Vibration control method, device, apparatus and computer storage medium

Abstract

The application discloses a vibration control method, device, equipment and computer storage medium, relates to the technical field of vibration control, and comprises the following steps: obtaining a to-be-vibration-control instruction, determining vibration operation data in a vibration process according to the to-be-vibration-control instruction, determining a vibration suppression control instruction according to the vibration operation data, and performing vibration control according to the vibration suppression control instruction and the to-be-vibration-control instruction. The application improves the vibration control effect.

Description

Technical Field

[0001] This application relates to the field of vibration control technology, and in particular to a vibration control method, device, equipment, and computer storage medium. Background Technology

[0002] With the continuous development of vibration control products that realize vibration (such as vibration tables that simulate the vibration of the human heart), users have also put forward higher requirements for the vibration control methods of vibration control products.

[0003] Traditional vibration control methods rely on input audio electrical signals to drive internal electromagnetic or piezoelectric modules. These modules then cause the diaphragm of a vibration table to vibrate mechanically, simulating the chest wall vibrations of human heart and lung sounds. This method has certain limitations. Due to the inherent structural limitations of the vibration table diaphragm, repeated oscillations are required after each drive to achieve stability (affecting the simulation of heart sounds without residual vibration). In other words, this vibration control method suffers from poor performance because it requires repeated oscillations after each drive to reach stability.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a vibration control method, apparatus, device, and computer storage medium, aiming to solve the technical problem of poor vibration control performance.

[0006] To achieve the above objectives, this application provides a vibration control method, the vibration control method comprising: Obtain the vibration control command to be used, and determine the vibration operation data during the vibration process based on the vibration control command to be used; Based on the vibration operation data, a vibration suppression control command is determined, and vibration control is performed based on the suppression control command and the vibration control command to be performed.

[0007] In one embodiment, the step of determining the vibration suppression control command based on the vibration operation data includes: The vibration direction and vibration amplitude at each moment in the vibration operation data are determined sequentially, and a reverse control command is determined for the vibration direction and vibration amplitude at each moment; The vibration suppression control command is obtained by summing up the reverse control commands at all times.

[0008] In one embodiment, after the step of performing vibration control according to the suppression control command and the vibration control command to be performed, the method includes: Acquire the suppressed vibration data at the current moment under vibration control; When the vibration suppression data does not match the preset vibration suppression result, the compensation suppression command for the next moment is determined based on the vibration suppression data. In the next moment, vibration control is performed based on the compensation and suppression command and the reverse control command of the next moment.

[0009] In one embodiment, the step of performing vibration control according to the suppression control command and the vibration control command to be performed includes: Acquire the first real-time operating data under the control of the vibration control command to be controlled, and determine the vibration termination condition in the vibration control command to be controlled; When the first real-time running data matches the vibration termination condition, vibration control is performed according to the suppression control command.

[0010] In one embodiment, after the steps of acquiring the first real-time operating data under the control of the vibration control command and determining the vibration termination condition in the vibration control command, the method further includes: If the first real-time running data does not match the vibration termination condition, then it is detected whether the first real-time running data matches the theoretical running data in the vibration control command to be implemented. When the first real-time operating data does not match the theoretical operating data in the vibration control command, the vibration control command is updated based on the first vibration difference data between the theoretical operating data and the first real-time operating data. Based on the updated vibration control command, the step of acquiring the first real-time operating data under the control of the vibration control command is executed.

[0011] In one embodiment, the step of performing vibration control according to the suppression control command and the vibration control command to be performed includes: The target vibration control command is obtained by reverse compensation of the vibration control command to be subjected to the suppression control command, and the second real-time operating data under the control of the target vibration control command is acquired. The second differential vibration data is determined based on the second real-time operating data and the target vibration control command, so as to update the target vibration control command based on the second differential vibration data; Based on the updated target vibration control command, the step of acquiring the second real-time operating data under the control of the target vibration control command is executed.

[0012] In one embodiment, the step of determining vibration operation data during the vibration process based on the vibration control command includes: The target residual vibration data corresponding to the vibration control command to be implemented is determined in the preset residual vibration table, and the target residual vibration data is used as the vibration operation data during the vibration process, or; Acquire mass change data during the vibration control process, determine the target residual vibration data that uniquely corresponds to the vibration control command and the mass change data in the preset residual vibration table, and use the target residual vibration data as the vibration operation data during the vibration process.

[0013] Furthermore, to achieve the above objectives, this application also provides a vibration control device, the vibration control device comprising: The data acquisition module is used to acquire the vibration control command to be performed and to determine the vibration operation data during the vibration process based on the vibration control command to be performed. The vibration control module is used to determine a vibration suppression control command based on the vibration operation data, and to perform vibration control based on the vibration suppression control command and the vibration control command to be performed.

[0014] In addition, to achieve the above objectives, this application also provides a vibration control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vibration control method described above.

[0015] In addition, to achieve the above objectives, this application also provides a computer storage medium storing a vibration control program, wherein when the vibration control program is executed by a processor, it implements the steps of the vibration control method described above.

[0016] This application provides a vibration control method. It involves acquiring a vibration control command to be executed and determining vibration operation data during the vibration process based on the command. A vibration suppression control command is then determined based on the vibration operation data, and vibration control is performed according to both the suppression control command and the vibration control command to be executed. This vibration control method determines the vibration operation data during the vibration process based on the vibration control command to be executed, then determines the vibration suppression control command based on this data, and finally suppresses the entire vibration process based on the suppression control command. This avoids the problem of repeated oscillations required to reach stability after each drive due to the structural limitations of the vibration table diaphragm. In other words, this vibration control method determines the vibration suppression control command based on the vibration operation data before vibration control, and then controls the entire vibration process based on this command. This avoids the phenomenon of repeated oscillations required to reach stability due to structural limitations, thus precisely controlling vibration according to requirements and improving the effectiveness of vibration control. Attached Figure Description

[0017] Figure 1 This is a schematic flowchart of the first embodiment of the vibration control method of this application; Figure 2 This is a schematic diagram of the frame of the vibration control device of this application; Figure 3 This is a schematic diagram of the overall process of the vibration control method of this application; Figure 4 This is a schematic diagram of the vibration controller module of this application; Figure 5 This is a schematic diagram of the vibration control device in this application.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0019] Explanation of icon numbers: 1001 Processing device; 1002 Read-only memory; 1003 Storage device; 1004 Random access memory; 1005 Bus; 1006 Input / output interface; 1007 Input device; 1008 Output device; 1009 Communication device; 10 Vibration component; 20 Vibration acquisition module; 30 Waveform generation module; 40 Waveform fitting module; 50 Waveform output module. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0021] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0022] Existing vibration control products have placed higher demands on their vibration. Taking a vibration table that simulates human heart sounds as an example, a vibration table is generally used to verify the ability of a product's VPU (Voice Pick-up Unit) module to collect heart and lung sounds, and to eliminate operational noise and other interference from direct human testing. The principle is as follows: a vibration table generates a raw signal similar to heart and lung sounds. Smart rings or smartwatches collect the vibration signal from the vibration table through the VPU, and then use this vibration signal to determine and evaluate the performance parameters of the smart ring or smartwatch. The vibration generation principle in the vibration table is: based on the input audio electrical signal, it drives an internal electromagnetic or piezoelectric module, which in turn drives the diaphragm of the vibration table to vibrate mechanically, thereby simulating the chest wall vibration of human heart and lung sounds. However, the heart and lung sound signal of a normal human body is mostly flat, with a vibration peak only appearing when there is a heartbeat signal. The heart and lung sound signal is a periodic vibration signal, and theoretically, there is no horizontal residual vibration between two heart and lung sound signals in a normal person. Due to its inherent mechanical structure, the vibration table device experiences residual vibrations in the diaphragm after each heartbeat (a process of repeated oscillations eventually stabilizing). Therefore, these residual vibrations, limited by the vibration table's mechanical structure, continuously supply oscillation signals to the VPU, causing the signal acquired by the VPU to be inaccurate and not the true original heart and lung sounds. Consequently, the vibration control effect is poor throughout the testing process due to the inherent structural characteristics of the vibration table. This method can also be applied to other instruments with high vibration requirements (i.e., vibration under vibration command control, where residual vibrations or excessively large amplitude vibrations due to structural characteristics are undesirable), but will not be elaborated upon here.

[0023] Therefore, based on the shortcomings of the above vibration control methods, the vibration control method of this application is proposed. The solution of this application embodiment is: by determining the vibration operation data during the vibration process based on the vibration control command to be vibrated, and then determining the vibration suppression control command based on the vibration operation data, the entire vibration process can be suppressed according to the suppression control command. This avoids the problem that the vibration table diaphragm itself is limited by its structure and needs to oscillate repeatedly after each drive to reach a stable state. In other words, this vibration control method determines the vibration suppression control command based on the vibration operation data during the vibration process before vibration control is performed, and then controls the entire vibration process based on the vibration suppression control command. This avoids the phenomenon that repeated oscillations are needed to reach a stable state due to the limitations of its own structure. Thus, the vibration can be precisely controlled according to the needs, thereby improving the vibration control effect.

[0024] It should be noted that the executing entity in this embodiment can be a computing server with data processing, network communication, and program execution functions, such as a high-performance computing chip, controller, and microcontroller. The following description uses the controller within a vibration instrument as an example to illustrate this embodiment and the subsequent embodiments.

[0025] Based on this, the embodiments of this application provide a vibration control method, referring to... Figure 1 , Figure 1 This is a schematic flowchart of the first embodiment of the vibration control method of this application.

[0026] Reference Figure 1 This application provides a vibration control method, which includes: Step S10: Obtain the vibration control command to be used, and determine the vibration operation data during the vibration process based on the vibration control command to be used; For example, taking the vibration table as the object of vibration control as an example, the explanation can be found in the following reference. Figure 2 , Figure 2 This is a schematic diagram of the vibration control device of this application. The entire vibration control device includes a vibration component 10, a vibration acquisition module 20, a waveform generation module 30, a waveform fitting module 40, and a waveform output module 50. The entire vibration table, through the vibration component 10 (e.g., an electromagnetic or piezoelectric component), drives the diaphragm to mechanically vibrate based on electromagnetic or piezoelectric principles to complete the entire vibration control. The vibration acquisition module 20 is used to acquire data throughout the entire vibration process, thereby determining the specific details of each vibration. For example, vibration is acquired using a vibration sensor to determine the real-time vibration under vibration control. At least the vibration acquisition module 20 can be used to obtain the residual vibration after vibration control is completed, and then the residual vibration can be selectively canceled out. Alternatively, the vibration acquisition module 20 can be used without processing the data; instead, the residual vibration data corresponding to the vibration command can be directly determined, and this residual vibration data can be used as the data to be processed by the vibration acquisition module 20. Finally, the data to be processed acquired by the vibration acquisition module 20 is transmitted to the waveform generation module 30, where a residual vibration control waveform that completely cancels out the data to be processed is generated. Finally, the residual vibration control waveform and the original vibration control command waveform are fitted in the waveform fitting module 40 to obtain the final control command. This final control command is then output to control the vibration of the vibration table. The entire vibration control process suppresses residual vibration based on the actual vibration control data, thereby completely canceling the residual vibration and ensuring the vibration control effect.

[0027] In this embodiment, upon receiving a user-inputted or internally automatically generated vibration control command, the vibration operation data for vibration control is determined based on the command. Suppression control is then performed based on this vibration operation data to ensure the effectiveness of the overall vibration control. For example, the vibration control command can be the magnitude and frequency of the driving force actually applied to the diaphragm in the vibration table. Vibration operation data refers to the vibration situation throughout the entire vibration process under the control of the vibration control command, including at least the vibration direction, vibration amplitude, and vibration frequency. It is worth noting that unique corresponding vibration operation data can be pre-determined for different vibration control commands. Alternatively, the vibration operation data under the control command can be fed back while the command is being used. Furthermore, residual vibration data can be pre-defined based on the vibration control command, and the data during vibration can be collected in real time, summarizing these two sets of data into the vibration operation data for the entire vibration process.

[0028] Step S20: Determine the vibration suppression control command based on the vibration operation data, and perform vibration control based on the suppression control command and the vibration control command to be performed.

[0029] In this embodiment, after determining the vibration operation data, a suppression control command for residual vibration suppression is determined based on this data. The suppression control command is an instruction to suppress residual vibration, generally generating a signal with the opposite direction and the same amplitude as the residual vibration to completely cancel it out. The vibration control process can prioritize using the control command for the vibration to be controlled, and then use the suppression control command when residual vibration is detected. Alternatively, a fitting control command determined by the suppression control command and the control command for the vibration to be controlled can be used directly from the start of vibration to eliminate vibration errors caused by the structure throughout the entire vibration process. Residual vibration can be suppressed based on the residual vibration control command, ensuring that only the necessary vibration portion is retained throughout the entire vibration process, with the rest being linear. In other words, the entire suppression process uses the suppression control command to suppress the residual vibration caused by the vibration table structure, ensuring the accuracy of the vibration control of the entire vibration table. Furthermore, without significant hardware changes to the original vibration table, it can objectively assist smart ring products or smartwatch products in verifying the quality of cardiopulmonary sound signals, ensuring that the smart ring or smartwatch product collects vibration signals completely consistent with the original cardiopulmonary sound signals, which helps in verifying objective product indicators.

[0030] It is worth noting that the object of vibration control can also be other instruments that need to suppress residual waves, which is not limited here.

[0031] In one embodiment, the step of determining vibration operation data during the vibration process based on the vibration control command includes: Step S11: Determine the target residual vibration data corresponding to the vibration control command to be performed in the preset residual vibration table, and use the target residual vibration data as the vibration operation data during the vibration process, or; Step S12: Obtain mass change data during vibration control, determine the target residual vibration data that uniquely corresponds to the vibration control command and mass change data in the preset residual vibration table, and use the target residual vibration data as the vibration operation data during the vibration process.

[0032] In this embodiment, the determined vibration operation data generally refers to the residual vibration, that is, the vibration operation data refers to the residual vibration data, which, for the vibration table, is the residual vibration that should not occur. In one embodiment, the target residual vibration data corresponding to the vibration control command to be performed can be directly determined from a preset residual vibration table, and the target residual vibration data is used as the vibration operation data during the vibration process. The target residual vibration data refers to the residual waveform corresponding to the vibration control command to be performed in the preset residual vibration table. The preset residual vibration table records that when the amplitude of the vibration control command to be performed is F1 and the frequency is P1, the unique corresponding target residual vibration data is the B1 residual waveform. Of course, the vibration control command to be performed can also be other parameters to correspond to different waveforms, or there may be a specific relationship between a certain parameter in the vibration control command and the residual waveform, and the residual waveform can be directly determined through the specific relationship and a certain parameter. The specific relationship is generally a vibration-related inertial operation relationship, not a simple linear relationship. In another embodiment, the influence of the external environment on the structural inertial vibration can be considered. By acquiring mass change data during the vibration control process, a unique target residual vibration data can be determined based on the vibration control command and the mass change data. This target residual vibration data is then used as the vibration operation data during the vibration process. The mass change data refers to the mass change of the vibration table. For example, when the ring to be tested is placed on the vibration table, the mass acting on it will cause inertial effects on the structure, thus affecting the final residual vibration waveform—that is, the influence of mass on inertia. Alternatively, the influence parameters can be considered to determine the unique target residual vibration data. For example, if the amplitude of the vibration control command is F1, the frequency is P1, and the mass of the ring to be tested is M1, the unique target residual vibration data is the B2 residual vibration waveform; if the amplitude of the vibration control command is F1, the frequency is P1, and the mass of the ring to be tested is M2, the unique target residual vibration data is the B3 residual vibration waveform. This consideration of the influence of the external environment on the residual vibration waveform ensures the accuracy of subsequent residual vibration waveform cancellation.

[0033] Specifically, refer to Figure 3 , Figure 3This is a schematic diagram of the overall flow of the vibration control method of this application. Assuming the vibration control command is a very short spike excitation, a very short spike excitation is applied to the vibrating component to control its vibration. The residual vibration waveform T(t) is then acquired, and subsequently, the residual vibration waveform T(t) needs to be suppressed and canceled. It is worth noting that the residual vibration waveform T(t) can be predefined with different very short spike excitations, or it can be acquired in real time to generate a reverse waveform -T(t). The reverse waveform -T(t) refers to a control signal, and the effect of the reverse waveform -T(t) is achieved under the control of this signal. Finally, the reverse waveform -T(t) can be fitted to the input vibration signal, where the input vibration signal refers to the initially input very short spike excitation. At this point, while inputting the extremely short peak excitation, the control signal of the reverse waveform -T(t) can be used to suppress the residual vibration waveform. That is, the vibration of the vibrating component is finally determined according to the fitted signal source. The fitted signal source refers to the signal source that fits the extremely short peak excitation and the control signal of the reverse waveform -T(t). At this time, the residual vibration waveform can be canceled according to the control signal of the reverse waveform -T(t) to ensure that the entire vibration process is only controlled by the peak excitation, thereby improving the vibration control effect.

[0034] In this embodiment, a vibration control method is provided. This method acquires a vibration control command to be performed and determines vibration operation data during the vibration process based on the command. It then determines a vibration suppression control command based on the vibration operation data and performs vibration control based on the suppression control command and the vibration control command to be performed. This vibration control method determines the vibration operation data during the vibration process based on the vibration control command to be performed, and then determines the vibration suppression control command based on the vibration operation data. Ultimately, the entire vibration process can be suppressed based on the suppression control command, avoiding the problem that repeated oscillations are required to reach stability after each drive due to the limitations of the vibration table diaphragm's own structure. In other words, this vibration control method determines the vibration suppression control command based on the vibration operation data during the vibration process before vibration control is performed, and then controls the entire vibration process based on the vibration suppression control command. This avoids the phenomenon that repeated oscillations are required to reach stability due to the limitations of its own structure, and thus allows for precise vibration control based on specific needs, improving the effectiveness of vibration control.

[0035] Furthermore, based on the first embodiment of this application described above, a second embodiment of the vibration control method of this application is proposed. In this embodiment, the step of determining a vibration suppression control command based on vibration operation data includes: Step S21: Sequentially determine the vibration direction and vibration amplitude at each moment in the vibration operation data, and determine the reverse control command for the vibration direction and vibration amplitude at each moment; Step S22: Summarize the reverse control commands at all times to obtain the vibration suppression control commands.

[0036] In this embodiment, because it is necessary to determine the control command to suppress the residual vibration waveform, the vibration direction and amplitude at each moment in the vibration operation data are used. For example, the vibration direction at time T1 is upward and the amplitude is F1; the vibration direction at time T1+1 is downward and the amplitude is F1-1; the vibration direction at time T1+2 is upward and the amplitude is F1-2; there is no vibration at time T1+2. The vibration suppression command is determined based on the vibration direction and amplitude at these moments. For example, for the vibration direction at time T1 being upward and the amplitude being F1, the reverse control command Z1 can be used. That is, under the control of the reverse control command Z1, the vibration table can be made to vibrate downward with an amplitude of F1, thereby canceling the residual vibration at time T1. Similarly, we can continue to determine the reverse control commands at other times (i.e., control the vibration to achieve reverse vibration at that time). Finally, we can summarize the reverse control commands at all times to obtain the suppression control command to suppress the vibration, that is, determine the control signal to achieve the reverse waveform -T(t). Finally, we can use the suppression control command to suppress the residual vibration to ensure the accuracy of the entire vibration control.

[0037] In another embodiment, a suppression control command can be directly determined for a specific vibration operation data point, meaning that a single control operation can control the entire residual vibration waveform. Similarly, by utilizing the structural characteristics of the vibration table, a control signal can be used to output the residual vibration waveform. By determining the vibration characteristics of the vibration table, the appropriate control signal for the residual vibration waveform can be determined. For example, if the residual vibration waveform is characterized by A1 (i.e., the frequency of vibration change and maximum amplitude, etc.), then a downward-directed instantaneous pulse with an amplitude of L1 can be given at the beginning of the residual vibration waveform to completely cancel it out. Of course, other definitions are also possible and are not limited here.

[0038] Furthermore, after the step of performing vibration control according to the suppression control command and the vibration control command to be performed, the following steps are included: Step S23: Obtain the suppressed vibration data at the current moment under vibration control; Step S24: When the vibration suppression data does not match the preset vibration suppression result, determine the compensation suppression command for the next moment based on the vibration suppression data; Step S25: In the next moment, vibration control is performed based on the compensation and suppression command and the reverse control command of the next moment.

[0039] In this embodiment, when controlling the residual vibration waveform, in addition to the theoretical suppression control command determined above, feedback control is also performed based on real-time feedback data. That is, during vibration control, the suppressed vibration data at the current moment under vibration control is also acquired. The suppressed vibration data refers to the vibration data after the residual vibration waveform is controlled by the suppression control command. For example, if the vibration direction is upward and the vibration amplitude is 0.1, then there is a small residual vibration. To ensure the accuracy of the entire residual vibration suppression, it can be determined whether it matches the preset suppressed vibration result based on the suppressed vibration data. If it matches the preset suppressed vibration result, the original suppression control command can be directly used to continue vibration control. Conversely, if the vibration suppression result does not match the preset suppression result (e.g., the amplitude needs to be suppressed within ±0.1), the compensation suppression command for the next moment will be determined based on the vibration suppression data. For example, the compensation suppression command for the next moment might be determined as follows: assuming the vibration direction is upward and the amplitude is 0.5, the vibration direction for the next moment will be downward, and there will be at least an amplitude of 0.5. Therefore, a downward compensation suppression command will be determined based on the amplitude of 0.5, so that this compensation suppression command compensates for the reverse control command for the next moment, ensuring that the vibration amplitude for the next moment is theoretically 0, thus guaranteeing the vibration suppression effect. For example, if the original reverse control command for the next moment is L2, but the compensation suppression command determined by the amplitude of 0.5 is L3, the final control command determined for the next moment will be L2+L3 to ensure the accuracy of the suppression control for the next moment.

[0040] In another embodiment, after control is initiated at the next moment, the suppressed vibration data at the current moment under vibration control is acquired. If a suppression error is still found (i.e., the vibration amplitude is not zero as described above), compensation is continued for the reverse control command at the next moment; otherwise, no compensation is performed (but compensation is still performed using the compensation suppression command determined at the previous moment, i.e., L3 is added to subsequent moments). Continuing to compensate for the reverse control command at the next moment requires adding a compensation suppression command for the current moment on top of the original compensation suppression command from the previous moment, using both compensation suppression commands for joint compensation. It is also worth noting that if excessive vibration suppression is found at a certain moment, i.e., the vibration direction directly reverses the original direction, L3 compensation is no longer used, or other control commands are used for compensation.

[0041] In one embodiment, the step of determining vibration operation data during the vibration process based on the vibration control command includes: Step S13: Obtain the target vibration control command by reverse compensation of the vibration control command to be controlled according to the suppression control command, and acquire the second real-time operation data under the control of the target vibration control command; Step S14: Determine the second differential vibration data based on the second real-time operating data and the target vibration control command, and update the target vibration control command based on the second differential vibration data; Step S15: Based on the updated target vibration control command, perform the step of acquiring the second real-time operating data under the control of the target vibration control command.

[0042] In this embodiment, the entire vibration control process can also be controlled simultaneously based on the suppression control command and the vibration control command to be vibrated. That is, the suppression control command is used to compensate the vibration control command to be vibrated to obtain the target vibration control command. For example, if the suppression control command is F1 and the vibration control command to be vibrated is F2, then the final target vibration control command is F1-F2. However, it is necessary to ensure that the initial vibration direction controlled by the two commands is consistent, i.e., both are upward vibration. Alternatively, the compensation timing can be adaptively selected. For example, if the vibration control command to be vibrated is upward, the suppression control command can begin compensation during upward vibration, i.e., compensation control is performed at the first or second moment. It is also necessary to meet the premise that the vibration control command to be vibrated is a control command at every moment, not just a control at a certain moment followed by direct inertial vibration. After determining the target vibration control command, the target vibration control command can be directly used for subsequent vibration control to ensure effective suppression of residual vibration. In another embodiment, second real-time operating data under the control of the target vibration control command can also be acquired in real time to perform feedback control based on the second real-time operating data. That is, it is determined that there is a second differential vibration data between the second real-time operating data and the target vibration control command. This indicates that the vibration table structure is affecting normal vibration, necessitating feedback control. The second real-time operating data refers to the vibration data acquired under the target vibration control command. The second differential vibration data refers to the difference between the second real-time operating data and the theoretical operating data under the target vibration control command. For example, if the theoretical amplitude is F6 but the actual amplitude is F6+9, the actual amplitude is too large and needs to be suppressed to ensure it approaches the theoretical value. Other judgment parameters can also be used, which are not limited here. Based on the second real-time operating data and the target vibration control command, the second differential vibration data is determined. The target vibration control command is then updated based on this data. For instance, if the theoretical amplitude is F6 but the actual amplitude is F6+9, then 9 is determined to be the second differential vibration data. Therefore, to achieve a vibration difference of 9, a Z4 command is needed. The command at this moment is then updated to combine the original command with the Z4 command for joint control. The process of acquiring the second real-time operating data under the target vibration control command continues to correct for normal vibration and ensure the accuracy of the entire vibration control.

[0043] Furthermore, based on the first and / or second embodiments of this application described above, a third embodiment of the vibration control method of this application is proposed. In this embodiment, the step of performing vibration control according to the suppression control command and the vibration control command to be performed includes: Step a: Obtain the first real-time operating data under the control of the vibration control command, and determine the vibration termination condition in the vibration control command; Step b: When the first real-time running data matches the vibration termination condition, vibration control is performed according to the suppression control command.

[0044] In this embodiment, vibration suppression can be performed by selecting the appropriate time to suppress vibration, and then acquiring the first real-time operating data under the control of the vibration control command. This means the vibration control command controls the vibration table, and the operating data under this command is collected as the first real-time operating data. The first real-time operating data includes at least the vibration direction, amplitude, and frequency under vibration control. Then, the vibration termination condition in the vibration control command is determined. For example, if the vibration termination condition is defined as C vibrations (one up and one down counts as one vibration), then the subsequent vibrations after C vibrations are determined to be residual vibrations. Vibration control is performed using a suppression control command to ensure effective suppression of residual vibrations, thereby ensuring the accuracy of the entire vibration control process.

[0045] For example, the vibration termination condition can be defined not only as the number of vibrations, but also as other parameters, such as determining the end of vibration when the amplitude is less than F3. The judgment can be based on the vibration termination condition to accurately determine the timing of residual vibration control, so as to ensure the accuracy of the entire vibration control.

[0046] In one embodiment, after acquiring real-time operating data under the control of the vibration control command and determining the vibration termination condition in the vibration control command, the process includes: Step c: If the first real-time running data does not match the vibration termination condition, then check whether the first real-time running data matches the theoretical running data in the vibration control command. Step d: If the first real-time running data does not match the theoretical running data in the vibration control command (the vibration-related parameters that the vibration control command should theoretically have under the control of the vibration control command, such as at least one or more combinations of amplitude, frequency and direction), then the vibration control command is updated based on the first vibration difference data between the theoretical running data and the first real-time running data. Step e involves obtaining the first real-time operating data under the control of the updated vibration control command.

[0047] In this embodiment, in addition to selecting the timing for suppressing the residual vibration waveform, compensation or correction control is also performed for the actual required normal vibration. This is because the structure of the vibration table not only causes residual vibration waveforms but also causes errors in vibration amplitude or frequency compared to the theoretical amplitude or frequency due to factors such as inertia during actual vibration. Therefore, feedback control is also performed under the control command of the vibration table to be controlled to eliminate vibration errors caused by the structure, thereby ensuring the accuracy of normal vibration. That is, before determining that the timing for suppressing the residual vibration waveform has arrived, it is detected whether the first real-time running data at this time matches the theoretical running data in the vibration control command to be controlled, thereby determining whether it is affected by the structure of the vibration table itself. When it is determined that it is not affected by the structure itself, the original vibration control command to be controlled can continue to be used for subsequent control. Conversely, if it is determined that the first real-time running data does not match the theoretical running data in the vibration control command to be controlled, for example, the theoretical amplitude is F6, but the actual amplitude is F6+9, it can be determined that the actual amplitude is too large and needs to be suppressed to ensure that it is close to the theoretical value. Of course, other judgment parameters can also be used, which are not limited here. In other words, it is determined that the actual vibration data does not match the theoretical vibration data due to the structure of the vibration table itself. Therefore, the vibration control command needs to be corrected. This is mainly done by identifying the first vibration difference data between the theoretical operating data and the first real-time operating data to update the vibration control command. For example, if the theoretical amplitude is F6, but the actual amplitude is F6+9, then 9 is identified as the first vibration difference data. Furthermore, it is determined that a vibration difference of 9 requires the Z4 command. The command at this moment can then be updated to combine the original command with the Z4 command for joint control. The process of acquiring the first real-time operating data under the control of the vibration control command continues to detect the timing of suppressing residual vibration waveforms or to continue correcting normal vibrations, ensuring the accuracy of the entire vibration control.

[0048] It is worth noting that the first vibration difference data can be controlled independently. That is, in some cases, the user only needs to use a signal once to achieve a series of vibration waveform outputs, but control is required in subsequent waveforms. In this case, when there are errors in the subsequent vibration waveforms, the control signal corresponding to the first vibration difference data can be used for correction control.

[0049] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the vibration control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0050] This application also provides a vibration control device, with reference to... Figure 4 The vibration control device includes: The data acquisition module A10 is used to acquire the vibration control command to be performed and to determine the vibration operation data during the vibration process based on the vibration control command. The vibration control module A20 is used to determine the vibration suppression control command based on the vibration operation data, and to perform vibration control based on the suppression control command and the vibration control command to be performed.

[0051] The controller provided in this application employs the vibration control method described in the above embodiments, aiming to solve the technical problem of poor vibration control performance. Compared with the prior art, the beneficial effects of the controller provided in this application are the same as those of the vibration control method provided in the above embodiments, and other technical features of the controller are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0052] This application provides a vibration control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the vibration control method in Embodiment 1 above.

[0053] The following is for reference. Figure 5 The diagram illustrates a structural schematic suitable for implementing the vibration control device in the embodiments of this application. The vibration control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The vibration control device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application.

[0054] like Figure 5As shown, the vibration control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the vibration control device. The processing unit 1001, the ROM 1002, and the RAM 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the vibration control device to communicate wirelessly or wiredly with other vibration control devices to exchange data. Although the figures show vibration control devices with various systems, it should be understood that it is not required to implement or possess all of the systems shown. More or fewer systems may be implemented alternatively.

[0055] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or loaded from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0056] The vibration control device provided in this application employs the vibration control method described in the above embodiments, aiming to solve the problem of poor vibration control performance. Compared with the prior art, the beneficial effects of the vibration control device provided in this application are the same as those of the vibration control method provided in the above embodiments, and other technical features of the vibration control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0057] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0058] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0059] This application provides a computer storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the vibration control method in the above embodiments.

[0060] The computer storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0061] The aforementioned computer storage medium may be included in the vibration control equipment; or it may exist independently and not be assembled into the vibration control equipment.

[0062] The aforementioned computer storage medium carries one or more programs, which, when executed by the vibration control device, cause the vibration control device to perform the following: Obtain the vibration control command to be used, and determine the vibration operation data during the vibration process based on the vibration control command; Based on the vibration operation data, determine the vibration suppression control command to suppress the vibration, and perform vibration control according to the suppression control command and the vibration control command to be performed.

[0063] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0064] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation that may be implemented in systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0065] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0066] The computer storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the above-described vibration control method, aiming to solve the technical problem of poor vibration control performance. Compared with the prior art, the beneficial effects of the computer storage medium provided in this application are the same as those of the vibration control method provided in the above embodiments, and will not be repeated here.

[0067] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the vibration control method described above.

[0068] The computer program product provided in this application aims to solve the technical problem of poor vibration control performance. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the vibration control method provided in the above embodiments, and will not be repeated here.

[0069] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A vibration control method, characterized in that, The vibration control method includes: Obtain the vibration control command to be used, and determine the vibration operation data during the vibration process based on the vibration control command to be used; Based on the vibration operation data, a vibration suppression control command is determined, and vibration control is performed based on the suppression control command and the vibration control command to be performed.

2. The vibration control method as described in claim 1, characterized in that, The step of determining the vibration suppression control command based on the vibration operation data includes: The vibration direction and vibration amplitude at each moment in the vibration operation data are determined sequentially, and a reverse control command is determined for the vibration direction and vibration amplitude at each moment; The vibration suppression control command is obtained by summing up the reverse control commands at all times.

3. The vibration control method as described in claim 2, characterized in that, After the step of performing vibration control according to the suppression control command and the vibration control command to be performed, the following steps are included: Acquire the suppressed vibration data at the current moment under vibration control; When the vibration suppression data does not match the preset vibration suppression result, the compensation suppression command for the next moment is determined based on the vibration suppression data. In the next moment, vibration control is performed based on the compensation and suppression command and the reverse control command of the next moment.

4. The vibration control method as described in claim 1, characterized in that, The step of performing vibration control according to the suppression control command and the vibration control command to be performed includes: Acquire the first real-time operating data under the control of the vibration control command to be controlled, and determine the vibration termination condition in the vibration control command to be controlled; When the first real-time running data matches the vibration termination condition, vibration control is performed according to the suppression control command.

5. The vibration control method as described in claim 4, characterized in that, After the steps of acquiring the first real-time operating data under the control of the vibration control command to be controlled and determining the vibration termination condition in the vibration control command to be controlled, the method includes: If the first real-time running data does not match the vibration termination condition, then it is detected whether the first real-time running data matches the theoretical running data in the vibration control command to be implemented. When the first real-time operating data does not match the theoretical operating data in the vibration control command to be implemented, the vibration control command to be implemented is updated based on the first vibration difference data between the theoretical operating data and the first real-time operating data. Based on the updated vibration control command, the step of acquiring the first real-time operating data under the control of the vibration control command is executed.

6. The vibration control method according to any one of claims 1 to 5, characterized in that, The step of performing vibration control according to the suppression control command and the vibration control command to be performed includes: The target vibration control command is obtained by reverse compensation of the vibration control command to be subjected to the suppression control command, and the second real-time operating data under the control of the target vibration control command is acquired. The second differential vibration data is determined based on the second real-time operating data and the target vibration control command, so as to update the target vibration control command based on the second differential vibration data; Based on the updated target vibration control command, the step of acquiring the second real-time operating data under the control of the target vibration control command is executed.

7. The vibration control method according to any one of claims 1 to 5, characterized in that, The step of determining the vibration operation data during the vibration process based on the vibration control command includes: The target residual vibration data corresponding to the vibration control command to be implemented is determined in the preset residual vibration table, and the target residual vibration data is used as the vibration operation data during the vibration process, or; Acquire mass change data during the vibration control process, determine the target residual vibration data that uniquely corresponds to the vibration control command to be controlled and the mass change data in the preset residual vibration table, and use the target residual vibration data as the vibration operation data during the vibration process.

8. A vibration control device, characterized in that, The vibration control device includes: The data acquisition module is used to acquire the vibration control command to be performed and to determine the vibration operation data during the vibration process based on the vibration control command to be performed. The vibration control module is used to determine a vibration suppression control command based on the vibration operation data, and to perform vibration control based on the vibration suppression control command and the vibration control command to be performed.

9. A vibration control device, characterized in that, The vibration control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vibration control method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium stores a vibration control program, wherein when the vibration control program is executed by a processor, it implements the steps of the vibration control method as described in any one of claims 1 to 7.

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