Motor drive signal adjustment method, apparatus, and electronic device

Abstract

The present disclosure provides a motor driving method, device, electronic equipment and storage medium. The method comprises: determining a driving signal parameter corresponding to a current vibration period of a driving signal, and determining a driving stage of the current vibration period and a detection stage following the driving stage; driving the motor to vibrate according to the driving signal in the driving stage of the current vibration period, and obtaining a back electromotive force corresponding to the current vibration period of the motor in the detection stage of the current vibration period; obtaining a driving signal frequency of a to-be-executed vibration period according to the back electromotive force corresponding to the current vibration period of the motor, and obtaining a driving stage of the to-be-executed vibration period and a detection stage following the driving stage. The present disclosure realizes dynamic adjustment of the driving signal parameter through a real-time asynchronous closed-loop control mode, and can maintain the stability of the motor vibration when the external load changes.

Description

Technical Field

[0001] This disclosure relates to the field of motor control technology, and in particular to a motor driving method, apparatus, electronic device, and storage medium. Background Technology

[0002] With advancements in motor technology, linear motors are becoming increasingly widely used. In consumer electronic devices such as mobile phones and tablets, vibrations generated by linear motors provide tactile feedback to users, enhancing the interactive experience.

[0003] In electric shavers, a motor drives the blades to reciprocate rapidly in a fixed direction (e.g., relative to the user's front-back direction) at a certain frequency to cut beard hairs. However, during operation, beard hairs falling into the blades can cause changes in the motor's load, resulting in fluctuations in the motor's vibration amplitude, which affects the shaving effect and the user experience.

[0004] In summary, there is an urgent need for a motor drive signal adjustment technology that can adaptively adjust various drive parameters of the motor drive signal in real time according to changes in the external load of the motor, so as to ensure the stability of motor vibration. Summary of the Invention

[0005] In view of this, the present disclosure provides a motor drive scheme that can adaptively adjust various drive parameters of the motor drive signal according to changes in the external load of the motor, thereby maintaining the stability of motor vibration.

[0006] According to a first aspect of this disclosure, a motor driving method is provided, comprising: obtaining driving signal parameters corresponding to a current vibration cycle, and determining a driving phase of the current vibration cycle and a detection phase following the driving phase; driving a motor to vibrate according to the driving signal during the driving phase of the current vibration cycle, and obtaining a back electromotive force of the motor corresponding to the current vibration cycle during the detection phase of the current vibration cycle; obtaining driving signal parameters of a vibration cycle to be executed according to the back electromotive force of the motor corresponding to the current vibration cycle, and obtaining a driving phase of the vibration cycle to be executed and a detection phase following the driving phase; wherein the vibration cycle to be executed is a vibration cycle to be executed following the current vibration cycle.

[0007] According to a second aspect of this disclosure, a motor drive device is provided, comprising: a parameter determination module, configured to determine the signal frequency, signal amplitude, and signal duration of a drive signal corresponding to a current vibration cycle, and to determine a drive phase of the current vibration cycle and a detection phase following the drive phase; a parameter update module, configured to drive a motor to vibrate according to the drive signal during the drive phase of the current vibration cycle, and to acquire the back electromotive force of the motor corresponding to the current vibration cycle during the detection phase of the current vibration cycle; and a signal adjustment module, configured to obtain the signal frequency, signal amplitude, and signal duration of a drive signal for a vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, and to obtain the drive phase of the vibration cycle to be executed and a detection phase following the drive phase; wherein the vibration cycle to be executed is a vibration cycle to be executed following the current vibration cycle.

[0008] According to a third aspect of this disclosure, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus; the memory is used to store at least one executable instruction, the executable instruction causing the processor to perform an operation corresponding to the method described in the first aspect.

[0009] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions that, when executed by a processor, cause the processor to perform the method as described in the first aspect.

[0010] The motor drive schemes provided in the embodiments of this disclosure divide the vibration cycle into a driving stage and a detection stage. In the driving stage of the vibration cycle, the motor is driven to vibrate based on the driving signal, and in the detection stage of the vibration cycle, the back electromotive force of the motor is detected. Based on this, the driving signal is dynamically adjusted to correspond to various driving parameters of the vibration cycle to be executed. This allows the motor vibration to remain stable even when the external load on the motor changes, thus achieving efficient and stable control of the motor. It is especially suitable for various application scenarios with high requirements for motor vibration consistency. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0012] Figure 1 This is a flowchart illustrating a motor driving method according to an exemplary embodiment of the present disclosure.

[0013] Figure 2 This diagram illustrates the effect of adjusting the motor drive signal.

[0014] Figure 3 This is a flowchart illustrating a motor driving method according to another exemplary embodiment of the present disclosure.

[0015] Figure 4 This is a schematic diagram illustrating the adjustment effect of the motor drive signal in a scenario controlled by pulse width modulation (PWM).

[0016] Figure 5 This is a frame diagram of a motor drive device that is an exemplary embodiment of the present disclosure.

[0017] Figure 6 A frame diagram of an electronic device that is an exemplary embodiment of this disclosure. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art should fall within the protection scope of the present invention.

[0019] Reference is made to the accompanying drawings, which form part of the detailed description and illustrate exemplary embodiments. Furthermore, it should be understood that other embodiments may be utilized, and structural and / or logical changes may be made without departing from the scope of the claimed subject matter. It should also be noted that orientations and references (e.g., up, down, top, bottom, etc.) may be used merely to facilitate the description of features in the drawings. Therefore, the following detailed description is not to be construed in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and their equivalents.

[0020] Numerous details are set forth in the following description. However, it will be apparent to those skilled in the art that the embodiments described herein can be practiced without these specific details. In some instances, well-known methods and apparatus are shown in block diagram form rather than in detail to avoid obscuring the embodiments described herein. Throughout this specification, references to “embodiment,” “one embodiment,” or “some embodiments” mean that a particular feature, structure, function, or characteristic described in connection with that embodiment is included in at least one embodiment herein. Therefore, the phrases “in an embodiment,” “in one embodiment,” or “some embodiments” appearing throughout this specification do not necessarily refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, functions, or characteristics can be combined in any suitable manner. For example, a first embodiment can be combined with a second embodiment in any way that does not mutually exclude particular features, structures, functions, or characteristics associated with two embodiments.

[0021] As used in the description and appended claims, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] The terms “coupling” and “connection”, along with their derivatives, are used herein to describe functional or structural relationships between components. It should be understood that these terms are not intended to be synonyms for each other. Rather, in certain embodiments, “connection” can be used to indicate that two or more elements are in direct physical, optical, or electrical contact with each other. “Coupling” can be used to indicate that two or more elements are in direct or indirect physical or electrical contact with each other (with other intermediary elements between them), and / or that two or more elements cooperate or interact with each other (e.g., as in a causal relationship).

[0023] As used herein, the terms “above,” “below,” “between,” and “on” refer to the relative position of a component or material with respect to other components or materials, where such physical relationships are noteworthy. For example, in the context of materials, a material positioned above or below another material may be in direct contact with it, or may have one or more intermediate materials. Furthermore, a material positioned between two materials may be in direct contact with both layers, or may have one or more intermediate layers. In contrast, a first material or material “on” a second material or material is in direct contact with that second material / material. Similar distinctions are made in the context of component assembly.

[0024] As described throughout this document and in the claims, a list of items connected by the terms “at least one of” or “one or more of” may mean any combination of the listed items. For example, the phrase “at least one of A, B, or C” may mean A; B; C; A and B; A and C; B and C; or A, B, and C.

[0025] The terms “circuit” or “module” can refer to one or more passive and / or active components arranged to cooperate with each other to provide a desired function. The term “signal” can refer to at least one current signal, voltage signal, or magnetic signal. The terms “substantially,” “close to,” “approximately,” “near,” and “about” generally refer to within ±10% of the target value.

[0026] In applications such as shavers or windshield wipers, when the external load changes, the amplitude of the motor will change accordingly, resulting in unstable motor vibration and causing differences in the user's perceived experience.

[0027] For example, in electric shavers, a motor drives the blades to vibrate at high frequency, causing them to move rapidly back and forth to cut beard hairs. However, in actual use, beard hairs that fall into the blades increase the load on the motor, causing fluctuations in the amplitude of the motor's vibration, which in turn affects the shaving effect. If the amplitude is too large, the shaver may vibrate excessively on the face, affecting user comfort; if the amplitude is too small, it will not effectively cut the beard hairs, reducing shaving efficiency.

[0028] For example, in windshield wiper applications, when the wiper encounters obstructions such as leaves or snow, the motor load will also change. This may cause the wiper to swing unsteadily, failing to evenly clear rainwater and debris, severely affecting the driver's vision and posing a threat to driving safety.

[0029] Existing control technologies have limitations in addressing the issue of external load variations in linear motors. Traditional motor drive control schemes rely solely on preset parameters to operate the motor, failing to detect and respond to changes in external load in real time. Consequently, in practical applications, motor performance is significantly affected once the external load changes. Therefore, existing technologies struggle to meet practical requirements in terms of control accuracy and response speed when dealing with complex and variable load conditions, impacting the user experience.

[0030] In conclusion, there is a need for a highly efficient, precise, and cost-effective linear motor drive control technology that can dynamically adjust various drive parameters of the motor drive signal in response to changes in the external load of the motor, thereby ensuring the consistency of motor vibration. This is of great practical significance for improving the performance of related products and the user experience.

[0031] The specific implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0032] Motor driving method Figure 1 This is a flowchart illustrating a motor driving method according to an exemplary embodiment of the present disclosure, which mainly includes the following steps: Step 102: Obtain the driving signal parameters corresponding to the current vibration cycle, and determine the driving stage and the detection stage of the subsequent driving stage of the current vibration cycle.

[0033] In some embodiments, the vibration period includes the initial vibration period and non-initial vibration period of the motor. The initial vibration period is used to identify the period between the time when the motor starts vibrating and the time when the motor enters a stable vibration state.

[0034] In this embodiment, the driving signal parameters of the current vibration cycle may include the signal frequency, signal amplitude, and signal duration of the driving signal.

[0035] In some embodiments, when the current vibration period is the initial vibration period, the signal frequency, signal amplitude, and signal duration of the driving signal corresponding to the initial vibration period can be determined in the following ways: Based on the initial resonant frequency of the motor, determine the signal frequency of the drive signal corresponding to the initial vibration period. Based on the rated voltage of the motor, determine the signal amplitude of the drive signal corresponding to the initial vibration period. Based on the initial resonant period and initial duration coefficient of the motor, determine the signal duration of the drive signal corresponding to the initial vibration period.

[0036] In this embodiment, the duration of the signal of the initial vibration cycle is at least 5 times the initial resonance cycle of the motor (for example, the duration of the signal of the initial vibration cycle is set to 10 times the initial resonance cycle of the motor) in order to achieve the effect of rapid motor start-up.

[0037] In this embodiment, the initial vibration cycle does not include a detection phase; that is, no detection task is performed during the initial vibration cycle (start-up phase) of the motor. Specifically, in order to reduce the time it takes for the motor vibration to reach a steady state (i.e., a state where the vibration velocity remains essentially constant), the detection of motor vibration parameters can be omitted throughout the entire initial vibration phase. Therefore, in this embodiment, the initial vibration cycle only includes the driving phase and does not include a detection phase.

[0038] Step 104: During the driving phase of the current vibration cycle, drive the motor to vibrate according to the driving signal, and during the detection phase of the current vibration cycle, obtain the back electromotive force of the motor corresponding to the current vibration cycle.

[0039] In this embodiment, the driving phase of the current vibration cycle (i.e., the beginning of the current vibration cycle) can be implemented. Within a certain time period, the motor is driven to vibrate using a drive signal, and the drive signal is paused during the detection phase. The back electromotive force (BEMF) of the motor is obtained by collecting the electromotive force at both ends of the motor.

[0040] Step 106: Based on the back electromotive force of the motor corresponding to the current vibration cycle, obtain the drive signal parameters of the vibration cycle to be executed, and obtain the detection stage of the drive phase and the subsequent drive phase of the vibration cycle to be executed.

[0041] In this embodiment, the vibration cycle to be executed is a vibration cycle that follows the current vibration cycle. For example, in the current vibration cycle, the vibration cycle to be executed is the next vibration cycle. In the case of the nth vibration cycle, the vibration cycle to be executed is the nth vibration cycle. One vibration cycle.

[0042] In this embodiment, the driving signal parameters for the vibration cycle to be executed may include the signal frequency, signal amplitude, and signal duration of the driving signal.

[0043] Since the back electromotive force (EMF) of a motor can be expressed as the product of the magnetic flux density and the oscillator velocity, for a single motor, the magnetic flux density remains essentially constant. Therefore, the motor's vibration state can be measured based on its back EMF. That is, when the back EMF of the motor is the same during operation, it indicates that the motor's vibration velocity is the same; when the back EMF decreases, it indicates that the motor's vibration velocity also decreases accordingly. Based on this principle, in some embodiments, the motor's resonant frequency and peak back EMF corresponding to the current vibration cycle can be obtained from the back EMF of the motor corresponding to the current vibration cycle.

[0044] In this embodiment, the motor resonant frequency corresponding to the current vibration cycle can be obtained based on the time interval between two adjacent zero-crossing points of the back electromotive force of the motor corresponding to the current vibration cycle.

[0045] Specifically, the time interval between two adjacent zero-crossing points of the back electromotive force can be substituted into the motor resonant frequency conversion formula to obtain the motor resonant frequency corresponding to the current vibration period.

[0046] The formula for converting motor resonant frequency can be expressed as Formula 1 below: (Formula 1) refer to Figure 2 In Formula 1, Indicates that the motor corresponds to the first The resonant frequency of the motor in one vibration cycle (current vibration cycle). Indicates the first The time interval between two adjacent zero-crossings of the back electromotive force in a oscillation cycle (current oscillation cycle).

[0047] In this embodiment, the peak value of the back electromotive force corresponding to the current vibration cycle of the motor can be determined based on the maximum absolute value of the back electromotive force within the time interval between two adjacent zero crossings, and is denoted as... .

[0048] In some embodiments, the signal frequency, signal amplitude, and signal duration of the drive signal for the vibration cycle to be executed can be adjusted based on the back electromotive force of the motor corresponding to the current vibration cycle, the motor resonant frequency, and the peak value of the back electromotive force. In some embodiments, the motor resonant frequency corresponding to the current vibration cycle can be determined as the signal frequency of the drive signal for the vibration cycle to be executed. The signal duration of the drive signal for the vibration cycle to be executed is obtained based on the time interval between two adjacent zero crossings of the back electromotive force and a given duration adjustment coefficient. The drive voltage adjustment coefficient is obtained based on the ratio of the peak value of the back electromotive force corresponding to the current vibration cycle to the target back electromotive force value. The signal amplitude of the drive signal for the vibration cycle to be executed is obtained based on the peak value of each voltage value of the drive signal corresponding to the current vibration cycle and the drive voltage adjustment coefficient.

[0049] Specifically, regarding the adjustment of the motor resonant frequency, since the motor resonant frequency F0 affects the detection time of the zero-crossing point of the back electromotive force (EMF), that is, when the signal frequency of the motor drive signal is fixed, but the motor resonant frequency F0 increases, the zero-crossing point of the motor's back EMF may not be detected. Therefore, it is necessary to dynamically adjust the signal frequency of the drive signal for the vibration cycle to be executed based on the motor resonant frequency F0 corresponding to the current vibration cycle. In this embodiment, the motor resonant frequency corresponding to the current vibration cycle can be determined as the signal frequency of the drive signal for the vibration cycle to be executed.

[0050] Furthermore, the duration of the drive signal can be adjusted by multiplying the time interval between two adjacent zero crossings of the back electromotive force with a given duration adjustment coefficient. The duration of the drive signal for the vibration cycle to be executed can then be obtained, as shown in Formula 2 below. (Formula 2) refer to Figure 2 In Formula 2, Indicates the first The duration of the drive signal for each vibration cycle (the vibration cycle to be executed). Indicates the first The time interval between two adjacent zero-crossings of the back electromotive force in one oscillation cycle (the current oscillation cycle). This represents the adjustment factor for a given duration.

[0051] In this embodiment, the given duration adjustment factor can be between 0.5 and 1 (including boundary values).

[0052] For example, the adjustment factor for a given duration can be set to 7 / 8.

[0053] Furthermore, for adjusting the amplitude of the drive signal, the ratio of the peak value of the back electromotive force of the motor corresponding to the current vibration cycle to the target back electromotive force value can be used to determine the drive voltage adjustment coefficient for the current vibration cycle (refer to Formula 3 below). The peak voltage value of the drive signal for the vibration cycle to be executed is obtained by multiplying the peak voltage value of the drive signal corresponding to the current vibration cycle by the drive voltage adjustment coefficient (refer to Formula 4 below), and the signal amplitude of the drive signal for the vibration cycle to be executed is then determined accordingly. (Formula 3) In formula 3, Indicates the first The driving voltage adjustment coefficient for each vibration cycle (current vibration cycle). Indicates the first The peak value of the back electromotive force in one oscillation cycle (current oscillation cycle). This represents the target back electromotive force value.

[0054] In this embodiment, the target back electromotive force value can be... It is divided into multiple levels to represent different amplitudes. Among them, the target back electromotive force value... The correspondence between the various gears and the various amplitudes can be set according to the actual usage requirements of the motor, and this disclosure does not impose any restrictions on this.

[0055] (Formula 4) refer to Figure 2 In formula 4, Indicates the first The peak voltage of each vibration cycle (the vibration cycle to be executed). Indicates the first The peak voltage of each oscillation cycle (current oscillation cycle). Indicates the first The driving voltage adjustment coefficient for each vibration cycle (current vibration cycle).

[0056] In this embodiment, apart from the initial vibration cycle, each other vibration cycle is divided into a driving phase and a detection phase of the subsequent driving phase.

[0057] In some embodiments, the driving phase of the vibration cycle to be executed and the detection phase following the driving phase can be determined based on the motor resonant frequency of the motor corresponding to the current vibration cycle.

[0058] In some embodiments, the motor resonant frequency corresponding to the previous vibration cycle can be substituted into the driving duration conversion formula to obtain the maximum duration of the driving phase of the current vibration cycle.

[0059] For example, the formula for converting drive duration can be expressed as the following formula 5: (Formula 5) refer to Figure 2 In Formula 5, Indicates that the motor corresponds to the first The maximum duration of the driving phase of each vibration cycle (the vibration cycle to be executed). Indicates that the motor corresponds to the first The motor resonant frequency during one vibration cycle (current vibration cycle).

[0060] The specific duration of the drive phase can be determined by calculating the maximum duration using Formula 5. It is only necessary to ensure that the zero-crossing point of the motor's back electromotive force can be collected in the subsequent detection phase.

[0061] In some embodiments, after performing step 106, the method of this embodiment further includes updating the vibration period to be executed to a new current vibration period and returning to perform step 102, and repeating this cycle to form a closed-loop control of the motor drive.

[0062] For example, in the vibration period to be executed, for example, the first... In the case of the nth vibration cycle, when the nth vibration cycle... When the 1st vibration cycle is updated to the new current vibration cycle, the 2nd vibration cycle... The first vibration cycle component will be updated to the previous vibration cycle, the second... The vibration cycle will be updated to the vibration cycle to be executed.

[0063] Figure 3 This is a processing flow of a motor driving method according to another exemplary embodiment of the present disclosure. This embodiment illustrates a specific adjustment scheme for step 106 above when the driving signal is controlled by a pulse width modulation wave. The following will be combined with... Figure 4 The example shown describes the specific implementation of this embodiment in detail, such as... Figure 3 As shown, this embodiment mainly includes the following steps: Step 302: Based on the back electromotive force of the motor corresponding to the current vibration period, obtain the motor resonant frequency and the peak value of the back electromotive force corresponding to the current vibration period.

[0064] Specifically, the motor resonant frequency corresponding to the current vibration cycle can be obtained based on the time interval between two adjacent zero-crossing points of the back electromotive force corresponding to the current vibration cycle. The peak value of the back electromotive force corresponding to the current vibration cycle can be determined based on the maximum absolute value of the back electromotive force within the time interval.

[0065] For the specific implementation of this step, please refer to the relevant description of step 106 above.

[0066] Step 304: Determine the motor resonant frequency corresponding to the current vibration cycle as the signal frequency of the drive signal for the vibration cycle to be executed.

[0067] Specifically, when the frequency of the motor drive signal is fixed, but the motor resonant frequency F0 increases, the zero-crossing point of the motor's back electromotive force may not be detected. Therefore, it is necessary to dynamically adjust the frequency of the drive signal for the vibration cycle to be executed based on the motor resonant frequency F0 corresponding to the current vibration cycle. In this embodiment, the motor resonant frequency corresponding to the current vibration cycle can be directly determined as the frequency of the drive signal for the vibration cycle to be executed.

[0068] Step 306: Based on the time interval between two adjacent zero crossings of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave, calculate the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed, and obtain the signal duration of the driving signal of the vibration cycle to be executed.

[0069] Specifically, the number of pulses (or PWM number) of the pulse width modulation wave corresponding to the vibration cycle to be executed needs to be adjusted according to the motor resonant frequency so that the drive signal is consistent with the direction of motor movement.

[0070] In some embodiments, the time interval between two adjacent zero crossings of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave can be substituted into the pulse number conversion formula to calculate the number of pulses (PWM number) of the pulse width modulation wave corresponding to the oscillation period to be executed.

[0071] In this embodiment, the pulse number conversion formula can be expressed as the following formula 6: (Formula 6) in, This indicates that the pulse width modulation wave corresponds to the first The number of pulses per vibration cycle Indicates the first The time interval between two adjacent zero-crossing points of the back electromotive force in one oscillation cycle This indicates the driving efficiency of the pulse width modulation wave. This indicates the driving frequency of the pulse width modulation wave. This indicates rounding up to the nearest integer.

[0072] In this context, the driving frequency and driving efficiency of the pulse width modulation wave are both given values.

[0073] Step 308: Calculate the duty cycle of the pulse width modulation wave based on the number of pulses in the pulse width modulation wave corresponding to the vibration cycle to be executed, the number of pulses in the pulse width modulation wave corresponding to the current vibration cycle, the target back EMF value, and the peak value of the back EMF of the motor corresponding to the current vibration cycle, to obtain the signal amplitude of the drive signal for the vibration cycle to be executed.

[0074] In this embodiment, the calculated PWM duty cycle can be used to characterize the signal amplitude of the drive signal, thereby obtaining a constant swing amplitude (or back electromotive force) of the motor oscillator. In practical applications, the peak value of the back electromotive force detected by BEFM can be used as the basis for determining the back electromotive force. The PWM duty cycle is determined by a PID controller.

[0075] Specifically, the pulse number adjustment factor of the pulse width modulation wave can be obtained based on the ratio of the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed to the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle (refer to Formula 7 below). Then, by substituting the pulse number adjustment factor, the target back EMF value, and the peak value of the back EMF of the motor corresponding to the current vibration cycle into the duty cycle conversion formula (refer to Formulas 8 and 9 below), the duty cycle (or PWM duty cycle) of the pulse width modulation wave corresponding to the vibration cycle to be executed can be calculated. (Formula 7) In Formula 7, This represents the pulse number adjustment factor for the pulse width modulation wave. This indicates that the pulse width modulation wave corresponds to the first The number of pulses per vibration cycle This indicates that the pulse width modulation wave corresponds to the first The number of pulses per vibration cycle.

[0076] (Formula 8) (Formula 9) In formulas 8 and 9, This indicates that the pulse width modulation wave corresponds to the first Duty cycle of one oscillation period Represents the proportionality coefficient. Represents the integral coefficient. Denotes the differential coefficient. Indicates the target back electromotive force value. Indicates that the motor corresponds to the first The peak value of the back electromotive force for each oscillation cycle.

[0077] In practical applications, the duty cycle of the pulse width modulation (PWM) wave cannot be too large or too small. When the PWM duty cycle is too low, the motor cannot be driven to vibrate properly; conversely, when the PWM duty cycle is too high, the oscillation amplitude of the motor oscillator will exceed the maximum position, causing damage. Therefore, it is necessary to set upper and lower limits for the duty cycle of the pulse width modulation wave to ensure normal motor drive.

[0078] In this embodiment, the lower limit of the duty cycle of the pulse width modulation wave can be set to 30%, and the upper limit can be set to 80%. Specifically, if the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is greater than the upper limit, the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is updated to 80%; similarly, if the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is less than the lower limit, the duty cycle of the pulse width modulation wave corresponding to the vibration period to be executed is updated to 30%.

[0079] In summary, the motor drive method of this embodiment detects the motion state of the motor corresponding to the current vibration cycle, and adjusts the signal frequency, signal amplitude, and signal duration of the drive signal for the vibration cycle to be executed accordingly. Through real-time asynchronous closed-loop control, the drive signal parameters can be dynamically adjusted, ensuring the stability of motor vibration when the external load changes. This method is suitable for motor drive control in variable load scenarios.

[0080] The motor driving method of this embodiment determines the signal frequency, signal amplitude, and signal duration of the motor driving signal based on the motor's initial resonant frequency, rated voltage, and initial resonant period within the initial vibration cycle, enabling the motor to quickly reach a stable vibration state. Furthermore, by omitting a detection phase within the initial vibration cycle, the time required for the motor vibration to reach a steady state is reduced, improving the efficiency of the driving signal adjustment.

[0081] The motor driving method provided in this embodiment determines the maximum duration of the driving phase of the current vibration cycle based on the motor resonant frequency corresponding to the previous vibration cycle. This ensures that the back electromotive force of the motor can be successfully acquired during the detection phase, guaranteeing the smooth execution of the driving signal adjustment.

[0082] The motor driving method provided in this embodiment determines the motor vibration state by sensorlessly detecting the back electromotive force of the motor, thereby realizing closed-loop control and driving of the motor. It has low requirements for MCU computing power and can be applied to motor drive control in various scenarios, with high versatility.

[0083] The motor driving method provided in this embodiment calculates the motor resonant frequency and back EMF peak value corresponding to the current vibration cycle based on the motor back EMF detection result, and adjusts the signal frequency, signal amplitude and signal duration of the driving signal for the vibration cycle to be executed accordingly. It has the advantage of strong robustness to ensure that the motor amplitude remains stable.

[0084] Motor drive unit Figure 5 A simplified structural diagram of a motor drive device according to an exemplary embodiment of the present disclosure is shown. The motor drive device 500 of this embodiment mainly includes a parameter determination module 502, a parameter update module 504, and a signal adjustment module 506.

[0085] The parameter determination module 502 is used to obtain the driving signal parameters corresponding to the current vibration cycle, and to determine the driving stage of the current vibration cycle and the detection stage that follows the driving stage.

[0086] The parameter update module 504 is used to drive the motor to vibrate according to the drive signal during the drive phase of the current vibration cycle, and to obtain the back electromotive force of the motor corresponding to the current vibration cycle during the detection phase of the current vibration cycle. The signal adjustment module 506 is used to obtain the drive signal parameters of the vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, and to obtain the drive stage of the vibration cycle to be executed and the detection stage following the drive stage.

[0087] The vibration cycle to be executed is a vibration cycle that is to be executed following the current vibration cycle.

[0088] In some embodiments, the current vibration period includes one of the initial vibration period and the non-initial vibration period.

[0089] In some embodiments, the driving signal parameters of the current vibration cycle and the vibration cycle to be executed include signal frequency, signal amplitude, and signal duration, respectively.

[0090] In some embodiments, when the current vibration period is the initial vibration period, the parameter determination module 502 determines the drive signal parameters corresponding to the initial vibration period by the following methods: determining the signal frequency of the drive signal corresponding to the initial vibration period based on the initial resonant frequency of the motor; determining the signal amplitude of the drive signal corresponding to the initial vibration period based on the rated voltage of the motor; and determining the signal duration of the drive signal corresponding to the initial vibration period based on the initial resonant period of the motor.

[0091] In some embodiments, the duration of the signal of the initial vibration period is at least 5 times the initial resonance period of the motor; the initial vibration period does not include the detection phase.

[0092] In some embodiments, when the current vibration period is not the initial vibration period, the method includes: During the driving phase of the current vibration cycle, the driving signal is activated to drive the motor to vibrate; during the detection phase of the current vibration cycle, the driving signal is paused, and the back electromotive force of the motor corresponding to the current vibration cycle is obtained by acquiring the electromotive force at both ends of the motor.

[0093] In some embodiments, the signal adjustment module 506 is configured to: obtain the motor resonant frequency and back EMF peak value of the motor corresponding to the current vibration cycle based on the back EMF of the motor corresponding to the current vibration cycle; and adjust the signal frequency, signal amplitude, and signal duration of the drive signal for the vibration cycle to be executed based on the back EMF of the motor corresponding to the current vibration cycle, the motor resonant frequency, and the back EMF peak value.

[0094] In some embodiments, the signal adjustment module 506 is configured to: obtain the motor resonant frequency of the motor corresponding to the current vibration cycle based on the time interval between two adjacent zero-crossing points of the back electromotive force of the motor corresponding to the current vibration cycle; and determine the peak value of the back electromotive force of the motor corresponding to the current vibration cycle based on the maximum value of the absolute value of the back electromotive force within the time interval.

[0095] In some embodiments, the signal adjustment module 506 is used to: substitute the time interval into the motor resonant frequency conversion formula to obtain the motor resonant frequency corresponding to the current vibration cycle. The formula for converting the motor resonant frequency is expressed as follows:

[0096] in, This indicates that the motor corresponds to the first The resonant frequency of the motor in one vibration cycle, Indicates the first The time interval between two adjacent zero-crossings of the back electromotive force of a oscillation cycle.

[0097] In some embodiments, the signal adjustment module 506 is configured to: determine the motor resonant frequency corresponding to the current vibration cycle as the signal frequency of the drive signal for the vibration cycle to be executed; obtain the signal duration of the drive signal for the vibration cycle to be executed based on the time interval between two adjacent zero crossings of the back electromotive force and a given duration adjustment coefficient; obtain the drive voltage adjustment coefficient based on the ratio of the peak value of the back electromotive force corresponding to the current vibration cycle to the target back electromotive force value; and obtain the signal amplitude of the drive signal for the vibration cycle to be executed based on the peak voltage of the drive signal corresponding to the current vibration cycle and the drive voltage adjustment coefficient.

[0098] In some embodiments, the given duration adjustment coefficient is greater than or equal to 0.5 and less than or equal to 1.

[0099] In some embodiments, when the driving signal is controlled by a pulse width modulation (PWM) wave, the signal adjustment module 506 is configured to: determine the motor resonant frequency corresponding to the current vibration cycle as the signal frequency of the driving signal for the vibration cycle to be executed; calculate the number of vibration cycles to be executed corresponding to the PWM wave based on the time interval between two adjacent zero crossings of the back electromotive force, the driving frequency and driving efficiency of the PWM wave, to obtain the signal duration of the driving signal for the vibration cycle to be executed; and calculate the duty cycle of the PWM wave based on the number of pulses corresponding to the vibration cycle to be executed, the number of pulses corresponding to the current vibration cycle, the target back electromotive force value, and the peak value of the back electromotive force of the motor corresponding to the current vibration cycle, to obtain the signal amplitude of the driving signal for the vibration cycle to be executed.

[0100] In some embodiments, the signal adjustment module 506 is used to: substitute the time interval between two adjacent zero crossings of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave into the pulse number conversion formula, and calculate the number of pulses of the pulse width modulation wave corresponding to the vibration period to be executed. The formula for converting the number of pulses is expressed as follows:

[0101] in, This indicates that the pulse width modulation wave corresponds to the first... The number of pulses per vibration cycle Indicates the first The time interval between two adjacent zero-crossing points of the back electromotive force in one oscillation cycle This indicates the driving efficiency of the pulse width modulation wave. This indicates the driving frequency of the pulse width modulation wave. This indicates rounding up to the nearest integer.

[0102] In some embodiments, the signal adjustment module 506 is configured to: obtain a pulse number adjustment factor for the pulse width modulation wave based on the ratio of the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed to the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle; and calculate the duty cycle of the pulse width modulation wave corresponding to the vibration cycle to be executed by substituting the pulse number adjustment factor, the target back electromotive force value, and the peak value of the back electromotive force of the motor corresponding to the current vibration cycle into the duty cycle conversion formula. The duty cycle conversion formula is expressed as follows:

[0103]

[0104] in, This indicates that the pulse width modulation wave corresponds to the first Duty cycle of one oscillation period This represents the pulse quantity adjustment factor. Represents the proportionality coefficient. Represents the integral coefficient. Represents the differential coefficient. Indicates the target back electromotive force value. This indicates that the motor corresponds to the first The peak value of the back electromotive force for each oscillation cycle.

[0105] In some embodiments, the signal adjustment module 506 is further configured to: substitute the motor resonant frequency corresponding to the current vibration cycle into the drive duration conversion formula to obtain the maximum duration of the drive phase of the vibration cycle to be executed; The driving duration conversion formula is expressed as follows:

[0106] in, This indicates that the motor corresponds to the first The maximum duration of the driving phase of each vibration cycle. This indicates that the motor corresponds to the first The motor's resonant frequency for one vibration cycle.

[0107] In some embodiments, the signal adjustment module 506 is further configured to, after obtaining the driving signal parameters of the vibration cycle to be executed, and obtaining the driving phase and the detection phase following the driving phase of the vibration cycle to be executed, update the vibration cycle to be executed to a new current vibration cycle and transmit it to the parameter determination module 502.

[0108] electronic devices Reference Figure 6 This document illustrates a schematic diagram of an electronic device according to an exemplary embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device.

[0109] like Figure 6 As shown, the electronic device may include: a processor 602, a communications interface 604, a memory 606, and a communications bus 608.

[0110] in: The processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608.

[0111] Communication interface 604 is used for communication with other electronic devices or servers.

[0112] The processor 602 is used to execute program 610, specifically to perform the relevant steps in the above-described motor drive method embodiment.

[0113] Specifically, program 610 may include program code that includes computer operation instructions.

[0114] The processor 602 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The smart device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0115] Memory 606 is used to store program 610. Memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0116] Program 610 may include multiple computer instructions. Specifically, program 610 can cause processor 602 to execute the operation corresponding to the motor driving method described in any of the foregoing multiple method embodiments through multiple computer instructions.

[0117] The specific implementation of each step in program 610 can be found in the corresponding steps and units described in the above method embodiments, and has corresponding beneficial effects, which will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0118] This application also provides a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in any of the foregoing method embodiments. The computer storage medium includes, but is not limited to, compact disc read-only memory (CD-ROM), random access memory (RAM), floppy disk, hard disk, or magneto-optical disk.

[0119] This application also provides a computer program product, including computer instructions that instruct a computing device to perform operations corresponding to the motor driving method described in any of the above embodiments.

[0120] Furthermore, it should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data used for training the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0121] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0122] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA)). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., Random Access Memory (RAM), Read-Only Memory (ROM), Flash Memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0123] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0124] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A motor driving method, comprising: Obtain the driving signal parameters corresponding to the current vibration cycle, and determine the driving phase of the current vibration cycle and the detection phase that follows the driving phase. During the driving phase of the current vibration cycle, the motor is driven to vibrate according to the driving signal, and during the detection phase of the current vibration cycle, the back electromotive force of the motor corresponding to the current vibration cycle is obtained. Based on the back electromotive force of the motor corresponding to the current vibration cycle, the driving signal parameters of the vibration cycle to be executed are obtained, and the driving stage of the vibration cycle to be executed and the detection stage following the driving stage are obtained. The vibration cycle to be executed is a vibration cycle to be executed following the current vibration cycle. The driving signal parameters of the current vibration cycle and the vibration cycle to be executed include signal frequency, signal amplitude and signal duration, respectively. When the current vibration period is not the initial vibration period, obtaining the drive signal parameters for the vibration period to be executed based on the back electromotive force of the motor corresponding to the current vibration period includes: Based on the back electromotive force of the motor corresponding to the current vibration cycle, the motor resonant frequency and the peak value of the back electromotive force corresponding to the current vibration cycle are obtained. Based on the back electromotive force (EMF) of the motor corresponding to the current vibration cycle, the motor resonant frequency, and the peak value of the back EMF, the signal frequency, signal amplitude, and signal duration of the drive signal for the vibration cycle to be executed are adjusted. This includes: determining the motor resonant frequency corresponding to the current vibration cycle as the signal frequency of the drive signal for the vibration cycle to be executed; and obtaining the signal duration of the drive signal for the vibration cycle to be executed based on the time interval between two adjacent zero crossings of the back EMF and a given duration adjustment coefficient.

2. The method according to claim 1, wherein, The current vibration period includes one of the initial vibration period and the non-initial vibration period.

3. The method according to claim 2, wherein, When the current vibration period is the initial vibration period, the driving signal parameters corresponding to the initial vibration period are determined by the following method: Based on the initial resonant frequency of the motor, determine the signal frequency of the drive signal corresponding to the initial vibration period; Based on the rated voltage of the motor, determine the signal amplitude of the drive signal corresponding to the initial vibration period; The duration of the drive signal corresponding to the initial vibration period is determined based on the initial resonance period of the motor.

4. The method according to claim 3, wherein, The duration of the signal is at least 5 times the initial resonance period; The initial vibration period does not include the detection phase.

5. The method according to claim 2, wherein, When the current vibration period is not the initial vibration period, the method includes: During the driving phase of the current vibration cycle, the driving signal is activated to drive the motor to vibrate; During the detection phase of the current vibration cycle, the drive signal is paused, and the back electromotive force of the motor corresponding to the current vibration cycle is obtained by acquiring the electromotive force at both ends of the motor.

6. The method according to claim 1, wherein, The step of obtaining the motor resonant frequency and peak value of the back electromotive force corresponding to the current vibration period based on the back electromotive force of the motor corresponding to the current vibration period includes: The motor resonant frequency corresponding to the current vibration period is obtained based on the time interval between two adjacent zero crossings of the back electromotive force of the motor corresponding to the current vibration period. The peak value of the back electromotive force of the motor corresponding to the current vibration cycle is determined based on the maximum absolute value of the back electromotive force within the time interval.

7. The method according to claim 6, wherein, The step of obtaining the motor resonant frequency corresponding to the current vibration period based on the time interval between two adjacent zero-crossing points of the back electromotive force of the motor corresponding to the current vibration period includes: Substituting the time interval into the motor resonant frequency conversion formula, the motor resonant frequency corresponding to the current vibration cycle is obtained. The formula for converting the motor resonant frequency is expressed as follows: in, This indicates that the motor corresponds to the first The resonant frequency of the motor in one vibration cycle, Indicates the first The time interval between two adjacent zero-crossing points of the back electromotive force of a oscillation cycle.

8. The method according to any one of claims 1, 6, and 7, wherein, The step of adjusting the signal frequency, signal amplitude, and signal duration of the drive signal for the vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, the motor resonant frequency, and the peak value of the back electromotive force, further includes: The driving voltage adjustment coefficient is obtained based on the ratio of the peak value of the back electromotive force of the motor corresponding to the current vibration cycle to the target back electromotive force value. The signal amplitude of the driving signal for the vibration cycle to be executed is obtained based on the peak value of the driving signal corresponding to the current vibration cycle and the driving voltage adjustment coefficient.

9. The method according to claim 1, wherein, The given duration adjustment coefficient is greater than or equal to 0.5 and less than or equal to 1.

10. The method according to any one of claims 1, 6, and 7, wherein, When the drive signal is controlled by a pulse width modulation wave, adjusting the signal frequency, signal amplitude, and signal duration of the drive signal for the vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, the motor resonant frequency, and the peak value of the back electromotive force includes: The motor resonant frequency corresponding to the current vibration cycle is determined as the signal frequency of the drive signal for the vibration cycle to be executed. Based on the time interval between two adjacent zero crossings of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave, the number of vibration cycles to be executed corresponding to the pulse width modulation wave is calculated, and the signal duration of the driving signal of the vibration cycle to be executed is obtained. The duty cycle of the pulse width modulation wave is calculated based on the number of pulses in the pulse width modulation wave corresponding to the vibration cycle to be executed, the number of pulses in the pulse width modulation wave corresponding to the current vibration cycle, the target back electromotive force value, and the peak value of the back electromotive force of the motor corresponding to the current vibration cycle, to obtain the signal amplitude of the drive signal for the vibration cycle to be executed.

11. The method according to claim 10, wherein, The step of calculating the number of pulses of the pulse width modulated wave corresponding to the vibration period to be executed, based on the time interval between two adjacent zero crossings of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulated wave, includes: Substitute the time interval between two adjacent zero crossings of the back electromotive force, the driving frequency and driving efficiency of the pulse width modulation wave into the pulse number conversion formula to calculate the number of pulses of the pulse width modulation wave corresponding to the vibration period to be executed. The formula for converting the number of pulses is expressed as follows: in, This indicates that the pulse width modulation wave corresponds to the first... The number of pulses per vibration cycle Indicates the first The time interval between two adjacent zero-crossing points of the back electromotive force in one oscillation cycle This indicates the driving efficiency of the pulse width modulation wave. This indicates the driving frequency of the pulse width modulation wave. This indicates rounding up to the nearest integer.

12. The method according to claim 10, wherein, The step of calculating the duty cycle of the pulse width modulation wave based on the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed, the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle, the target back electromotive force value, and the peak value of the back electromotive force of the motor corresponding to the current vibration cycle includes: The pulse number adjustment factor of the pulse width modulation wave is obtained based on the ratio of the number of pulses of the pulse width modulation wave corresponding to the vibration cycle to be executed to the number of pulses of the pulse width modulation wave corresponding to the current vibration cycle. Substituting the pulse quantity adjustment factor, the target back EMF value, and the peak value of the back EMF of the motor corresponding to the current vibration cycle into the duty cycle conversion formula, the duty cycle of the pulse width modulation wave corresponding to the vibration cycle to be executed is calculated: The duty cycle conversion formula is expressed as follows: in, This indicates that the pulse width modulation wave corresponds to the first Duty cycle of one oscillation period This represents the pulse quantity adjustment factor. This represents the proportionality coefficient. Represents the integral coefficient. Represents the differential coefficient. Indicates the target back electromotive force value. This indicates that the motor corresponds to the first The peak value of the back electromotive force for each oscillation cycle.

13. The method according to claim 1, wherein, The step of obtaining the driving phase of the vibration cycle to be executed and the detection phase following the driving phase based on the back electromotive force of the motor corresponding to the current vibration cycle includes: Substituting the motor resonant frequency corresponding to the current vibration cycle into the driving duration conversion formula, the maximum duration of the driving phase of the vibration cycle to be executed is obtained. The driving duration conversion formula is expressed as follows: in, This indicates that the motor corresponds to the first The maximum duration of the driving phase of each vibration cycle. This indicates that the motor corresponds to the first The motor's resonant frequency for one vibration cycle.

14. The method according to claim 1, wherein, After obtaining the driving signal parameters of the vibration cycle to be executed, and obtaining the driving phase and the detection phase following the driving phase of the vibration cycle to be executed, the method further includes: Update the vibration cycle to be executed to the new current vibration cycle, and return to the step of obtaining the drive signal parameters corresponding to the current vibration cycle.

15. A motor drive device, comprising: The parameter determination module is used to obtain the driving signal parameters corresponding to the current vibration cycle, and to determine the driving stage of the current vibration cycle and the detection stage that follows the driving stage. The parameter update module is used to drive the motor to vibrate according to the drive signal during the drive phase of the current vibration cycle, and to obtain the back electromotive force of the motor corresponding to the current vibration cycle during the detection phase of the current vibration cycle. The signal adjustment module is used to obtain the drive signal parameters of the vibration cycle to be executed based on the back electromotive force of the motor corresponding to the current vibration cycle, and to obtain the drive stage of the vibration cycle to be executed and the detection stage that continues the drive stage. The vibration cycle to be executed is a vibration cycle to be executed following the current vibration cycle. The driving signal parameters of the current vibration cycle and the vibration cycle to be executed include signal frequency, signal amplitude and signal duration, respectively. When the current vibration period is not the initial vibration period, the signal adjustment module is further configured to: Based on the back electromotive force of the motor corresponding to the current vibration cycle, the motor resonant frequency and the peak value of the back electromotive force corresponding to the current vibration cycle are obtained. Based on the back electromotive force (EMF) of the motor corresponding to the current vibration cycle, the motor resonant frequency, and the peak value of the back EMF, the signal frequency, signal amplitude, and signal duration of the drive signal for the vibration cycle to be executed are adjusted. This includes: determining the motor resonant frequency corresponding to the current vibration cycle as the signal frequency of the drive signal for the vibration cycle to be executed; and obtaining the signal duration of the drive signal for the vibration cycle to be executed based on the time interval between two adjacent zero crossings of the back EMF and a given duration adjustment coefficient.

16. An electronic device comprising: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the method as described in any one of claims 1 to 14.

17. A computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any one of claims 1 to 14.

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