Drive waveform generation, device and actuator drive system
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI AWINIC TECH CO LTD
- Filing Date
- 2026-02-05
- Publication Date
- 2026-05-26
Smart Images
Figure CN122092718A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of waveform frequency calibration technology, and in particular to a drive waveform generation, apparatus, storage medium, and actuator drive system. Background Technology
[0002] In haptic feedback systems for smart electronic devices (such as mobile phones and tablets), the frequency calibration of the drive waveform of the actuator (commonly a linear motor) is crucial, as it directly affects the accuracy of haptic feedback and user experience.
[0003] Specifically, the degree of matching between the actuator's operating frequency and its resonant frequency directly determines the intensity, subtlety, and energy efficiency of the haptic feedback. When the actuator operates near the resonant frequency, it can output a better haptic feedback effect with lower energy consumption; if the actuator's operating frequency deviates from the resonant frequency, it will not only lead to a decrease in the feedback experience, but may also increase the device's power consumption.
[0004] Therefore, how to calibrate the frequency of the actuator so that the operating frequency of the actuator is highly matched with the resonant frequency is the technical problem to be solved in this disclosure. Summary of the Invention
[0005] In view of this, embodiments of the present disclosure provide a drive waveform generation scheme for an actuator, which can achieve frequency adaptive calibration of the drive waveform without adjusting the oscillator frequency.
[0006] According to a first aspect of this disclosure, a method for generating a drive waveform is provided, comprising: calibrating a reference sampling rate of the actuator based on the actual resonant frequency and the ideal resonant frequency of the actuator to obtain a calibrated sampling rate of the actuator; performing data acquisition based on the calibrated sampling rate to acquire various drive data; performing linear interpolation processing on each drive data based on the reference sampling rate to obtain various interpolated data; and converting each interpolated data into a drive waveform of the actuator.
[0007] According to a second aspect of this disclosure, a drive waveform generation apparatus is provided, comprising: a frequency calibration module for calibrating a reference sampling rate of the actuator based on a calibration frequency and a preset frequency of the actuator, thereby obtaining a calibration sampling rate of the actuator; a frequency conversion sampling module for performing data acquisition based on the calibration sampling rate to obtain various drive data; a linear interpolation module for performing linear interpolation processing on each drive data based on the reference sampling rate to obtain various interpolated data; and a waveform generation module for converting each interpolated data into a drive waveform of the actuator.
[0008] According to a third aspect of this disclosure, an actuator driving system is provided, which is connected to an actuator. The actuator driving system includes: a data memory for storing driving data of the actuator; a frequency detector connected to the actuator for detecting the actual resonant frequency of the actuator; and a waveform generator connected to the data memory, the frequency detector, and the actuator for converting the driving data into a driving waveform according to the actual resonant frequency by executing a driving waveform generation method as described in the first aspect, and outputting the driving waveform to the actuator.
[0009] According to a fourth 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 that causes the processor to perform an operation corresponding to the method described in the first aspect.
[0010] According to a fifth 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.
[0011] The drive waveform generation schemes provided in this disclosure calibrate the sampling rate of each control data based on the actual resonant frequency of the actuator, and perform linear interpolation processing on each acquired control data according to the reference sampling rate of the actuator to generate a drive waveform with a fixed frequency. This enables adaptive frequency calibration of the drive waveform without adjusting the oscillator frequency, thereby improving the vibration effect of the actuator. Attached Figure Description
[0012] 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.
[0013] Figure 1 This is a flowchart illustrating a driving waveform generation method as an exemplary embodiment of the present disclosure.
[0014] Figures 2A to 2B To adopt Figure 1 The diagram shows the frequency calibration effect implemented by the driving waveform generation method.
[0015] Figure 3 This is a schematic diagram of the structure of a driving waveform generation apparatus that is an exemplary embodiment of the present disclosure.
[0016] Figure 4 This is a schematic diagram of the actuator drive system according to an exemplary embodiment of the present disclosure.
[0017] Figures 5A to 5B The image shows a comparison of the uncalibrated and calibrated frequencies of the drive waveform.
[0018] Figure 6 A frame diagram of an electronic device that is an exemplary embodiment of this disclosure. Detailed Implementation
[0019] 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.
[0020] 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.
[0021] 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.
[0022] 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.
[0023] 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).
[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 consumer electronics and automotive electronics, haptic feedback systems, as a key component of human-computer interaction, are widely used in products such as smartphones, smart wearable devices, and in-vehicle control terminals. The core function of this system is to simulate vibration feedback by outputting a drive waveform of a specific frequency through an actuator (e.g., a linear resonant motor), thereby enhancing the user's tactile experience. The vibration effect of the actuator is closely related to the frequency of the drive waveform; only when the frequency of the drive waveform matches the resonant frequency of the actuator can optimal vibration intensity and energy efficiency be achieved. Therefore, precise calibration of the drive waveform frequency has become a core technical requirement in the design of haptic feedback systems.
[0027] Currently, most calibration techniques for the drive waveform frequency of linear resonant motors are achieved by adjusting the PWM (Pulse Width Modulation) frequency, which has the following main drawbacks: If the output PWM frequency comes from the oscillator's internal clock, the output PWM frequency needs to be adjusted by adjusting the oscillator's frequency. However, as an analog circuit, the oscillator cannot achieve linear frequency modulation well, and is prone to overshoot or under-adjustment, requiring multiple iterations to approach the target frequency, which seriously affects calibration efficiency.
[0028] If the output PWM frequency comes from a higher frequency master clock division, the output PWM frequency needs to be adjusted by adjusting the division ratio. This solution requires an extremely high master clock frequency, which will significantly increase hardware design costs and is not conducive to its widespread application in low-cost electronic devices.
[0029] In addition to outputting the PWM frequency, the oscillator is also responsible for other functions such as waveform playback timing and ADC (analog-to-digital converter) sampling. If frequency modulation is achieved by adjusting the oscillator frequency, it will cause deviations in waveform playback timing, thus affecting the user's perception of haptic feedback. Simultaneously, the ADC sampling rate will change with the oscillator frequency, affecting the ADC's sampling accuracy and compromising system stability. Using a multi-oscillator solution to circumvent these problems would significantly increase circuit resource consumption and further drive up hardware costs.
[0030] Based on the various problems existing in the above-mentioned related technologies, this disclosure provides a drive waveform generation scheme that can achieve adaptive calibration of the drive waveform frequency without adjusting the PWM frequency.
[0031] The specific implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.
[0032] Drive waveform generation Figure 1 A flowchart illustrating a driving waveform generation method according to an exemplary embodiment of the present disclosure is shown, which mainly includes the following steps: Step 102: Based on the actual resonant frequency and ideal resonant frequency of the actuator, calibrate the reference sampling rate of the actuator to obtain the calibration sampling rate of the actuator.
[0033] In some embodiments, the actuator includes a linear resonant actuator (LRA).
[0034] In some embodiments, the calibration frequency of the actuator can be determined based on the actual resonant frequency (actual detected value) of the actuator. Based on the ideal resonant frequency of the actuator (a fixed preset value), the preset frequency of the actuator is determined. Based on preset frequency and calibration frequency The reference sampling rate for calibrating the actuator The calibration sampling rate of the actuator is obtained. .
[0035] In this embodiment, it can be based on the calibration frequency. and preset frequency The ratio of the two samples is used to obtain the calibration ratio, and the calibration sampling rate is obtained based on the product of the calibration ratio and the reference sampling rate. .
[0036] The formula for calculating the calibration sampling rate is shown in Formula 1 below: (Formula 1) in, This indicates the calibration sampling rate of the actuator. This indicates the reference sampling rate of the actuator. This indicates the calibration frequency of the actuator. This indicates the preset frequency of the actuator.
[0037] In some embodiments, the actual resonant frequency of the actuator can be acquired by an ADC (analog-to-digital converter) acquisition circuit.
[0038] In some embodiments, the reference sampling rate of the actuator can be set based on the actual application scenario of the actuator and / or the actuator itself. .
[0039] Step 104: Perform data acquisition based on the calibration sampling rate to obtain various driving data.
[0040] like Figure 2A As shown, in some embodiments, when the calibration sampling rate is greater than the reference sampling rate, since the sampling period of the calibration sampling rate is shorter and the sampling is more intensive, the data waveforms 204 of each driving data acquired based on the calibration sampling rate will exhibit a frequency "compressed" effect compared with the data waveforms 202 of each driving data acquired based on the reference sampling rate.
[0041] like Figure 2B As shown, in some other embodiments, when the calibration sampling rate is less than the reference sampling rate, since the sampling period of the calibration sampling rate becomes longer and the sampling is sparser, the data waveforms 206 of each driving data acquired based on the calibration sampling rate will exhibit a frequency "stretching" effect compared with the data waveforms 202 of each driving data acquired based on the reference sampling rate.
[0042] Step 106: Based on the benchmark sampling rate, perform linear interpolation on each driving data to obtain interpolated data.
[0043] Specifically, a linear interpolation method can be used to resample the driving data collected based on the calibration sampling rate to the reference sampling rate, thereby obtaining interpolated data. During this process, the number of interpolated data will change accordingly based on the ratio of the calibration sampling rate to the reference sampling rate.
[0044] For example, refer to Figure 2A When the calibration sampling rate is greater than the reference sampling rate, after performing linear interpolation on each driving data a1 to a5 according to the reference sampling rate, the sampling interval between each interpolated data b1 to b4 becomes larger. Conversely, when the reference sampling rate is greater than the reference sampling rate, the sampling interval between each interpolated data b1 to b4 becomes larger. Figure 2B When the calibration sampling rate is less than the reference sampling rate, after performing linear interpolation on each driving data a1 to a4 according to the reference sampling rate, the sampling interval between each interpolated data b1 to b4 becomes smaller.
[0045] Step 108: Convert each interpolation data into the actuator's drive waveform.
[0046] Specifically, a drive waveform with a fixed frequency is generated based on interpolated data with fixed intervals. The generated drive waveform can be applied to the actuator to drive the actuator to operate at the calibration frequency, thus completing the frequency calibration.
[0047] In summary, the drive waveform generation method of this embodiment can achieve adaptive adjustment of the drive waveform frequency through the synergistic effect of frequency conversion sampling and linear interpolation, so that the operating frequency of the actuator matches the resonant frequency, thereby improving the frequency accuracy requirements of scenarios such as haptic feedback.
[0048] The drive waveform generation method in this embodiment does not require adjusting the oscillator's output PWM frequency. Initial frequency tuning is achieved by adjusting the read interval of the drive data (calibration sampling rate), and then linear interpolation is used to ensure that the frequency of the generated drive waveform matches the reference sampling rate. This avoids the nonlinearity problems of analog circuit adjustments, preventing overshoot or under-adjustment, and reducing the number of calibration iterations, thus improving frequency calibration efficiency. Furthermore, since there is no need to adjust the oscillator's output PWM frequency, it does not affect other functions of the oscillator such as waveform playback timekeeping, ADC sampling rate, etc., improving the stability of system operation.
[0049] Figure 3 This is a schematic diagram of the structure of a drive waveform generation device according to an exemplary embodiment of the present disclosure. As shown in the figure, the drive waveform generation device 300 mainly includes: a frequency calibration module 302, a frequency conversion sampling module 304, a linear interpolation module 306, and a waveform generation module 308.
[0050] The frequency calibration module 302 is used to calibrate the reference sampling rate of the actuator based on the actuator's calibration frequency and preset frequency, and obtain the actuator's calibration sampling rate.
[0051] In some embodiments, the frequency calibration module 302 may determine the calibration frequency of the actuator based on the actual resonant frequency of the actuator, determine the preset frequency of the actuator based on the ideal resonant frequency of the actuator, and calibrate the reference sampling rate of the actuator based on the preset frequency and the calibration frequency to obtain the calibration sampling rate of the actuator.
[0052] In some embodiments, the frequency calibration module 302 may obtain a calibration ratio based on the ratio of the calibration frequency to the preset frequency, and obtain a calibration sampling rate based on the product of the calibration ratio and the reference sampling rate.
[0053] The frequency conversion sampling module 304 is used to perform data acquisition based on the calibrated sampling rate and obtain data from each drive.
[0054] The linear interpolation module 306 is used to perform linear interpolation processing on each driving data based on the reference sampling rate to obtain each interpolated data.
[0055] Specifically, the linear interpolation module 306 resamples each driving data acquired based on the calibration sampling rate to the reference sampling rate using a linear interpolation method. The number of interpolated data obtained after linear interpolation will change accordingly based on the ratio of the calibration sampling rate to the reference sampling rate.
[0056] The waveform generation module 308 is used to convert the interpolated data into the driving waveform of the actuator.
[0057] In some embodiments, the waveform generation module 308 is an output stage (full bridge) used to convert each interpolation data into a corresponding driving waveform and apply it to the actuator to drive the actuator to work according to the calibration frequency and complete the frequency calibration.
[0058] In summary, the drive waveform generation device of this embodiment calibrates the sampling rate of each control data based on the actual resonant frequency of the actuator, and performs linear interpolation processing on each acquired control data according to the reference sampling rate of the actuator, thereby ensuring that the output is adapted to the drive waveform of the actuator and improving the reliability and convenience of the actuator drive.
[0059] Figure 4 This is a schematic diagram of the actuator driving system according to an exemplary embodiment of the present disclosure. The actuator driving system 400 of this embodiment is connected to the actuator 410 (including but not limited to: tactile actuator).
[0060] like Figure 4 As shown, the actuator drive system 400 of this embodiment includes: a data memory 402, a frequency detector 404, and a waveform generator 406.
[0061] The data memory 402 is used to store the driving data of the actuator 410.
[0062] Frequency detector 404 is connected to actuator 410 and is used to detect the actual resonant frequency of actuator 410.
[0063] In some embodiments, the frequency detector 404 is an ADC sampling circuit. The waveform generator 406 is connected to the data memory 402, the frequency detector 404 and the actuator 410. It is used to convert each driving data into a driving waveform by executing the driving waveform generation method as described in any of the above embodiments, based on the actual resonant frequency detected by the frequency detector 404, and output the driving waveform to the actuator 410.
[0064] In some embodiments, the driving waveform output by the waveform generator 406 is a pulse width modulation waveform.
[0065] refer to Figure 5A and Figure 5B This diagram illustrates a comparison of the vibration effects of the actuator before and after frequency calibration using the disclosed technical solution. Driving waveforms 512 and 514 are the current control waveforms output by the actuator drive system 400, and are identical. Waveform 522 is the acceleration waveform of the actuator 410 corresponding to driving waveform 512, and waveform 524 is the acceleration waveform of the actuator 410 corresponding to driving waveform 514.
[0066] like Figure 5A As shown, without frequency calibration, when the drive waveform 512 ends, the acceleration waveform 522 of the actuator 410 still exhibits slight fluctuations. Figure 5B As shown, after frequency calibration using the technical solution disclosed herein, when the drive waveform 514 ends, the acceleration waveform 524 of the actuator 410 also quickly returns to zero.
[0067] In summary, the actuator drive system of this embodiment can adaptively adjust the frequency of the drive waveform based on the actual resonant frequency of the actuator without adjusting the oscillator frequency, thereby improving the actuator's action response speed and control accuracy and meeting the precise control requirements of the actuator in various tactile feedback scenarios.
[0068] 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.
[0069] like Figure 6As shown, the electronic device may include: a processor 602, a communications interface 604, a memory 606, and a communications bus 608.
[0070] in: The processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608.
[0071] Communication interface 604 is used for communication with other electronic devices or servers.
[0072] The processor 602 is used to execute program 610, specifically to perform the relevant steps in the above-described embodiment of driving waveform generation.
[0073] Specifically, program 610 may include program code that includes computer operation instructions.
[0074] 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.
[0075] 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.
[0076] Program 610 may include multiple computer instructions. Specifically, program 610 may use multiple computer instructions to cause processor 602 to perform the operation of generating the driving waveform described in any of the foregoing multiple method embodiments.
[0077] 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.
[0078] 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.
[0079] This application also provides a computer program product, including computer instructions that instruct a computing device to perform the operation corresponding to the generation of the driving waveform described in any of the above embodiments.
[0080] 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.
[0081] 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.
[0082] 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 originally stored on a remote recording medium or non-volatile machine-readable medium and to be stored on a local recording medium, downloaded via a network. 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.
[0083] 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.
[0084] 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 method for generating a driving waveform, comprising: Based on the actual resonant frequency and the ideal resonant frequency of the actuator, the reference sampling rate of the actuator is calibrated to obtain the calibration sampling rate of the actuator; Data acquisition is performed based on the calibration sampling rate to obtain various driving data; Based on the aforementioned benchmark sampling rate, linear interpolation is performed on each driving data to obtain each interpolated data. The interpolated data are converted into the driving waveform of the actuator.
2. The driving waveform generation method according to claim 1, wherein, The calibration sampling rate of the actuator is obtained by calibrating the reference sampling rate of the actuator based on the actual resonant frequency and the ideal resonant frequency of the actuator, including: The calibration frequency of the actuator is determined based on the actual resonant frequency of the actuator. Based on the ideal resonant frequency of the actuator, the preset frequency of the actuator is determined; Based on the preset frequency and the calibration frequency, the reference sampling rate of the actuator is calibrated to obtain the calibration sampling rate of the actuator.
3. The driving waveform generation method according to claim 2, wherein, The step of calibrating the reference sampling rate of the actuator based on the preset frequency and the calibration frequency to obtain the calibration sampling rate of the actuator includes: The calibration ratio is obtained based on the ratio of the calibration frequency to the preset frequency; The calibration sampling rate is obtained based on the product of the calibration ratio and the reference sampling rate.
4. A driving waveform generation device, comprising: A frequency calibration module is used to calibrate the reference sampling rate of the actuator based on the actuator's calibration frequency and a preset frequency, thereby obtaining the actuator's calibration sampling rate. The frequency conversion sampling module is used to perform data acquisition based on the calibration sampling rate and obtain various drive data; The linear interpolation module is used to perform linear interpolation processing on each driving data based on the reference sampling rate to obtain each interpolated data. The waveform generation module is used to convert the interpolated data into the driving waveform of the actuator.
5. An actuator driving system connected to an actuator, the actuator driving system comprising: A data storage device is used to store the driving data of the actuator; A frequency detector, connected to the actuator, is used to detect the actual resonant frequency of the actuator; A waveform generator, connected to the data memory, the frequency detector, and the actuator, is used to convert each driving data into a driving waveform according to the actual resonant frequency by executing the driving waveform generation method as described in any one of claims 1 to 3, and output the driving waveform to the actuator.
6. The actuator drive system according to claim 5, wherein, The actuator includes a tactile actuator; The driving waveform of the actuator includes a pulse width modulation waveform.
7. The actuator drive system according to claim 5, wherein, The frequency detector includes an ADC sampling circuit.
8. 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 drive waveform generation method as described in any one of claims 1 to 3.
9. A computer storage medium having a computer program stored thereon, the program being executed by a processor to implement the driving waveform generation method as described in any one of claims 1 to 3.