Control methods, systems and electronic equipment for linear motor vibration

Abstract

This application provides a method, system, and electronic device for controlling the vibration of a linear motor. The control method is applied to an electronic device, which includes a linear motor, a thermistor, and a memory storing a reference temperature value and an initial drive frequency. The initial drive frequency is a vibration frequency control parameter when the linear motor starts. The method includes: responding to a vibration start command from the linear motor, driving the linear motor to perform a first vibration according to the initial drive frequency; acquiring the current temperature value detected by the thermistor during the first vibration of the linear motor; obtaining a temperature difference value based on the current temperature value and a reference temperature value; determining a calibration drive frequency based on the calibration relationship between the temperature difference value and the drive frequency, and driving the linear motor to perform a second vibration at the calibration drive frequency; storing the current temperature value and the calibration drive frequency in the memory, and updating them respectively to the reference temperature value and the initial drive frequency for the next vibration. The control method of this invention can improve the vibration performance of the motor in real time.

Description

Technical Field

[0001] This invention relates to linear motors, and more specifically to a method, system, and electronic device for controlling the vibration of a linear motor. Background Technology

[0002] Linear motors are widely used in electronic devices such as smartphones to provide vibration functions such as message prompts and touch responses.

[0003] However, the vibration performance of linear motors deteriorates significantly in low-temperature environments. This is because the physical properties of internal mechanical components such as springs and damping materials change significantly with temperature, altering the overall characteristics of the linear motor. The mismatch between the initially set drive signal and the real-time device characteristics leads to issues such as inconsistent vibration sensations, poor user experience, motor noise, and potential damage to motor components. Furthermore, significant temperature variations in linear motors can also result in noticeable differences in vibration sensation, negatively impacting the user experience. Summary of the Invention

[0004] The purpose of this application is to solve the above problems and provide a control method for linear motor vibration that improves the vibration performance of the motor in real time.

[0005] To achieve the above objectives, the present invention provides a method for controlling the vibration of a linear motor, applied to an electronic device. The electronic device includes a linear motor that performs vibration, a thermistor for detecting the temperature of the linear motor, and a memory. The memory stores a reference temperature value and an initial driving frequency, wherein the initial driving frequency is a vibration frequency control parameter when the linear motor starts. The control method includes:

[0006] In response to the vibration start command of the linear motor, the linear motor is driven to perform a first vibration according to the initial drive frequency, and the current temperature value detected by the thermistor during the first vibration of the linear motor is obtained. The temperature difference is obtained based on the current temperature value and the reference temperature value; Based on the calibration relationship between the temperature difference and the driving frequency, the calibration driving frequency is determined, and the linear motor is driven to perform a second vibration at the calibration driving frequency. The current temperature value and the calibration drive frequency are stored in the memory and then updated to the reference temperature value and initial drive frequency for the next vibration, respectively.

[0007] Compared to existing technologies, the linear motor vibration control method of this invention compares the current temperature of the linear motor with a historical reference temperature, performs frequency compensation based on the temperature difference, and replicates the state at the end of the previous vibration. This provides a starting point closer to the actual resonant frequency for the next vibration, thereby achieving closed-loop calibration based on historical state and real-time temperature feedback, achieving relative compensation rather than absolute compensation. This is more in line with the user's actual perception—users care about whether the vibration experience between two vibrations is consistent. Therefore, it can effectively maintain the consistency of vibration during continuous operation, improving the user experience. Timely adjustment of the linear motor's vibration parameters ensures that the driving frequency is always close to or equal to the actual resonant frequency of the linear motor at the current temperature, thereby guaranteeing the stability of vibration amplitude and response speed, and avoiding the risk of noise, weakened vibration, or even motor damage caused by frequency mismatch.

[0008] In one embodiment, the memory further stores a preset calibration relationship between the temperature difference value and the driving frequency; determining the calibration driving frequency based on the calibration relationship between the temperature difference value and the driving frequency includes: Determine whether the temperature difference exceeds a preset threshold; If the preset threshold is exceeded, the driving frequency compensation value corresponding to the temperature difference is obtained according to the calibration relationship between the temperature difference and the driving frequency; and the calibrated driving frequency is obtained according to the driving frequency compensation value and the initial driving frequency corresponding to the vibration start command of the linear motor. If the preset threshold is not exceeded, the initial driving frequency is used as the calibration driving frequency.

[0009] This embodiment uses threshold judgment to avoid frequent compensation caused by minor temperature fluctuations, reducing system power consumption and computational burden. On the other hand, it ensures timely compensation even with significant temperature changes, guaranteeing consistent vibration feedback. This "hysteresis control" mechanism effectively prevents system oscillations and improves the stability of the control system.

[0010] In one embodiment, the step of determining whether the temperature difference exceeds a preset threshold further includes: Based on the temperature range in which the current temperature value is located, a corresponding preset threshold is selected. The temperature range includes at least a low temperature range and a normal temperature range. Different temperature ranges correspond to different preset thresholds. The preset threshold for the low temperature range is less than the preset threshold for the normal temperature range.

[0011] This embodiment dynamically adjusts the threshold according to the temperature range, relying on the material characteristics of the linear motor to make the compensation mechanism more refined. It can respond to small temperature changes in a timely manner in the low-temperature sensitive area to avoid vibration degradation, and avoid unnecessary frequent compensation in the normal temperature area to save system resources.

[0012] In one embodiment, the calibration relationship between the temperature difference and the driving frequency includes a mapping relationship between the temperature difference values ​​of multiple temperature ranges and the corresponding driving frequency compensation values, and the mapping relationship is constructed in the following manner: Multiple calibration temperature points are selected within a preset temperature range, and the calibration temperature points include at least a room temperature calibration point; At each of the specified calibration temperature points, the linear motor was subjected to a frequency sweep test, and the vibration response of the linear motor at different driving frequencies was collected. The actual resonant frequency at each of the calibration temperature points is determined based on the vibration response. Using the actual resonant frequency at the stated room temperature calibration point as the reference frequency, calculate the frequency offset at each of the stated calibration temperature points; The temperature range is divided into multiple temperature intervals. Based on the frequency offset, a mapping relationship is established between the temperature difference and the driving frequency compensation value in each temperature interval. In each temperature interval, the temperature difference and the driving frequency compensation value have a linear or non-linear correspondence.

[0013] This embodiment obtains the actual resonant frequency at each temperature point by performing frequency sweep tests at different temperatures, thereby quantifying the impact of temperature changes on the resonant frequency and ensuring the accuracy and reliability of frequency compensation. Dividing the temperature range into multiple intervals and establishing a mapping relationship between temperature difference and drive frequency compensation value within each interval can handle the nonlinear frequency drift characteristics of the linear motor in different temperature ranges, making compensation more precise and improving compensation accuracy.

[0014] In one embodiment, obtaining the calibrated drive frequency based on the drive frequency compensation value and the initial drive frequency includes: The initial driving frequency is superimposed with the driving frequency compensation value to obtain the calibrated driving frequency.

[0015] The calculation method for the calibration drive frequency in this embodiment is simple and logically clear, enabling fast and real-time frequency calibration. It effectively combines historical states (initial frequency) with current states (temperature compensation), forming a simple yet efficient dynamic frequency adjustment mechanism.

[0016] In one embodiment, the step of storing the calibration drive frequency to the memory includes: Obtain the back electromotive force signal generated by the linear motor during the trailing period after the second vibration stops; Analyze the waveform envelope of the back electromotive force signal to determine whether the waveform envelope is a smooth exponential decay pattern; If the waveform envelope is a smooth exponential decay pattern, then the current calibration drive frequency is determined to be well matched, and the calibration drive frequency is stored in the memory. If the waveform envelope is not a smooth exponential decay pattern, it is determined that the current calibration drive frequency deviates from the actual resonant frequency of the linear motor. Fine-tuning is then performed, and the fine-tuned calibration drive frequency is stored in the memory.

[0017] This embodiment provides an online quality assessment and self-optimization method for calibrating the drive frequency. Without relying on additional sensors, it can accurately evaluate the frequency calibration effect using only the signal generated by the linear motor itself after the drive stops. This gives the entire control method a "closed-loop" characteristic, enabling it to detect and correct frequency deviations caused by model errors, individual differences, or other unknown factors, further improving vibration control accuracy and user experience consistency.

[0018] In one embodiment, performing fine-tuning includes: The fine-tuning direction is determined based on the shape of the waveform envelope; According to the fine-tuning direction, the calibration drive frequency is adjusted according to a preset step size frequency.

[0019] This embodiment utilizes a step-by-step search fine-tuning mechanism to rapidly adjust the drive frequency to an optimal state. The entire system can continuously and autonomously learn and adapt to any subtle changes that may occur during the linear motor's lifespan, always maintaining optimal vibration performance.

[0020] In one embodiment, the thermistor is disposed on the housing surface of the linear motor and is used to detect the temperature of the linear motor when it vibrates.

[0021] This embodiment ensures the timeliness and accuracy of temperature detection by placing the thermistor on the surface of the linear motor housing, providing a reliable data foundation for subsequent frequency compensation and avoiding inaccurate compensation due to delayed temperature detection or improper placement.

[0022] To achieve the above objectives, the present invention also provides a control system for linear motor vibration, applied to an electronic device, the system comprising: Linear motors are used to generate vibrations; A thermistor is used to detect the temperature of the linear motor; A memory is used to store reference temperature values ​​and initial drive parameters, wherein the initial drive frequency is the vibration frequency control parameter when the linear motor starts. The processor is connected to the linear motor, the thermistor, and the memory respectively, and is used to execute the linear motor vibration control method as described above.

[0023] To achieve the above objectives, the present invention also provides an electronic device including the control system for the vibration of the linear motor described above.

[0024] To provide a clearer understanding of the present invention, the specific embodiments of the present invention will be described below in conjunction with the accompanying drawings. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a flowchart of a linear motor vibration control method according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the construction of the mapping relationship in a linear motor vibration control method according to an embodiment of the present invention. Figure 3 A flowchart illustrating the storage of the calibration drive frequency to the memory in a linear motor vibration system according to an embodiment of the present invention; Figure 4 This is a structural diagram of a linear motor vibration system according to an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the present invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. It is understood that the drawings are provided for reference and illustration only and are not intended to limit this application. The connection relationships shown in the drawings are only for clarity of description and do not limit the connection method.

[0027] In the description of this invention, unless otherwise stated, "a plurality of" means two or more, and "a number" means one or more. Furthermore, unless otherwise stated, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0028] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] It should be noted that when a component is considered to "connect" or "install" another component, it can be a direct connection, installation to another component, or there may be an intervening component. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. In the description of this invention, unless otherwise expressly specified and limited, the terms "install," "connect," "link," and "fix" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; or as a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.

[0030] In the description of this invention, references to terms such as "one embodiment," "some alternative implementations," or "some optional embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] Example 1: This embodiment provides a method for controlling the vibration of a linear motor, applied to an electronic device. The electronic device includes a linear motor that performs vibration, a thermistor for detecting the temperature of the linear motor, and a memory. The memory stores a reference temperature value and an initial driving frequency, wherein the initial driving frequency is a vibration frequency control parameter when the linear motor starts. The control method includes: S1: In response to the vibration start command of the linear motor, drive the linear motor to perform a first vibration according to the initial drive frequency, and obtain the current temperature value detected by the thermistor when the linear motor performs the first vibration; S2: Calculate the temperature difference based on the current temperature value and the reference temperature value; S3: Based on the calibration relationship between the temperature difference and the driving frequency, determine the calibration driving frequency, and drive the linear motor to perform a second vibration at the calibration driving frequency; S4: Store the current temperature value and the calibration drive frequency in the memory, and update them to the reference temperature value and initial drive frequency for the next vibration, respectively.

[0032] When a user triggers a vibration operation, this embodiment receives a vibration start command, determines the initial drive frequency of the vibration, generates an initial drive signal based on the initial drive frequency, and outputs the signal to the linear motor, triggering the linear motor to perform the first vibration. Simultaneously, this embodiment controls the thermistor to collect the temperature data of the linear motor during the first vibration; the collected temperature data is the current temperature value. The reference temperature value stored from the previous vibration is read from the memory, and the current temperature value is subtracted from the reference temperature value to obtain the temperature difference. Based on the temperature difference, a preset calibration relationship between the temperature difference and the drive frequency is queried to determine the calibration drive frequency, and a calibration drive signal is generated. After receiving the calibration drive signal, the linear motor promptly adjusts its vibration frequency to perform the second vibration. After the current vibration cycle ends, the current temperature value and calibration drive frequency are written to the memory, overwriting the original reference temperature value and initial drive frequency, preparing for the next vibration.

[0033] This embodiment compares the current temperature of the linear motor with a historical reference temperature and performs frequency compensation based on the temperature difference. It replicates the state at the end of the previous vibration, providing a starting point closer to the actual resonant frequency for the next vibration. This achieves closed-loop calibration based on historical state and real-time temperature feedback, realizing relative compensation rather than absolute compensation. This better aligns with the user's actual perception—users care about the consistency of vibration sensation between two vibrations. Therefore, it effectively maintains consistent vibration sensation during continuous operation, improving the user experience. By compensating for the vibration frequency, the vibration parameters of the linear motor are adjusted in a timely manner, ensuring that the drive frequency is always close to or equal to the actual resonant frequency of the linear motor at the current temperature. This guarantees the stability of vibration amplitude and response speed, avoiding the risk of noise, weakened vibration, or even motor damage due to frequency mismatch. By updating the current temperature to the reference temperature, a continuous memory chain is formed. Each vibration is compensated based on the previous true state, making the control continuous, consistent, and adaptive, maintaining a good user experience over long-term use.

[0034] The following provides a detailed explanation of the specific operations for each step in the control method for linear motor vibration.

[0035] In this embodiment, the control method is applied to an electronic device, which includes a linear motor, a thermistor, and a memory. The linear motor is used to perform vibration, the thermistor is used to detect the temperature of the linear motor, and the memory stores a reference temperature value and an initial drive frequency. The initial drive frequency is a vibration frequency control parameter when the linear motor starts.

[0036] The electronic device can perform vibration feedback through the linear motor, which is the core actuator for vibration command feedback. The thermistor is used to detect the temperature of the linear motor. The reference temperature value stored in the memory is the temperature value stored at the end of the previous vibration, used for comparison with the current temperature value, facilitating dynamic and timely adjustment of the current vibration of the linear motor. The initial drive frequency stored in the memory is the calibration drive frequency stored at the end of the previous vibration.

[0037] In one embodiment, the thermistor is disposed on the housing surface of the linear motor and is used to detect the temperature of the linear motor when it vibrates.

[0038] The placement of the thermistor directly affects the accuracy and timeliness of temperature detection. Placing the thermistor on the surface of the linear motor housing allows for good thermal coupling between the thermistor and the linear motor, thus more accurately reflecting the true internal temperature of the linear motor. When the linear motor operates, its internal coils heat up, and this heat is conducted to the housing surface, which the thermistor can quickly detect. During the assembly of electronic devices, the thermistor is placed on the surface of the linear motor housing. When the linear motor vibrates and generates heat, this heat is conducted to the housing surface, and the resistance of the thermistor changes with temperature. By detecting this resistance change, the corresponding temperature data can be obtained.

[0039] This embodiment ensures the timeliness and accuracy of temperature detection by placing the thermistor on the surface of the linear motor housing, providing a reliable data foundation for subsequent frequency compensation and avoiding inaccurate compensation due to delayed temperature detection or improper placement.

[0040] In this embodiment, the memory also stores a preset calibration relationship between the temperature difference and the driving frequency. This calibration relationship is a data model obtained through experimental calibration, reflecting the influence of temperature changes on the resonant frequency of the linear motor.

[0041] S1: In response to the vibration start command of the linear motor, drive the linear motor to perform a first vibration according to the initial drive frequency, and obtain the current temperature value detected by the thermistor during the first vibration of the linear motor.

[0042] When a user triggers a touch operation on the electronic device, the system of the electronic device generates a vibration start command. Upon receiving the vibration start command, an initial drive signal is generated based on the initial drive frequency stored in the memory, and this signal is output to the linear motor. This triggers the linear motor to perform a first vibration. Simultaneously, the thermistor detects the temperature of the linear motor during the first vibration and obtains the current temperature value.

[0043] Temperature is detected synchronously during the first vibration of the linear motor because the heat generated by the linear motor during operation more accurately reflects the actual temperature of its internal coils and springs, thus more accurately reflecting the physical properties of the mechanical components and the overall properties of the linear motor. This provides a more accurate basis for subsequent frequency compensation. The first vibration of the linear motor uses the same driving frequency as the previous vibration as the vibration parameter. Using the same vibration parameter better reflects the influence of temperature as a single factor on the linear motor components.

[0044] By detecting the temperature when the linear motor undergoes its first vibration, the true temperature of the linear motor under its current operating state can be obtained in a timely manner, accurately reflecting the physical properties of the mechanical components. This provides an accurate data basis for subsequent frequency compensation and avoids inaccurate compensation caused by lag in temperature detection.

[0045] In one embodiment, the vibration start command can be a single vibration or multiple vibrations. During multiple vibrations, the electronic device's system executes the control method described in this embodiment multiple times.

[0046] S2: Calculate the temperature difference based on the current temperature value and the reference temperature value.

[0047] After obtaining the current temperature value, the reference temperature value is read from the memory. The reference temperature value is the temperature value stored at the end of the previous vibration. The difference between the current temperature value and the reference temperature value is calculated to obtain the temperature difference value.

[0048] This embodiment compares the current temperature value with a reference temperature value to reflect the temperature change of the linear motor between two vibration operations, indirectly reflecting the change in the properties of the linear motor's mechanical components. This comparison method based on the temperature of the previous vibration enables relative compensation, rather than absolute compensation, thus better maintaining the consistency of the experience between two adjacent vibrations. By calculating the temperature difference instead of directly using absolute temperature, the compensation mechanism can better align with the user's actual perception—users are more concerned with the consistency of vibration sensation between two adjacent operations, rather than each vibration sensation being identical to a fixed benchmark, thus improving the user experience. Simultaneously, this relative compensation method also provides a basis for subsequent threshold determination.

[0049] S3: Based on the calibration relationship between the temperature difference and the driving frequency, determine the calibration driving frequency, and drive the linear motor to perform a second vibration at the calibration driving frequency.

[0050] Based on the temperature difference calculated through real-time monitoring, and according to the calibration relationship between the temperature difference and the drive frequency, the current calibration drive frequency is determined, and a calibration drive signal is generated. The linear motor completes the second vibration at the calibration drive frequency, thereby ensuring that the vibration effect is consistent with the user's expectations. Frequency compensation can be specifically performed based on the characteristics of the existing linear motor components, solving problems such as linear motor frequency drift, poor vibration experience, motor noise, and damage to motor components, thus ensuring and improving the user experience.

[0051] In this embodiment, the memory also stores a preset calibration relationship between the temperature difference value and the driving frequency; determining the calibration driving frequency based on the calibration relationship between the temperature difference value and the driving frequency includes: Determine whether the temperature difference exceeds a preset threshold; If the preset threshold is exceeded, the driving frequency compensation value corresponding to the temperature difference is obtained according to the calibration relationship between the temperature difference and the driving frequency; and the calibrated driving frequency is obtained according to the driving frequency compensation value and the initial driving frequency corresponding to the vibration start command of the linear motor. If the preset threshold is not exceeded, the initial driving frequency is used as the calibration driving frequency.

[0052] In this embodiment, after calculating the temperature difference, it is compared with a preset threshold. If the temperature difference does not exceed the preset threshold, it indicates that the temperature change is small and its impact on the resonant frequency is negligible. In this case, the compensation calculation is skipped, and the initial driving frequency is directly used as the calibration driving frequency to generate the calibration driving signal. If the temperature difference exceeds the preset threshold, it indicates that the temperature change is large and compensation is required. The calibration relationship between the temperature difference and the driving frequency is queried to obtain the corresponding driving frequency compensation value, which is then superimposed on the initial driving frequency to obtain the calibration driving frequency.

[0053] In practical use, small temperature fluctuations have a negligible impact on the resonant frequency of the linear motor, which is difficult for the user to perceive. If the linear motor compensation is triggered with every temperature change, it will not only increase the computational burden but may also lead to system instability due to frequent adjustments. Therefore, a threshold judgment mechanism based on a preset threshold comparison is used to perform frequency compensation only when the temperature difference exceeds the preset threshold; otherwise, the initial drive frequency is directly used.

[0054] This embodiment uses threshold judgment to avoid frequent compensation caused by minor temperature fluctuations, reducing system power consumption and computational burden. On the other hand, it ensures timely compensation even with significant temperature changes, guaranteeing consistent vibration feedback. This "hysteresis control" mechanism effectively prevents system oscillations and improves the stability of the control system.

[0055] In this embodiment, the step of determining whether the temperature difference exceeds a preset threshold further includes: Based on the temperature range in which the current temperature value is located, a corresponding preset threshold is selected. The temperature range includes at least a low temperature range and a normal temperature range. Different temperature ranges correspond to different preset thresholds. The preset threshold for the low temperature range is less than the preset threshold for the normal temperature range.

[0056] In this embodiment, before determining whether the temperature difference exceeds a preset threshold, the temperature range to which the current temperature belongs is first determined, and the corresponding preset threshold is obtained. The calculated temperature difference is compared with the selected threshold, and subsequent judgments are performed. The linear motor material exhibits different degrees of sensitivity to temperature changes in different temperature ranges. In low-temperature environments, the spring sheet stiffens, and the resonant frequency becomes more sensitive to temperature changes; even a small temperature difference can lead to significant frequency drift. In contrast, in normal-temperature environments, the frequency drift is relatively gradual. Therefore, different thresholds need to be set for different temperature ranges: a threshold with a smaller degree of change is used in the low-temperature range, while a threshold with a larger degree of change is used in the normal-temperature range.

[0057] This embodiment dynamically adjusts the threshold according to the temperature range, relying on the material characteristics of the linear motor to make the compensation mechanism more refined. It can respond to small temperature changes in a timely manner in the low-temperature sensitive area to avoid vibration degradation, and avoid unnecessary frequent compensation in the normal temperature area to save system resources.

[0058] In this embodiment, obtaining the calibrated drive frequency based on the drive frequency compensation value and the initial drive frequency includes: The initial driving frequency is superimposed with the driving frequency compensation value to obtain the calibrated driving frequency.

[0059] The calculation method for the calibration drive frequency in this embodiment is simple and logically clear, enabling fast and real-time frequency calibration. It effectively combines historical states (initial frequency) with current states (temperature compensation), forming a simple yet efficient dynamic frequency adjustment mechanism.

[0060] In this embodiment, as Figure 2As shown, the calibration relationship between the temperature difference and the driving frequency includes the mapping relationship between the temperature difference in multiple temperature ranges and the corresponding driving frequency compensation values. This mapping relationship is constructed in the following way: S31: Select multiple calibration temperature points within a preset temperature range, wherein the calibration temperature points include at least a room temperature calibration point; S32: At each of the specified calibration temperature points, a frequency sweep test is performed on the linear motor to collect the vibration response of the linear motor at different driving frequencies; S33: Determine the actual resonant frequency at each of the calibration temperature points based on the vibration response; S34: Using the actual resonant frequency at the room temperature calibration point as the reference frequency, calculate the frequency offset at each calibration temperature point; S35: Divide the temperature range into multiple temperature intervals, and establish a mapping relationship between the temperature difference and the driving frequency compensation value in each temperature interval according to the frequency offset. In each temperature interval, the temperature difference and the driving frequency compensation value have a linear or non-linear correspondence.

[0061] The frequency sweep test refers to changing the excitation frequency continuously or in steps within a certain frequency range while measuring the vibration response of the system.

[0062] Several temperature points within the specified temperature range are set in the laboratory, such as -40℃, -35℃, -30℃, -25℃, -20℃, -15℃, -10℃, -5℃, 0℃, and 20℃, covering at least the operating temperature range of the linear motor, including both low-temperature and normal-temperature conditions. At each temperature point, after the linear motor temperature stabilizes, a frequency sweep test is performed, and the driving frequency corresponding to the moment of maximum vibration amplitude is recorded; this is the actual resonant frequency at that temperature point. Using the actual resonant frequency at the normal-temperature calibration point as the reference frequency, the frequency offset at other temperature points is calculated. The temperature range is divided into temperature intervals. Within each temperature interval, based on the relationship between the offset and temperature, a mapping relationship is established between the temperature difference and the driving frequency compensation value. This mapping relationship is stored in the memory as the basis for implementing the linear motor compensation.

[0063] The calibration relationship is constructed based on experimental calibration. Experimental calibration yields highly accurate calibration relationships specific to a particular linear motor model. This ensures that subsequent temperature compensation is not arbitrary but supported by precise experimental data.

[0064] This embodiment obtains the actual resonant frequency at each temperature point by performing frequency sweep tests at different temperatures, thereby quantifying the impact of temperature changes on the resonant frequency and ensuring the accuracy and reliability of frequency compensation. Dividing the temperature range into multiple intervals and establishing a mapping relationship between temperature difference and drive frequency compensation value within each interval can handle the nonlinear frequency drift characteristics of the linear motor in different temperature ranges, making compensation more precise and improving compensation accuracy.

[0065] S4: Store the current temperature value and the calibration drive frequency in the memory, and update them to the reference temperature value and initial drive frequency for the next vibration, respectively.

[0066] In this embodiment, the generated calibration drive signal is output to the linear motor, driving the linear motor to complete the second vibration at the calibration drive frequency. After the second vibration ends, the collected current temperature value is written to the memory, overwriting the original reference temperature value and updating it to a new reference temperature value for use in the next vibration. The calibration drive frequency is written to the memory, overwriting the original initial drive frequency and updating it to a new initial drive frequency.

[0067] This embodiment updates the reference temperature value and the initial driving frequency, enabling the next vibration to be compensated based on the state of the previous vibration. This dynamic update mechanism allows the compensation to adapt to changes in ambient temperature without requiring a preset fixed reference, exhibiting good universality and adaptability. It realizes the closed-loop memory function of the control system, enabling compensation to be performed continuously and dynamically.

[0068] Example 2: The difference between Example 2 and Example 1 lies in the step of storing the calibration drive frequency to the memory in the control method, which includes: S41: Obtain the back electromotive force signal generated by the linear motor during the trailing period after the second vibration stops; S42: Analyze the waveform envelope of the reverse electromotive force signal and determine whether the waveform envelope is a smooth exponential decay pattern; S43: If the waveform envelope is a smooth exponential decay pattern, then the current calibration drive frequency is determined to be well matched, and the calibration drive frequency is stored in the memory. S44: If the waveform envelope is not a smooth exponential decay pattern, it is determined that the current calibration drive frequency deviates from the actual resonant frequency of the linear motor, fine-tuning is performed, and the fine-tuned calibration drive frequency is stored in the memory.

[0069] like Figure 3As shown, in this embodiment, after the linear motor completes its second vibration, the drive signal is cut off. Immediately afterwards, the back electromotive force signal generated by the linear motor during the tailing phase is acquired. This signal is digitized and filtered, and its waveform envelope is analyzed. The envelope is evaluated to determine if it conforms to a standard exponential decay curve. If the envelope is smooth, without significant fluctuations or bulges, it indicates that the linear motor's mover motion is smooth, the calibration frequency is ideal, and the calibrated drive frequency can be directly stored in the memory. If the envelope is not smooth, for example, with multiple peaks or undulations, it indicates a deviation between the drive frequency and the actual resonant frequency, and the calibration is not perfect. In this case, fine-tuning is performed, and the fine-tuned calibrated drive frequency is then stored in the memory.

[0070] When the linear motor stops driving, the internal mover will continue to vibrate for a period of time due to inertia, known as the "tailing period." During this time, the linear motor acts as a generator, producing a back electromotive force signal proportional to the mover's velocity. If the driving frequency happens to be the resonant frequency, the after-vibration will exhibit the smoothest and most natural exponential decay. Conversely, if the driving frequency deviates from the resonant frequency, the envelope of the after-vibration will be distorted, resulting in phenomena such as beat frequency or secondary acceleration.

[0071] This embodiment provides an online quality assessment and self-optimization method for calibrating the drive frequency. Without relying on additional sensors, it can accurately evaluate the frequency calibration effect using only the signal generated by the linear motor itself after the drive stops. This gives the entire control method a "closed-loop" characteristic, enabling it to detect and correct frequency deviations caused by model errors, individual differences, or other unknown factors, further improving vibration control accuracy and user experience consistency.

[0072] In this embodiment, the fine-tuning includes: The fine-tuning direction is determined based on the shape of the waveform envelope; According to the fine-tuning direction, the calibration drive frequency is adjusted according to a preset step size frequency.

[0073] This embodiment further analyzes the characteristics of the envelope. For example, if the envelope exhibits a "fast at first, slow later" decay, or if an abnormal small peak appears at the beginning of the tailing, the algorithm can determine whether the current driving frequency is too high or too low. After determining the "fine-tuning direction" (which can increase or decrease the frequency as needed), the current calibration driving frequency is adjusted according to a preset step size.

[0074] The fine-tuning mechanism in this embodiment is a key step in achieving a self-optimizing closed loop. Through step-by-step search, the drive frequency is quickly adjusted to a more optimal state. The entire system can continuously and autonomously learn and adapt to any subtle changes that may occur during the linear motor's lifespan, always maintaining optimal vibration performance.

[0075] Example 3: like Figure 4 As shown, this embodiment provides a control system for the vibration of a linear motor, applied to an electronic device. The system includes: Linear motors are used to generate vibrations; A thermistor is used to detect the temperature of the linear motor; A memory is used to store reference temperature values ​​and initial drive parameters, wherein the initial drive frequency is the vibration frequency control parameter when the linear motor starts. The processor is connected to the linear motor, the thermistor, and the memory respectively, and is used to execute the linear motor vibration control method as described in Embodiment 1 or Embodiment 2.

[0076] This embodiment provides a hardware system for implementing the linear motor vibration control method of Embodiment 1 or Embodiment 2. The processor, as the core control unit, receives a vibration start signal, drives the linear motor to vibrate, reads temperature information obtained by the thermistor, reads historical parameters and calibration relationships from the memory, performs calculations, and outputs a suitable drive frequency signal to the linear motor, thereby achieving intelligent vibration control based on temperature feedback.

[0077] This embodiment organically combines key hardware components (linear motor, thermistor, memory) with a processor that executes the core algorithm, forming a complete and independent functional system. This system can be easily integrated into various electronic devices, providing high-performance, adaptive haptic feedback solutions and significantly improving the user's vibration experience.

[0078] Example 4: This embodiment provides an electronic device, including a control system for linear motor vibration as described in Embodiment 3.

[0079] This embodiment applies the linear motor vibration control system from Embodiment 3 to an electronic device, enabling the device to possess environmentally adaptive intelligent vibration characteristics. This improves the performance stability of the motor vibration response and the user's vibration experience under various complex operating environments, constituting the core competitiveness of the electronic device.

[0080] In summary, the linear motor vibration control method provided by this invention compares the current temperature of the linear motor with a historical reference temperature, performs frequency compensation based on the temperature difference, and replicates the state at the end of the previous vibration. This provides a starting point closer to the actual resonant frequency for the next vibration, thereby achieving closed-loop calibration based on historical state and real-time temperature feedback, achieving relative compensation rather than absolute compensation. This is more in line with the user's actual perception—users care about whether the vibration experience between two vibrations is consistent. Therefore, it can effectively maintain the consistency of vibration during continuous operation, improving the user experience. By compensating for the vibration frequency, the vibration parameters of the linear motor are adjusted in a timely manner, ensuring that the driving frequency is always close to or equal to the actual resonant frequency of the linear motor at the current temperature. This ensures the stability of vibration amplitude and response speed, avoiding the risk of noise, weakened vibration, or even motor damage caused by frequency mismatch. By updating the current temperature to the reference temperature, a continuous memory chain is formed. Each vibration is compensated based on the previous true state, making the control continuous, consistent, and adaptive, maintaining a good user experience in long-term use. The system provided by this invention organically combines key hardware components (linear motor, thermistor, and memory) with a processor executing the core algorithm, forming a complete and independent functional system. This system can be easily integrated into various electronic devices, providing them with a high-performance, adaptive haptic feedback solution and significantly improving the user's vibration experience. The electronic device provided by this invention possesses environmentally adaptive intelligent vibration characteristics. This enhances the performance stability of the motor's vibration response and the user's vibration experience in various complex operating environments, constituting the core competitiveness of the electronic device.

[0081] The specific examples described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling the vibration of a linear motor, characterized in that, An electronic device is applied to the present invention, the electronic device comprising a linear motor, a thermistor, and a memory, wherein the linear motor is used to perform vibration, the thermistor is used to detect the temperature of the linear motor, and the memory stores a reference temperature value and an initial drive frequency, the initial drive frequency being a vibration frequency control parameter when the linear motor starts; the control method includes: In response to the vibration start command of the linear motor, the linear motor is driven to perform a first vibration according to the initial drive frequency, and the current temperature value detected by the thermistor during the first vibration of the linear motor is obtained. The temperature difference is obtained based on the current temperature value and the reference temperature value; Based on the calibration relationship between the temperature difference and the driving frequency, the calibration driving frequency is determined, and the linear motor is driven to perform a second vibration at the calibration driving frequency. The current temperature value and the calibration drive frequency are stored in the memory and then updated to the reference temperature value and initial drive frequency for the next vibration, respectively.

2. The method for controlling the vibration of a linear motor according to claim 1, characterized in that, The memory also stores a preset calibration relationship between the temperature difference value and the driving frequency; Based on the calibration relationship between the temperature difference and the driving frequency, the calibration driving frequency is determined, including: Determine whether the temperature difference exceeds a preset threshold; If the preset threshold is exceeded, the driving frequency compensation value corresponding to the temperature difference is obtained according to the calibration relationship between the temperature difference and the driving frequency; and the calibrated driving frequency is obtained according to the driving frequency compensation value and the initial driving frequency corresponding to the vibration start command of the linear motor. If the preset threshold is not exceeded, the initial driving frequency is used as the calibration driving frequency.

3. The method for controlling the vibration of a linear motor according to claim 2, characterized in that, Before determining whether the temperature difference exceeds a preset threshold, the following steps are also included: Based on the temperature range in which the current temperature value is located, a corresponding preset threshold is selected. The temperature range includes at least a low temperature range and a normal temperature range. Different temperature ranges correspond to different preset thresholds. The preset threshold for the low temperature range is less than the preset threshold for the normal temperature range.

4. The method for controlling the vibration of a linear motor according to claim 2, characterized in that, The calibration relationship between the temperature difference and the driving frequency includes a mapping relationship between the temperature difference in multiple temperature ranges and the corresponding driving frequency compensation values. This mapping relationship is constructed in the following way: Multiple calibration temperature points are selected within a preset temperature range, and the calibration temperature points include at least a room temperature calibration point; At each of the specified calibration temperature points, the linear motor was subjected to a frequency sweep test, and the vibration response of the linear motor at different driving frequencies was collected. The actual resonant frequency at each of the calibration temperature points is determined based on the vibration response. Using the actual resonant frequency at the stated room temperature calibration point as the reference frequency, calculate the frequency offset at each of the stated calibration temperature points; The temperature range is divided into multiple temperature intervals. Based on the frequency offset, a mapping relationship is established between the temperature difference and the driving frequency compensation value in each temperature interval. In each temperature interval, the temperature difference and the driving frequency compensation value have a linear or non-linear correspondence.

5. The method for controlling the vibration of a linear motor according to claim 2, characterized in that, The step of obtaining the calibrated drive frequency based on the drive frequency compensation value and the initial drive frequency includes: The initial driving frequency is superimposed with the driving frequency compensation value to obtain the calibrated driving frequency.

6. The method for controlling the vibration of a linear motor according to claim 1, characterized in that, The step of storing the calibration drive frequency to the memory includes: Obtain the back electromotive force signal generated by the linear motor during the trailing period after the second vibration stops; Analyze the waveform envelope of the back electromotive force signal to determine whether the waveform envelope is a smooth exponential decay pattern; If the waveform envelope is a smooth exponential decay pattern, then the current calibration drive frequency is determined to be well matched, and the calibration drive frequency is stored in the memory. If the waveform envelope is not a smooth exponential decay pattern, it is determined that the current calibration drive frequency deviates from the actual resonant frequency of the linear motor. Fine-tuning is then performed, and the fine-tuned calibration drive frequency is stored in the memory.

7. The method for controlling the vibration of a linear motor according to claim 6, characterized in that, The fine-tuning includes: The fine-tuning direction is determined based on the shape of the waveform envelope; According to the fine-tuning direction, the calibration drive frequency is adjusted according to a preset step size frequency.

8. The method for controlling the vibration of a linear motor according to claim 1, characterized in that, The thermistor is disposed on the surface of the linear motor housing and is used to detect the temperature of the linear motor when it vibrates.

9. A control system for the vibration of a linear motor, characterized in that, Applied to an electronic device, the system includes: Linear motors are used to generate vibrations; A thermistor is used to detect the temperature of the linear motor; A memory is used to store a reference temperature value and an initial drive frequency, wherein the initial drive frequency is a vibration frequency control parameter when the linear motor starts. The processor is connected to the linear motor, the thermistor, and the memory respectively, and is used to execute the linear motor vibration control method as described in any one of claims 1 to 8.

10. An electronic device, characterized in that, The control system for linear motor vibration as described in claim 9.

Images