossing time points based on the characteristic zero-crossing time points of each linear motor; and determining the starting time point based on the average value of the zero-crossing time points.

[0078] Wherein, the determination of the average value of the zero-crossing time according to the characteristic zero-crossing time of each linear motor may specifically be: determining the average value of the characteristic zero-crossing time of each linear motor as the average value of the zero-crossing time. For example, it may be: Figure 1 The starting time point T of the linear vibration device 110 in the reciprocating electric shaver 100 is (T1+T2) / 2. is the characteristic zero-crossing time point of the first linear motor, is the characteristic zero-crossing time point of the second linear motor.

[0079] For example, see Figure 4 , Figure 4 : is a graph showing the displacement of a vibrator of a linear motor provided by an embodiment of the present application over time. Figure 4 As shown, the solid line is a graph showing the displacement of the vibrator of the first linear motor changing with time, and the dotted line is a graph showing the displacement of the vibrator of the second linear motor changing 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. The starting time points of the next operating cycle of the first and second linear motors are both T3, where T3 is (T1+T2) / 2.

[0080] It can be seen that in this example, the average value of the characteristic zero-crossing time point of each linear motor is determined 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, even when the cutter heads are not assembled, the starting time point of the power-on of the next operating cycle can be adjusted in real time. There is no need to judge the quality of the assembled cutter heads, and the problem of phase asynchrony caused by the difference in motor quality and cutter head quality can be avoided, thereby achieving synchronization of drive time and drive amplitude, and significantly reducing the noise and vibration of the reciprocating electric shaver 100.

[0081] In a possible embodiment, determining the starting time point based on the characteristic zero-crossing time point of each linear motor includes: obtaining assembly information of each linear motor, where the assembly information is used to characterize the load condition of the corresponding linear motor; determining a main motor among the at least two linear motors based on the assembly information; and determining the characteristic zero-crossing time point of the main motor as the starting time point.

[0082] The assembly information includes the load condition of the corresponding linear motor, such as the number and mass of the tool heads assembled to the linear motor. The assembly information may also include the mass of the linear motor itself.

[0083] Among them, determining the main motor among the at least two linear motors according to the assembly information can specifically be: determining the total mass of each linear motor and the corresponding load according to the assembly information, the total mass being the sum of the corresponding linear motor's own mass and the mass of the assembled cutter head; and determining the motor with the largest total mass as the main motor.

[0084] Among them, the motors other than the master motor among the at least two linear motors are slave motors.

[0085] Wherein, the characteristic zero-crossing time point of the main motor is determined as the starting time point, for example, it can be: Figure 1 The main motor in the reciprocating electric shaver 100 shown is the second linear motor. When the first linear motor drives the two cutter heads, the starting time point is the characteristic zero-crossing time point of the second linear motor.

[0086] The master motor and the slave motor can also be directly set and changed by manual operation.

[0087] For example, see Figure 5 , Figure 5 : is a graph showing the displacement of another linear motor vibrator as a function of time provided in an embodiment of the present application. Figure 5 As shown, the solid line is a graph showing the displacement of the vibrator of the first linear motor changing with time, and the dotted line is a graph showing the displacement of the vibrator of the second linear motor changing with time. The sum of the mass of the first linear motor and the mass of the tool head installed thereon is less than the sum of the mass of the second linear motor and the mass of the tool head installed thereon, that is, the second linear motor is the main motor. 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. Therefore, the starting time points of the next operating cycle of the first linear motor and the second linear motor are both T2.

[0088] It can be seen that in this example, by determining the main motor of at least two linear motors and determining the characteristic zero-crossing moment of the main motor as the starting moment, when the main motor starts the next operating cycle, the slave motor can also be in a state capable of starting the next operating cycle, thereby achieving drive time synchronization and drive amplitude synchronization, and significantly reducing the noise and vibration of the reciprocating electric shaver 100; and when multiple blade heads are assembled on at least two linear motors in a fixed structure, the calculation amount for determining the starting moment is small and the response speed is faster.

[0089] Step S330 : determining a target driving current of each linear motor according to the first amplitude of each linear motor.

[0090] The target driving current is used to represent the current that drives the corresponding linear motor to move in the next operation cycle.

[0091] The target driving current is positively correlated with the amplitude of the corresponding linear motor in the next operation cycle.

[0092] In a possible embodiment, 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; and determining the target driving current of each linear motor according to the driving current adjustment amount of each linear motor.

[0093] The drive current adjustment amount is used to represent the adjustment amount and adjustment direction of the current drive current required by the corresponding linear motor in the next operation cycle. The current drive current is the drive current of the corresponding linear motor in the current operation cycle.

[0094] The target driving current of each linear motor is determined based on the driving current adjustment amount of each linear motor, specifically by determining the sum of the current driving current of each linear motor and the driving adjustment amount of each linear motor as the target driving current of each linear motor. Figure 1 In the reciprocating electric shaver 100 shown, the current driving current of the first linear motor is IA, the current driving current of the second linear motor is IB, the driving current adjustment amount of the first linear motor is ΔIA, and the driving current adjustment amount of the second linear motor is ΔIB. Then, the target driving current I1 of the first linear motor is IA+ΔIA, and the target driving current I2 of the second linear motor is IB+ΔIB.

[0095] It can be seen that in this example, the drive current adjustment amount of each linear motor is determined according to the first amplitude of each linear motor, and thus the target drive current of each linear motor is determined according to the drive current adjustment amount of each linear motor, so that the drive time and amplitude of at least two linear motors are consistent, and the movement directions of the two adjacent linear motors are opposite, thereby achieving vibration cancellation of the linear vibration device 110 and significantly reducing the noise and vibration of the reciprocating electric shaver 100.

[0096] In a possible embodiment, determining the drive current adjustment amount of each linear motor based on the first amplitude of each linear motor includes: determining an amplitude difference of each linear motor based on the first amplitude of each linear motor, the amplitude difference being used to represent a difference in amplitude of the corresponding linear motor relative to an amplitude of a motor 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 drive current adjustment amount of each linear motor based on the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor.

[0097] Wherein, the amplitude difference of each linear motor is determined according to the first amplitude of each linear motor, for example, can be: Figure 1 In 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.

[0098] Among them, see Figure 6 , Figure 6 FIG. 1 is a flow chart of another control method of a linear vibration device provided in an embodiment of the present application. Figure 6 As shown, determining the target driving current of each linear motor according to the first amplitude of each linear motor specifically includes the following steps:

[0099] Step S3311 : determining the amplitude difference of each linear motor according to the first amplitude of each linear motor.

[0100] The amplitude difference is used to represent a difference in amplitude between the corresponding linear motor and the motor other than the corresponding linear motor among the at least two linear motors;

[0101] Step S3312: Acquire multiple adjustment coefficients corresponding to each linear motor.

[0102] Step S3313 : determining a driving current adjustment amount of each linear motor according to the amplitude difference of each linear motor and a plurality of adjustment coefficients corresponding to each linear motor.

[0103] Step S332 : determining a target driving current of each linear motor according to the driving current adjustment amount of each linear motor.

[0104] It can be seen that in this example, the drive current adjustment amount of each linear motor is determined based on the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor, and thus the target drive current of each linear motor is determined based on the drive current adjustment amount of each linear motor, so that the drive time and amplitude of at least two linear motors are consistent, and the movement directions of the two adjacent linear motors are opposite, thereby achieving vibration cancellation of the linear vibration device 110, and significantly reducing the noise and vibration of the reciprocating electric shaver 100.

[0105] 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 a correlation characteristic between an amplitude difference and an amplitude correction force of a corresponding linear motor. The second adjustment coefficient is used to characterize a correlation characteristic between a historical accumulated error and an error adjustment force of the corresponding linear motor. The third adjustment coefficient is used to characterize a correlation characteristic between an amplitude difference and an amplitude correction rate of the corresponding linear motor. Determining the drive current adjustment amount of each linear motor based on 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 based on the amplitude difference of each linear motor and the corresponding first adjustment coefficient; determining the error adjustment force of each linear motor based on the amplitude difference of each linear motor and the corresponding second adjustment coefficient; determining the amplitude correction rate of each linear motor based on the amplitude difference of each linear motor and the corresponding third adjustment coefficient; and determining the drive current adjustment amount of each linear motor based on the amplitude correction force, error adjustment force, and amplitude correction rate of each linear motor.

[0106] The amplitude correction force is used to correct the deviation of the first amplitude of the corresponding linear motor in the next operating 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 driving current in the next operating cycle is reduced, so that the amplitude of the first linear motor moves toward the equilibrium direction. The amplitude correction force of each linear motor is determined based on the amplitude difference of each linear motor and the corresponding first adjustment coefficient. Specifically, the following formula can be used:

[0107]

[0108] in, is the amplitude-corrected force, is the first adjustment coefficient.

[0109] The error adjustment force is used to eliminate the historical accumulated error of the corresponding linear motor in the next operating cycle. For example, if the first amplitude of the first linear motor is continuously too small due to operating wear, the error adjustment force of the first linear motor can indicate that the drive current in the next operating cycle is increased to balance the error. The error adjustment force of each linear motor is determined based on the amplitude difference of each linear motor and the corresponding second adjustment coefficient. Specifically, the following formula can be used:

[0110]

[0111] in, is the error adjustment force, is the second adjustment coefficient.

[0112] The amplitude correction rate is used to control the adjustment rate of the drive current in the next operating cycle to suppress inertial impact. For example, if the amplitude of the first linear motor decreases 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 based on the amplitude difference of each linear motor and the corresponding third adjustment coefficient. Specifically, it can be determined by the following formula:

[0113]

[0114] in, is the amplitude correction rate, is the third adjustment coefficient.

[0115] The drive current adjustment amount of each linear motor is determined according to the amplitude correction force, error adjustment force, and amplitude correction rate of each linear motor, which can be specifically determined by the following formula:

[0116]

[0117] It can be seen that in this example, the amplitude correction force, error adjustment force and amplitude correction rate of each linear motor are determined respectively according to the first adjustment coefficient, the second adjustment coefficient and the third adjustment coefficient of each linear motor, and then the drive current adjustment amount of each linear motor is accurately determined according to the amplitude correction force, the error adjustment force and the amplitude correction rate, so as to determine the target drive current according to the drive current adjustment amount, so that the drive time and amplitude of at least two linear motors are consistent, and the movement directions of the two adjacent linear motors are opposite, thereby achieving vibration cancellation of the linear vibration device 110, and significantly reducing the noise and vibration of the reciprocating electric shaver 100.

[0118] Step S340 : driving the corresponding linear motor according to the target driving current of each linear motor and the starting time point.

[0119] The driving of 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.

[0120] As can be seen, in the present application, the controller obtains the characteristic zero-crossing time point and first amplitude of each of at least two linear motors in the current operating cycle; determines a starting time point based on the characteristic zero-crossing time point of each linear motor, the starting time point being used to represent the start time of the next operating cycle; determines a target drive current for each linear motor based on the first amplitude of each linear motor, the target drive current being used to represent the current driving the corresponding linear motor to move in the next operating cycle; and drives the corresponding linear motor based on the target drive current and the starting time point of each linear motor. In this way, the starting time point of the next operating cycle is determined based on the characteristic zero-crossing time point of each linear motor in the current operating cycle, and the target drive current of each linear motor in the next operating cycle is determined based on the first amplitude of each linear motor in the current operating cycle. Thus, the corresponding linear motor can be driven based on the starting time point and the target drive current of each linear motor, so that the driving time and amplitude of the at least two linear motors are consistent, and the motion directions of the two adjacent linear motors are opposite, thereby achieving vibration cancellation of the linear vibration device 110 and significantly reducing the noise and vibration of the reciprocating electric shaver 100.

[0121] 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 is understandable that, in order to realize the above functions, the controller includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0122] In accordance with the above-mentioned embodiment, please refer to Figure 7 , Figure 7 This is a block diagram of the functional units of a control system of a linear vibration device provided in an embodiment of the present application. Figure 7As shown, the control system 700 of the linear vibration device includes: a first receiving unit 701, configured to obtain a characteristic zero-crossing time point and a first amplitude of each of the at least two linear motors in a current operation cycle; a first processing unit 702, configured to determine a starting time point based on the characteristic zero-crossing time point of each linear motor, wherein the starting time point is used to represent the start time of the next operation cycle; determine a target driving current of each linear motor based on the first amplitude of each linear motor, wherein the target driving current is used to represent the current that drives the corresponding linear motor to move in the next operation cycle; and drive the corresponding linear motor based on the target driving current of each linear motor and the starting time point.

[0123] In a possible embodiment, the control system 700 of the linear vibration device is further used to: obtain the peak induced electromotive force, magnetic induction intensity, and effective coil length of each linear motor; determine the maximum vibrator speed of each linear motor based on the peak induced electromotive force, magnetic induction intensity, and effective coil length of each linear motor; and determine the first amplitude of each linear motor based on the maximum vibrator speed of each linear motor and the natural frequency of each linear motor.

[0124] In a possible embodiment, in terms of determining the starting time point based on the characteristic zero-crossing time point of each linear motor, the first processing unit 702 is specifically used to: determine an average value of the zero-crossing time points based on the characteristic zero-crossing time points of each linear motor; and determine the starting time point based on the average value of the zero-crossing time points.

[0125] In one possible embodiment, in terms of determining the starting time point based on the characteristic zero-crossing time point of each linear motor, the first processing unit 702 is specifically used to: obtain assembly information of each linear motor, the assembly information being used to characterize the situation of the corresponding linear motor assembly cutter head; determine the main motor among the at least two linear motors based on the assembly information; and determine the characteristic zero-crossing time point of the main motor as the starting time point.

[0126] In a possible embodiment, in determining the target driving current of each linear motor based on the first amplitude of each linear motor, the first processing unit 702 is specifically configured to: determine a driving current adjustment amount of each linear motor based on the first amplitude of each linear motor; and determine the target driving current of each linear motor based on the driving current adjustment amount of each linear motor.

[0127] In one possible embodiment, in determining the drive current adjustment amount of each linear motor based on the first amplitude of each linear motor, the first processing unit 702 is specifically configured to: determine an amplitude difference of each linear motor based on the first amplitude of each linear motor, where the amplitude difference is used to represent a difference in amplitude between the corresponding linear motor and a motor other than the corresponding linear motor among the at least two linear motors; obtain multiple adjustment coefficients corresponding to each linear motor; and determine the drive current adjustment amount of each linear motor based on the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor.

[0128] 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 and the amplitude correction force of the corresponding linear motor. The second adjustment coefficient is used to characterize the correlation characteristic between the historical accumulated error and the error adjustment force of the corresponding linear motor. The third adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference and the amplitude correction rate of the corresponding linear motor. In determining the drive current adjustment amount of each linear motor based on the amplitude difference of each linear motor and the multiple 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 based on the amplitude difference of each linear motor and the corresponding first adjustment coefficient; determine the error adjustment force of each linear motor based on the amplitude difference of each linear motor and the corresponding second adjustment coefficient; determine the amplitude correction rate of each linear motor based on the amplitude difference of each linear motor and the corresponding third adjustment coefficient; and determine the drive current adjustment amount of each linear motor based on the amplitude correction force, error adjustment force, and amplitude correction rate of each linear motor.

[0129] 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 repeated here.

[0130] In the case of integrated units, such as Figure 8 As shown, Figure 8 This is a block diagram of the functional units of a control system of another linear vibration device provided by an embodiment of the present application. Figure 8In the embodiment, 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 actions of the control system 700 of the linear vibration device, for example, executing the steps of the first receiving unit 701 and the first processing unit 702, and / or other processes for performing the technology described herein. The communication module 811 is used to support the interaction between the control system 700 of the linear vibration device and other devices. Figure 8 As shown, the control system 700 of the linear vibration device may further include a storage module 813 , which is used to store program codes and data of the control system 700 of the linear vibration device.

[0131] Among them, the processing module 812 can be a processor or controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute the various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can 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 the like. The communication module 811 can be a transceiver, an RF circuit or a communication interface, etc. The storage module 813 can be a memory.

[0132] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The control system 700 of the above linear vibration device can execute the above Figure 3 The control method of the linear vibration device shown.

[0133] The above embodiments can be implemented in whole or in part via software, hardware, firmware, or any other combination. 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 comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of this application are fully or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium 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.

[0134] Figure 9 This is a block diagram of a controller provided in an embodiment of the present application. Figure 9 As shown, the controller 120 may include one or more of the following components: a processor 210, a memory 220 coupled to the processor 210, wherein 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.

[0135] The processor 210 may include one or more processing cores. The processor 210 utilizes various interfaces and circuits to connect various components within the controller 120. It executes instructions, programs, code sets, or instruction sets stored in the memory 220, as well as accesses data stored in the memory 220, to perform various functions of the controller 120 and process data. Optionally, the processor 210 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 210 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 210 and may be implemented separately via a communications chip.

[0136] The memory 220 may include a random access memory (RAM) or a read-only memory (ROM). The memory 220 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 220 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the controller 120 during use, etc.

[0137] It is understood that the controller 120 may include more or fewer structural elements than those in the above structural block diagram, and this is not limited here. The present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the method described in any possible embodiment.

[0138] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does 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 on the implementation process of the embodiments of the present application.

[0139] In the several embodiments provided in this 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 schematic; for example, the division of the unit is merely a logical function division, and there may 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0141] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may be physically included separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional units.

[0142] The above-mentioned integrated unit implemented as a software functional unit can be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform some of the steps of the method described in various embodiments of the present invention. The aforementioned storage medium includes a USB flash drive, a mobile hard drive, a magnetic disk, an optical disk, a volatile memory, or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM), among other media that can store program code.

[0143] Although the present invention is disclosed above, it is not limited thereto. Any person skilled in the art may readily conceive of variations or substitutions, and may make various modifications and alterations without departing from the spirit and scope of the present invention. Combinations of the above-described functions and implementation steps, including software and hardware implementations, are all within the scope of protection of the present invention.

Claims

1. A method for controlling a linear vibration device, characterized in that: 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 a current operating cycle, wherein the current operating cycle includes at least one vibration cycle, and the characteristic zero-crossing time point is a zero-crossing time point of each linear motor in the current operating cycle, determined according to the number of vibration cycles included in the current operating cycle and a preset interval; Determining a starting time point according to a characteristic zero-crossing time point of each linear motor, wherein the starting time point is used to represent a start time of a next operation cycle; determining a target driving current of each linear motor according to the first amplitude of each linear motor, wherein the target driving current is used to represent a current that drives the corresponding linear motor to move in the next operation cycle; The corresponding linear motor is driven according to the target driving current of each linear motor and the starting time point.

2. The method according to claim 1, characterized in that 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; The target driving current of each linear motor is determined according to the driving current adjustment amount of each linear motor.

3. The method according to claim 1, characterized in that The determining of the starting time point according to the characteristic zero-crossing time point of each linear motor includes: Determine a zero-crossing time average value according to the characteristic zero-crossing time point of each linear motor; The average value of the zero-crossing time is determined as the starting time point of each linear motor.

4. The method according to claim 1, wherein The determining of the starting time point according to the characteristic zero-crossing time point of each linear motor includes: Acquire assembly information of each linear motor, where the assembly information is used to characterize a load condition of the corresponding linear motor; determining a main motor among the at least two linear motors according to the assembly information; The characteristic zero-crossing time point of the main motor is determined as the starting time point of each linear motor.

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

6. The method according to claim 5, characterized in that 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 and the amplitude correction force of the corresponding linear motor. The second adjustment coefficient is used to characterize the correlation characteristic between the historical accumulated error and the error adjustment force of the corresponding linear motor. The third adjustment coefficient is used to characterize the correlation characteristic between the amplitude difference and the amplitude correction rate of the corresponding linear motor. Determining the drive current adjustment amount of each linear motor based on the amplitude difference of each linear motor and the multiple adjustment coefficients corresponding to each linear motor includes: determining an amplitude correction force of each linear motor according to the amplitude difference of each linear motor and a corresponding first adjustment coefficient; determining an error adjustment force of each linear motor according to the amplitude difference of each linear motor and a corresponding second adjustment coefficient; determining an amplitude correction rate of each linear motor according to the amplitude difference of each linear motor and a corresponding third adjustment coefficient; The driving current adjustment amount of each linear motor is determined according to the amplitude correction force, the error adjustment force and the amplitude correction rate of each linear motor.

7. The method according to any one of claims 1 to 6, characterized in that The method for obtaining the first amplitude of each linear motor comprises the following steps: Obtaining the induced electromotive force of each linear motor; A first amplitude of each linear motor is determined according to an 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 a characteristic zero-crossing time point and a first amplitude of each of the at least two linear motors in a current operating cycle, wherein the current operating cycle includes at least one vibration cycle, and the characteristic zero-crossing time point is a zero-crossing time point of each linear motor in the current operating cycle, determined according to the number of vibration cycles included in the current operating cycle and a preset interval; The first processing unit is configured to determine a starting time point based on a characteristic zero-crossing time point of each linear motor, the starting time point being used to represent a start time of a next operating cycle; determine a target drive current for each linear motor based on a first amplitude of each linear motor, the target drive current being used to represent a current that drives the corresponding linear motor to move in the next operating cycle; and drive the corresponding linear motor based on the target drive current of each linear motor and the starting time point.

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

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

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