WO2017113651A1 - 一种智能终端的触觉振动控制系统和方法 - Google Patents
一种智能终端的触觉振动控制系统和方法 Download PDFInfo
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- WO2017113651A1 WO2017113651A1 PCT/CN2016/086931 CN2016086931W WO2017113651A1 WO 2017113651 A1 WO2017113651 A1 WO 2017113651A1 CN 2016086931 W CN2016086931 W CN 2016086931W WO 2017113651 A1 WO2017113651 A1 WO 2017113651A1
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- resonant actuator
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- vibration
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/02—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs
- H02K33/04—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs wherein the frequency of operation is determined by the frequency of uninterrupted AC energisation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B6/00—Tactile signalling systems, e.g. tactile personal calling systems
Definitions
- the present invention relates to the field of haptic feedback technologies, and in particular, to a haptic vibration control system and method for an intelligent terminal.
- a linear resonant actuator is an electromagnetic system in which a mass is loaded on a spring. It has a natural resonant frequency or a natural resonant frequency, and is usually a high quality factor system. Therefore, when the input driving electrical signal is stopped, the oscillation response of the system is not It will disappear immediately and gradually weaken. This residual vibration will last for a while, and even affect the next vibration, and the desired vibration effect will not be achieved.
- embodiments of the present invention provide a tactile vibration control system and method for an intelligent terminal to effectively suppress or eliminate residual vibration of a linear resonant actuator.
- an embodiment of the present invention provides a tactile vibration control system for an intelligent terminal, the tactile vibration control system including: a command generator, a tactile driver, a linear resonant actuator, a sensing module, a feedback unit, and a comparator;
- the command generator generates an original command signal according to the input signal, and adjusts the original command signal according to the error signal sent by the comparator, and sends the adjusted command signal to the haptic driver;
- the haptic driver generates a driving signal according to the received adjusted command signal, and transmits the generated driving signal to the linear resonant actuator;
- a linear resonant actuator receives the drive signal and vibrates under driving of the drive signal
- the sensing module includes a plurality of sensors, each of which senses the state of the linear resonant actuator in real time, and generates a corresponding sensing signal when the linear resonant actuator is sensed;
- the feedback unit fuses the multi-path sensing signals generated by the sensing module to obtain a feedback signal for estimating the vibration mode of the linear resonant actuator, and sends the feedback signal to the comparator;
- the comparator compares the feedback signal with a desired signal representing the vibration mode of the linear resonant actuator in the input signal, generates an error signal based on the comparison result, and transmits the error signal to the command generator.
- an embodiment of the present invention provides a tactile vibration control method for an intelligent terminal, the method The law includes:
- the state of the linear resonant actuator is sensed in real time by a plurality of sensors, and when the linear resonant actuator is sensed, a corresponding multi-path sensing signal is generated;
- the beneficial effects of the embodiments of the present invention are: for the linear resonance actuator, the residual phenomenon of tailing occurs when the driving signal stops driving, and the closed-loop control mode is used to control the linear resonant actuator, and by setting a plurality of linear resonances can be actuated
- the sensor that monitors or senses the vibration state of the device, and the sensing signals of the plurality of sensors outputting the vibration mode-related physical quantities are used as feedback signals to control the physical quantity of the vibration of the linear resonant actuator in real time, and is more robust through effective integration.
- the invention can solve the problem that the predicted vibration related physical variable is unreliable and the feedback occurs when the signal to noise ratio of the back electromotive force signal is low. The problem of poor adjustment accuracy.
- the present invention further solves a residual phenomenon that occurs when the linear resonant actuator stops driving when the driving signal is stopped by setting a filter, and uses a filter to filter a command signal output by the command generator or filter the input signal, so that When driving the linear resonant actuator vibration through the subsequently generated driving signal, it has a fast starting response rate and a braking response rate, and weakens the overlapping degree of the short-term front and rear vibration events in the time dimension, and improves the time dimension of the front and rear vibration events.
- the degree of discrimination enables quick start and fast braking to ensure the desired vibration effect.
- FIG. 1 is a block diagram of a tactile vibration control system of a smart terminal according to Embodiment 1 of the present invention
- FIG. 2 is a schematic view showing the working process of the closed loop haptic vibration control system of FIG. 1;
- FIG. 3 is a block diagram of a tactile vibration control system of a smart terminal according to Embodiment 2 of the present invention.
- FIG. 4a is a schematic diagram of a command signal of an unfiltered process according to Embodiment 2 of the present invention.
- 4b is a displacement diagram of a vibrator of a linear resonant actuator without filtering treatment according to Embodiment 2 of the present invention
- FIG. 5a is a schematic diagram of a command signal after filtering processing according to Embodiment 2 of the present invention.
- FIG. 5b is a displacement diagram of a vibrator of a linear resonant actuator after filtering processing according to Embodiment 2 of the present invention.
- Figure 6 is a schematic diagram showing the operation of a closed loop haptic vibration control system
- Figure 7 is a schematic diagram showing the operation of another closed-loop haptic vibration control system
- FIG. 8 is a flowchart of a method for controlling haptic vibration of a smart terminal according to Embodiment 3 of the present invention.
- Tactileity is an important sensory modality of the human body, which has the irreplaceable advantages of sight and hearing:
- the surface area of the human skin is large, and there are many optional parts that can be used as information receiving points, such as fingertips, palms and arms;
- the skin may be stressed or shaken to receive information
- the information exchange of the tactile channel is relatively concealed and has high security.
- Eccentric Rotating Mass Motor ECM
- LRA Linear Resonant Actuator
- the vibration frequency and vibration amplitude of the eccentric rotating mass actuator cannot be independent. Control and noise accompanying; linear resonant actuators do not have these problems, and start and brake times are shorter than eccentric rotating mass actuators, so they are more widely used.
- a linear resonant actuator is an electromagnetic system in which a mass is loaded on a spring, having a natural resonant frequency or a natural resonant frequency, and is typically a high quality factor system. Therefore, the linear resonant actuator may also have a stray residual phenomenon when the drive signal stops driving.
- the present invention is directed to a residual phenomenon in which a linear resonant actuator may also have a tailing when the driving signal is stopped, and a plurality of sensors are output by providing a plurality of sensors capable of monitoring or sensing the vibration state of the linear resonant actuator.
- the sensing signal characterizing the vibration mode-related physical quantity is used as a feedback signal to control the physical quantity of the linear resonant actuator vibration in real time, and the state of the actuator is more robustly estimated by applying an effective integration method, and the control is applied to solve the linear resonance actuation.
- a residual phenomenon of tailing occurs when the device vibrates.
- Embodiment 1 is a diagrammatic representation of Embodiment 1:
- FIG. 1 is a block diagram of a tactile vibration control system of a smart terminal according to an embodiment of the present invention.
- the smart terminal of the present invention may be a handheld device, a wearable device (such as a smart watch, a smart wristband), and an industrial control device.
- the haptic vibration control system of FIG. 1 is a closed loop control system, including: a command generator 11, a haptic driver 12, a linear resonant actuator 13, a sensing module 14, a feedback unit 15, and a ratio. Comparator 16.
- the output of the command generator 11 is connected to the input of the haptic driver 12, the output of the haptic driver 12 is connected to the input of the linear resonant actuator 13, and the output of the linear resonant actuator 13 is connected.
- the output of the sensing module 14 is connected to the input of the feedback unit 15, the output of the feedback unit 15 is connected to the first input of the comparator 16, and the second of the comparator 16.
- the input is connected to the desired signal, and the output of the comparator 16 is connected to the input of the command generator 11.
- the command generator 11 generates an original command signal based on the input signal, and adjusts the original command signal based on the error signal transmitted from the comparator 16, and transmits the adjusted command signal to the haptic driver 12.
- the command generator 11 in this embodiment may set a PID (proportional integral derivative) control unit to adjust the generated original command signal.
- the original command signal is adjusted according to the error signal during the vibration period of each half of the linear resonant actuator, such as adjusting the waveform parameters such as the amplitude, duration or period of the waveform corresponding to the original command signal.
- the input signal of the embodiment may be a desired signal and a selection instruction that characterize a vibration mode of the linear resonant actuator, or may be a media stream data, and the media stream data may be media stream data such as audio stream data and video stream data.
- the command generator 11 in this embodiment is also connected to the vibration effect library 17, and the vibration mode list in the vibration effect library 17 is recorded with the physical quantity representing the vibration effect corresponding to each vibration mode of the linear resonance actuator. sequence.
- the command generator 11 When the input signal is a desired signal and a selection instruction including a vibration mode representing the linear resonance actuator, the command generator 11 reads the vibration mode list of the vibration effect library 17, and from the vibration mode list according to the selection instruction in the input signal The corresponding physical quantity sequence is selected, and the physical quantity sequence is used as the original command signal.
- the command generator 11 acquires, from the media stream data, a physical signal derived from the media stream data that characterizes the vibration effect, and uses the physical signal as the original command signal.
- the haptic driver 12 generates a drive signal based on the received adjusted command signal, and transmits the generated drive signal to the linear resonance actuator 13.
- the linear resonant actuator 13 receives the drive signal and vibrates under the drive of the drive signal.
- the sensing module 14 includes a plurality of sensors, each of which senses the state of the linear resonant actuator 13 in real time, and generates a corresponding sensing signal when the linear resonant actuator 13 is sensed to vibrate.
- the sensing module 14 includes a counter electromotive force sensing circuit, and the counter electromotive force sensing circuit is disposed on the linear resonant actuator 13 to generate a counter electromotive force signal when the linear resonant actuator vibrates;
- the sensing module 14 includes a motion sensor disposed at a position separated from the linear resonant actuator 13 in the smart terminal, and the motion sensor generates a corresponding motion sensing signal when the linear resonant actuator vibrates;
- the sensing module 14 includes a motion sensor disposed on the linear resonant actuator 13, and the motion sensor generates a corresponding motion sensing signal when the linear resonant actuator vibrates;
- the motion sensor refers to an important physical quantity capable of sensing a linear resonant actuator in real time
- the motion sensor may be a sensor based on piezoelectric, ultrasonic, infrared, capacitance, etc., such as vibration acceleration, vibration speed, vibration displacement or vibration frequency.
- the motion sensor comprises one or more of an acceleration sensor, a laser Doppler vibration tester, a microphone, and a gyroscope.
- the feedback unit 15 fuses the multi-path sensing signals generated by the sensing module 14 to obtain a feedback signal for estimating the vibration mode of the linear resonant actuator 13 and transmits the feedback signal to the comparator 16.
- the comparator 16 compares the feedback signal with a desired signal representing the vibration mode of the linear resonant actuator in the input signal, generates an error signal based on the comparison result, and transmits the error signal to the command generator 11.
- the haptic vibration control system in this embodiment further includes a control command generator 11, a haptic controller 12, a linear resonant actuator 13, a sensing module 14, a feedback unit 15, a comparator 16, and a vibration effect library 17
- a control command generator 11 a haptic controller 12
- a linear resonant actuator 13 a linear resonant actuator 13
- a sensing module 14 a feedback unit 15
- a comparator 16 a vibration effect library 17
- a micro-control unit for signal transmission that acts as a central controller for the tactile vibration control system.
- the tactile vibration control system of the present embodiment adopts a closed-loop control mode to control the linear resonant actuator, and by providing a plurality of sensors capable of inducing the vibration state of the linear resonant actuator in the closed-loop control, when the linear resonant actuator vibrates, Providing a plurality of sensors capable of monitoring or inducing a vibration state of the linear resonant actuator, and sensing, by the plurality of sensors, a sensing signal representing a vibration mode-related physical quantity as a feedback signal to control a physical quantity of the vibration of the linear resonant actuator in real time, By effectively integrating the state of the actuator more robustly and applying control, the residual phenomenon of tailing occurs when the vibration of the linear resonant actuator is solved. Moreover, the present embodiment can achieve the technical effect of real-time adjustment of the vibration state of the linear resonant actuator by real-time feedback and adjustment.
- the above technical solution for setting various sensors in the embodiment can solve the problem that the predicted vibration-related physical variable is unreliable when the signal-to-noise ratio of the back electromotive force signal is low.
- the problem of poor feedback adjustment accuracy occurs.
- the feedback unit 15 includes: an obtaining module and a weighting module; wherein
- the acquiring module receives the multi-channel sensing signals sent by the sensing module 14, respectively acquires the physical quantity observation values of each sensing signal, and converts the different types of physical quantity observation values into the same type of physical quantity observation values in the same reference system;
- the weighting module calculates a weighting coefficient of the physical quantity observation value of each sensing signal, and sums the physical quantity observation values of the respective sensing signals according to respective weighting coefficients, and obtains a physical quantity estimation value for estimating the vibration mode of the linear resonant actuator. Generating a feedback signal based on the physical quantity estimate to the comparator 16;
- the comparator 16 compares the physical quantity estimation value of the feedback signal with the expected value of the physical quantity in the desired signal, and generates an error signal based on the comparison result.
- the haptic vibration control system further includes a parameter memory 18 coupled to the feedback unit 15 for storing an intrinsic parameter of the linear resonant actuator derived from the physical quantity estimation value, the inherent parameter including linear resonance actuation
- a parameter memory 18 coupled to the feedback unit 15 for storing an intrinsic parameter of the linear resonant actuator derived from the physical quantity estimation value, the inherent parameter including linear resonance actuation
- Some long-term gradual performance parameters such as the internal friction of the linear resonant actuator, the resonant frequency related to the spring strength, and the magnetic flux density, can be updated by setting the corresponding change threshold. For example, when the internal frictional force of the linear resonant actuator derived from the physical quantity estimation value of the feedback signal satisfies the change threshold value compared to the current value of the parameter in the parameter memory, the calculated internal friction force of the linear resonant actuator is used to update the parameter.
- This parameter in the memory makes it easy to understand and master the performance of linear resonant actuators.
- a BEMF sensing circuit capable of outputting a BEMF signal (Back Electro-Motive Force) and an acceleration sensor capable of outputting an acceleration signal are taken as an example to describe the feedback in detail. Signal and error signal generation.
- the linear resonant actuator Since the linear resonant actuator generates a BEMF signal when vibrating, a voltage signal across the two stages of the linear resonant actuator or a current signal flowing through the linear resonant actuator can be obtained by setting a corresponding sensing circuit, and the current signal is removed.
- the DC component caused by the linear resonant actuator impedance in the voltage or current signal can be used to obtain the desired BEMF signal.
- the BEMF signal contains both vibration state information of the linear resonant actuator, such as speed, acceleration, and the like, as well as some physical parameter information of the linear resonant actuator itself, such as a motor factor.
- the acceleration physical quantity is taken as an example.
- the acceleration observation value S1 is extracted from the BEMF signal, which is the acceleration of the oscillator of the linear resonance actuator 13 itself.
- the acceleration sensor is disposed on the linear resonant actuator 13, and the acceleration signal output by the acceleration sensor is also the acceleration of the oscillator of the linear resonant actuator 13 itself, and the corresponding acceleration observation value S2 is directly obtained from the acceleration signal.
- the weighting coefficient of the two acceleration observation values is calculated, and the weighting coefficient can be calculated by using the signal-to-noise ratio or the variance of the acceleration observation value; when the weighting coefficient is calculated by the variance, each acceleration observation value is statistically processed to obtain each acceleration observation.
- the variance of the value calculate the reciprocal of the variance of the two-way acceleration observation value, the ratio of the reciprocal of the variance of each acceleration observation value to the reciprocal sum of the variance is its weighting coefficient; when calculating the weighting coefficient by the signal-to-noise ratio, each path is calculated
- the signal-to-noise ratio of the acceleration observation value is normalized by the signal-to-noise ratio of the two acceleration observation values to obtain the respective weighting coefficients.
- the acceleration signal output by the accelerator sensor is the acceleration of the smart terminal, and the accelerator sensor needs to be output.
- the acceleration signal is converted into the oscillator acceleration of the linear resonant actuator 13, and the acceleration can be converted by the mass ratio of the smart terminal to the vibrator.
- the observed value of the physical quantity extracted from the BEMF signal is a speed observation value
- two different types of physical quantity observation values need to be converted into the same type of physical quantity observation value, for example,
- the velocity observation value extracted from the BEMF signal is converted into an acceleration observation value, or the acceleration observation value output from the acceleration sensor is converted into a velocity observation value.
- the working process of the tactile vibration control system of this embodiment is as shown in FIG. 2:
- the micro control unit in the smart terminal generates an input signal according to some trigger events (such as the user pressing the touch screen), so that the command generator 11 selects the digitized physical quantity corresponding to the desired vibration mode from the vibration effect library according to the selection instruction in the input signal.
- the sequence is used as an original command signal, or an analog physical signal derived from media stream data in the input signal as an original command signal; the command generator 11 then adjusts the original command signal according to the error signal sent by the comparator 16, and The adjusted command signal is sent to the haptic driver 12, and the haptic driver 12 generates a corresponding driving signal according to the adjusted command signal, and the driving signal may be a driving current or a driving voltage; the linear resonant actuator 13 is driving current or driving The vibration is generated under the driving of the voltage, so that the intelligent terminal is forced to vibrate, and the user touches the smart terminal to generate a vibrating touch; the sensing module 14 senses the state of the linear resonant actuator 13 in real time, and is activated in the linear resonance.
- the sensing module 14 senses the transmission of each sensor.
- the sensing signal is sent to the feedback unit 15 for fusion processing of the sensing signal to obtain a feedback signal for estimating the vibration mode of the linear resonant actuator, and the comparator 16 generates a corresponding error signal by comparing the feedback signal with the desired signal, and the error is generated.
- the signal is sent to the command controller 11.
- Embodiment 2 is a diagrammatic representation of Embodiment 1:
- the present embodiment analyzes the residual phenomenon that the linear resonant actuator has a tailing when the driving signal stops driving: the residual phenomenon of the trailing is completely determined by the convolution of the driving signal and the impulse response of the linear resonant actuator, thus
- the driving signal is processed to change the output after the convolution with the impulse response of the linear resonant actuator, and the residual phenomenon of the tailing when the linear resonant actuator vibrates is further solved.
- FIG. 3 is a block diagram of a tactile vibration control system of the smart terminal according to the embodiment.
- the tactile vibration control system further includes a filter 39.
- the present embodiment requires a drive generated by a filter-processed command signal.
- the signal has an overdrive characteristic during the initial period and has an active braking characteristic at the end of the period.
- the output of the command generator 31 is connected to the input of the filter 39, the filter The output of 39 is coupled to the input of haptic driver 32, the output of haptic driver 32 is coupled to the input of linear resonant actuator 33, and the output of linear resonant actuator 33 is coupled to the input of sensing module 34.
- the output of the sensing module 34 is connected to the input of the feedback unit 35, the output of the feedback unit 35 is connected to the input of the comparator 36, and the output of the comparator 36 is connected to the input of the command generator 31.
- the filter 39 filters the adjusted command signal and transmits the filtered command signal to the haptic driver 32; wherein the amplitude of the initial predetermined number of pulses of the filtered command signal is greater than a set threshold And the phase of the predetermined number of pulses at the end is reversed.
- the haptic driver 32, the linear resonant actuator 33, the sensing module 34, the feedback unit 35, and the comparator 36 in this embodiment refer to the related description in the first embodiment, and Let me repeat.
- the filter in this embodiment is connected as a post module of the command generator between the command generator and the haptic controller.
- the filter can also be used as a pre-module of the command generator, and its output is connected to the input end of the command generator, filters the input signal, and sends the filtered input signal to the command generator to generate the command generator.
- the amplitude of the initial predetermined number of pulses of the original command signal is greater than the set threshold, and the phase of the predetermined number of pulses at the end is inverted.
- the parameters of the filter in this embodiment are determined by the impulse response of the linear resonant actuator, preferably the time domain signal of the filter is an impulse signal.
- the haptic vibration control system in this embodiment is further provided with a parameter memory 38 connected to the filter 39, and the inherent parameters of the linear resonant actuator stored in the parameter memory 38 include linear resonant actuators.
- Some long-term gradual performance parameters such as the internal friction of the linear resonant actuator, the resonant frequency associated with the spring strength, the magnetic flux density, etc., also include the parameters related to the calculation of the damped resonant period and damping ratio of the linear resonant actuator. Therefore, the calculated damping resonance period and damping ratio can be used to calculate the impulse timing and impulse amplitude of each impulse of the impulse signal.
- the damped resonance period of the linear resonance actuator 33 can be calculated from the resonance frequency and the damping ratio of the linear resonance actuator 33, as according to the formula Calculating a damping resonance period T d of the linear resonant actuator, and determining an impulse timing of each impulse of the impulse signal according to the damping resonance period T d ; and calculating each impulse according to a damping ratio of the linear resonant actuator 33 Agitated amplitude, as per the formula The impulse amplitude of the impulse is calculated; where f n is the resonant frequency of the linear resonant actuator and ⁇ is the damping ratio of the linear resonant actuator.
- the damping resonance period T d 5.8 ms can be calculated according to the damping resonance period calculation formula of the linear resonant actuator described above.
- the first impulse impulse moment t 1 0, the impulse amplitude
- FIGS. 4a and 5b are respectively a schematic diagram of the unfiltered command signal and the displacement diagram of the linear resonant actuator vibrator
- FIGS. 5a and 5b are respectively a schematic diagram of the command signal of the filtering process and a displacement diagram of the vibrator of the linear resonant actuator
- Fig. 4a exemplarily shows a rectangular wave command signal having three cycles, at the beginning of the fourth cycle, the output of the command signal is stopped; the command of Fig. 4a is applied by the filter of the present invention. After the information is subjected to filtering processing, the command signal shown in Fig. 5a is obtained. It can be seen from FIG.
- the command signal corresponding to the first half of the first period is represented as a pulse signal, that is, the amplitude of the command signal corresponding to the first half of the first period is much larger than the corresponding command of the second half of the period.
- the amplitude of the signal (it can be seen from Fig. 5a that the amplitude of the command signal corresponds to 0 in the second half of the cycle); the command signal corresponding to the first half of the fourth cycle appears as a pulse signal, that is, the first half of the fourth cycle.
- the amplitude of the corresponding command signal is much larger than the amplitude of the corresponding command signal in the second half cycle (it can be seen from FIG.
- Fig. 4a Comparing Fig. 4a with Fig. 5a, it can be seen that the filtered command signal appears as a pulse signal in both its initial stage and the end stage, and Fig. 4a exemplarily shows that there is one pulse in both the initial stage and the end stage, and the end
- the phase of the phase pulse is flipped by 180°, and the intermediate phase appears as a periodic signal with a peak close to zero. Therefore, when the driving signal is generated by using the command signal in FIG. 4a to drive the vibration of the linear resonant actuator, the linear resonant actuator can be driven to quickly enter the stable vibration state, the vibration is quickly stopped, and the residual of the trailing can be effectively suppressed.
- FIG. 4a only exemplarily shows a case where there is one pulse in both the initial stage and the end stage. In practical applications, a corresponding number of pulses can be designed as needed, and the present invention does not limit the number of pulses.
- the linear resonant actuator of Fig. 5b has a vibration effect of quick start and fast braking, and can well suppress the residual of the trailing. That is, the linear resonant actuator in Fig. 4b enters a stable vibration state at a relatively slow speed, and produces a long tail at the end of the vibration; and the linear resonant actuator in Fig. 5b can quickly enter a stable vibration state, which is fast.
- the driving signal generated by the filtered command signal has the characteristics of over-driving and active suppression, that is, the linear resonant actuator can be driven to quickly enter a stable vibration state. When the vibration is finished, the residual of the trailing is effectively suppressed.
- the haptic vibration control system of the present embodiment filters the original command signal generated by the command generator by using a filter, so that when the linear resonant actuator vibration is driven by the subsequently generated drive signal, the switch has a fast start.
- Response and braking response weakening the overlap degree of short-term front and rear vibration events in the time dimension, improving the discrimination degree in the time dimension of the front and rear vibration events, realizing quick start and fast braking, thereby further ensuring the desired vibration effect.
- FIG. 6 shows a schematic diagram of the operation of a closed-loop haptic vibration control system.
- the filter 69 of FIG. 6 forms part of a closed-loop haptic vibration control system, which is connected to the command generator 61 and the haptic controller. Between 62, it is used to filter the adjusted command signal, so that the signal signal processed by the filter has an overdrive characteristic in the initial period and has an active braking characteristic in the end period.
- FIG. 7 shows a schematic diagram of the operation of another closed-loop haptic vibration control system.
- the output of the filter 79 in FIG. 7 is connected to the input of the command generator 71 to filter the input signal and
- the filtered input signal is sent to a command generator 71, which sends the generated command signal to the haptic driver 72, causing the drive signal output by the haptic driver 72 to have an overdrive characteristic during the initial period and active braking at the end of the period.
- the micro control unit in the smart terminal generates an input signal according to some trigger events (such as the user pressing the touch screen), so that the command generator 61 selects the digitization corresponding to the desired vibration mode from the vibration effect library according to the selection instruction in the input signal.
- the physical quantity sequence is used as the original command signal, or the simulated physical signal derived from the media stream data in the input signal is used as the original command signal; the command generator 61 adjusts the original command signal according to the error signal sent by the comparator 66, The adjusted command signal is sent to the filter 69.
- the filter 69 in FIG. 6 filters the adjusted command signal outputted by the command generator 61, and the filter transmits the filtered command signal to the haptic driver 62; the haptic driver 62 is based on the filtered command signal.
- Generating a corresponding driving signal which may be a driving current or a driving voltage; the linear resonant actuator 63 vibrates under the driving current or the driving voltage, so that the smart terminal is forced to vibrate, and the user contacts the smart terminal. The part will feel the vibration touch.
- the sensing module 64 (exemplarily shown in FIG. 6 with a sensing module having a BEMF sensing circuit and an acceleration sensor) senses the state of the linear resonant actuator in real time, and in the case of a linear resonant actuator vibrator, sensing
- the module 64 sends the sensing signal sensed by each sensor to the feedback unit for fusion processing of the sensing signal to obtain a feedback signal for estimating the vibration mode of the linear resonant actuator, and the comparator 66 generates the feedback signal and the desired signal by comparing the feedback signal with the desired signal.
- Corresponding error signal so that the command controller adjusts according to the error signal The original command signal generated by it.
- the micro control unit in the smart terminal generates an input signal according to some trigger events (such as the user pressing the touch screen), the filter 79 filters the input signal, and sends the filtered input signal to the command generator 71.
- some trigger events such as the user pressing the touch screen
- the command generator 71 selects a digitized physical quantity sequence corresponding to the desired vibration mode from the vibration effect library as the original command signal according to the selection instruction in the input signal, or simulates according to the media stream data in the input signal.
- the physical signal is used as the original command signal; the command generator 71 then adjusts the original command signal according to the error signal sent by the comparator 76, and transmits the adjusted command signal to the haptic driver 72, which is based on the filtered command by the haptic driver 72.
- the signal generates a corresponding driving signal, which may be a driving current or a driving voltage; the linear resonant actuator 73 vibrates under the driving current or the driving voltage, so that the intelligent terminal is forced to vibrate, and the user and the intelligent terminal The touched area will feel a vibrating touch.
- a driving signal which may be a driving current or a driving voltage
- the sensing module 74 senses the state of the linear resonant actuator in real time, when the linear resonant actuator 73 vibrator transmits
- the sensing module sends the sensing signal sensed by each sensor to the feedback unit for fusion processing of the sensing signal to obtain a feedback signal for estimating the vibration mode of the linear resonant actuator, and the comparator 76 generates the feedback signal and the desired signal by comparing the feedback signal with the desired signal.
- the corresponding error signal causes the command controller 71 to adjust the original command signal it generates based on the error signal.
- Embodiment 3 is a diagrammatic representation of Embodiment 3
- the present embodiment provides a tactile vibration control method for an intelligent terminal.
- FIG. 8 is a method for controlling a tactile vibration of a smart terminal according to an embodiment of the present invention, where the control method includes:
- the original command signal generated according to the input signal in this step is specifically:
- a physical signal deriving the vibration effect derived from the media stream data is obtained from the media stream data in the input signal, and the physical signal is used as an original command signal.
- sensors such as back EMF sensing circuits and motion sensors can be used to sense the vibration state of the linear resonant actuator.
- a back electromotive force sensing circuit can be provided on the linear resonant actuator, the back electromotive force sensing circuit generates a back electromotive force signal when the linear resonant actuator vibrates; and can also be disposed at a position separated from the linear resonant actuator in the smart terminal.
- the motion sensor generates a corresponding motion sensing signal when the linear resonant actuator vibrates; of course, a motion sensor can also be disposed on the linear resonant actuator, and the motion sensor generates a corresponding vibration when the linear resonant actuator vibrates The motion sensing signal; wherein the motion sensor comprises at least one or more of an acceleration sensor, a laser Doppler vibration tester, a microphone, and a gyroscope.
- the multi-path sensing signal is fused in step S830 to obtain a feedback signal for estimating the vibration mode of the linear resonant actuator.
- comparing the feedback signal with the expected signal representing the vibration mode of the linear resonant actuator in the input signal in step S840 is specifically: comparing the physical quantity estimation value of the feedback signal with the expected value of the physical quantity in the desired signal, and generating an error signal according to the comparison result.
- the generating the driving signal according to the adjusted command signal in step S810 is specifically:
- the filter is set, and the adjusted command signal is filtered by the filter, so that the amplitude of the predetermined predetermined number of pulses of the filtered command signal is greater than a set threshold, and the phase of the predetermined number of pulses at the end is inverted.
- generating the original command signal according to the input signal in step S810 is specifically:
- the time domain signal of the filter in the preferred embodiment is an impulse signal, and the filter can be set by the following method:
- the impulse amplitude of each impulse is calculated from the damping ratio of the linear resonant actuator.
- the impulse signal includes two impulses, and the impulse moment and impulse amplitude of each impulse are calculated according to the following formula;
- t 1 and t 2 are the impulse moments of the first impulse and the second impulse, respectively, and A 1 and A 2 are the impulse amplitudes of the first impulse and the second impulse, respectively, f n is the resonant frequency of the linear resonant actuator, ⁇ is the damping ratio of the linear resonant actuator, and ⁇ is a constant greater than 0 and less than 1.
- the linear resonance actuator has a tailing residual phenomenon when the driving signal stops driving, and the closed-loop control method is used to control the linear resonant actuator by setting a plurality of vibration states capable of the linear resonant actuator.
- a sensor that monitors or senses, and uses a sensing signal of a plurality of sensors to output a vibration mode-related physical quantity as a feedback signal to control the physical quantity of the vibration of the linear resonant actuator in real time, and more robustly estimates the actuation by means of effective integration.
- the state of the device is controlled to achieve the residual phenomenon of tailing when solving the vibration of the linear resonant actuator; and the solution can achieve the technical effect of real-time adjustment of the vibration state of the actuator through real-time feedback and adjustment.
- the invention can solve the problem that the predicted vibration related physical variable is unreliable and the feedback occurs when the signal to noise ratio of the back electromotive force signal is low.
- the problem of poor adjustment accuracy the present invention further solves a residual phenomenon that occurs when the linear resonant actuator stops driving when the driving signal is stopped by setting a filter, and uses a filter to filter a command signal output by the command generator or filter the input signal, so that When driving the linear resonant actuator vibration through the subsequently generated driving signal, it has a fast starting response rate and a braking response rate, and weakens the overlapping degree of the short-term front and rear vibration events in the time dimension, and improves the time dimension of the front and rear vibration events.
- the degree of discrimination enables quick start and fast braking to ensure the desired vibration effect.
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Abstract
一种智能终端的触觉振动控制系统和方法。所述系统包括：命令生成器（11）、触觉驱动器（12）、线性谐振致动器（13）、传感模组（14）、反馈单元（15）和比较器（16），通过包括多个传感器的传感模组（14）监测或感应线性谐振致动器（13）的状态，在线性谐振致动器（13）振动时生成多路传感器信号（1，…，N）；反馈单元（15）将多个传感器输出的表征振动模式相关物理量的传感信号（1，…，N）作为反馈信号发送给比较器（16）；比较器（16）根据反馈信号和输入信号中的期望信号生成误差信号发送给命令生成器（11），使命令生成器（11）根据该误差信号调整其生成的原始命令信号，完成对线性谐振致动器（13）的闭环控制。该系统能够鲁棒地估计线性谐振致动器（13）的状态并施加控制，解决线性谐振致动器（13）振动时出现拖尾的残余现象，以及对线性谐振致动器（13）的振动状态进行实时调整。
Description
本发明涉及触觉反馈技术领域，特别涉及一种智能终端的触觉振动控制系统和方法。
发明背景
多年以来，通信和媒体技术领域对视觉和听觉两种信息的接收通道进行了充分的探索和利用。虽然触觉在虚拟现实和游戏特效等领域有应用，如应用在远程或间接操控、利用游戏手柄的振动模拟射击、爆炸等场景，但直到近几年，才开始进一步挖掘触觉的信息通道。
线性谐振致动器是一种质量块加载在弹簧上的电磁系统，存在固有谐振频率或自然谐振频率，而且通常是高品质因子系统，因此当输入的驱动电信号停止后，系统的震荡响应不会立刻消失而是逐渐减弱，这种残余振动会持续一段时间，甚至会对下一次的振动造成影响，无法实现期望的振动效果。
发明内容
鉴于上述描述，本发明实施例提供了一种智能终端的触觉振动控制系统和方法，以有效地抑制或消除线性谐振致动器的残余振动。
为了达到上述目的，本发明实施例采用的技术方案如下：
一方面，本发明实施例提供了一种智能终端的触觉振动控制系统，该触觉振动控制系统包括：命令生成器、触觉驱动器、线性谐振致动器、传感模组、反馈单元和比较器；
命令生成器根据输入信号生成原始命令信号，并根据比较器发送的误差信号调整原始命令信号，将调整后的命令信号发送给触觉驱动器；
触觉驱动器根据接收到的调整后的命令信号生成驱动信号，并将生成的驱动信号发送给线性谐振致动器；
线性谐振致动器接收所述驱动信号，并在驱动信号的驱动下振动；
传感模组包括多种传感器，每种传感器实时感应线性谐振致动器的状态，在感应到线性谐振致动器振动时，生成相应的传感信号；
反馈单元将传感模组生成的多路传感信号融合，得到用于估计线性谐振致动器振动模式的反馈信号，并将反馈信号发送给比较器；
比较器比较反馈信号与输入信号中表征线性谐振致动器振动模式的期望信号，根据比较结果生成误差信号，并将误差信号发送给命令生成器。
另一方面，本发明实施例提供了一种智能终端的触觉振动控制方法，该方
法包括：
根据输入信号生成原始命令信号，并根据生成的误差信号调整原始命令信号，以及根据调整后的命令信号生成驱动信号，使线性谐振致动器在驱动信号的驱动下振动；
通过多种传感器实时感应线性谐振致动器的状态，在感应到线性谐振致动器振动时，生成相应的多路传感信号；
将多路传感信号融合得到用于估计线性谐振致动器振动模式的反馈信号；
比较所述反馈信号与输入信号中表征所述线性谐振致动器振动模式的期望信号，根据比较结果生成误差信号，并根据误差信号调整生成的原始命令信号。
本发明实施例的有益效果是：针对线性谐振致动器在驱动信号停止驱动时出现拖尾的残余现象，采用闭环控制方式来控制线性谐振致动器，通过设置多个能够对线性谐振致动器的振动状态进行监测或感应的传感器，将多个传感器输出的表征振动模式相关物理量的传感信号作为反馈信号来实时控制线性谐振致动器振动的物理量，通过有效整合的方式来更加鲁棒地估计致动器的状态并施加控制，达到解决线性谐振致动器振动时出现拖尾的残余现象；且本方案能够通过实时的反馈和调整，达到对致动器的振动状态进行实时调整的技术效果。本发明相比于单一使用反电动势信号的处理方式，通过设置多种传感器的技术方案能够解决在该反电动势信号的信噪比较低时，预测出的振动相关物理变量不可靠，出现的反馈调节精度差的问题。
在优选方案中，本发明还通过设置滤波器进一步解决线性谐振致动器在驱动信号停止驱动时出现的残余现象，利用滤波器对命令生成器输出的命令信号或者对输入信号进行滤波处理，使得在通过后续生成的驱动信号驱动线性谐振致动器振动时，具有快速的启动响应速率和制动响应速率，弱化时间维度上间隔较短的前后振动事件的重叠程度，提高前后振动事件时间维度上的区分度，实现快速启动和快速制动，从而保证得到期望的振动效果。
附图简要说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：
图1为本发明实施例一提供的智能终端的触觉振动控制系统框图；
图2示出了图1中闭环触觉振动控制系统的工作过程示意图；
图3为本发明实施例二提供的智能终端的触觉振动控制系统框图；
图4a为本发明实施例二提供的未经滤波处理的命令信号示意图；
图4b为本发明实施例二提供的未经滤波处理的线性谐振致动器振子位移图；
图5a为本发明实施例二提供的滤波处理后的命令信号示意图；
图5b为本发明实施例二提供的滤波处理后的线性谐振致动器振子位移图；
图6示出了一种闭环触觉振动控制系统的工作过程示意图；
图7示出了另一种闭环触觉振动控制系统的工作过程示意图；
图8为本发明实施例三提供的智能终端的触觉振动控制方法流程图。
实施本发明的方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
触觉作为人体的重要感觉模态，其具有视觉和听觉无可替代的优势：
1、相比于视听器官，人体皮肤表面积较大，可以作为信息接收点的可选部位很多，如指尖、手掌和手臂等部位；
2、当人体视听器官不便于使用时，如视听器官被占用时，可以利用皮肤受力或震动来接收信息；
3、触觉通道的信息交流较为隐蔽，具有较高的安全性。
针对触觉的上述优势，基于触觉的力反馈、振动反馈的技术逐渐应用到消费电子和工业控制领域，成为人机交互界面的重要组成部分，广泛见于手持设备、穿戴设备、家用电器和工控设备中。
触觉振动系统的重要功能是传递信息，不同振动模式表示不同信息，因而要求能够对致动器(actuator)的振动频率和振动幅度进行精准控制。偏心旋转质量致动器(Eccentric Rotating Mass motor,ERM)和线性谐振致动器(Linear Resonant Actuator,LRA)是两种常见的致动器，偏心旋转质量致动器的振动频率和振动幅度不能独立控制而且会有噪声伴随产生；而线性谐振致动器不存在这些问题，而且启动和制动时间比偏心旋转质量致动器短，因此应用更加广泛。
线性谐振致动器是一种质量块加载在弹簧上的电磁系统，存在固有谐振频率或自然谐振频率，而且通常是高品质因子系统。因而线性谐振致动器在驱动信号停止驱动时还会出现拖尾的残余现象。
本发明针对线性谐振致动器在驱动信号停止驱动时还会出现拖尾的残余现象，通过设置多个能够对线性谐振致动器的振动状态进行监测或感应的传感器，将多个传感器输出的表征振动模式相关物理量的传感信号作为反馈信号来实时控制线性谐振致动器振动的物理量，通过有效整合的方式来更加鲁棒地估计致动器的状态并施加控制，达到解决线性谐振致动器振动时出现拖尾的残余现象。
实施例一：
图1为本实施例提供的智能终端的触觉振动控制系统框图，本发明智能终端可以为手持设备、可穿戴设备(如智能手表、智能手环)、工控设备。
如图1所示，图1中的触觉振动控制系统为闭环控制系统，包括：命令生成器11、触觉驱动器12、线性谐振致动器13、传感模组14、反馈单元15和比
较器16。
如图1所示，命令生成器11的输出端连接至触觉驱动器12的输入端，触觉驱动器12的输出端连接至线性谐振致动器13的输入端，线性谐振致动器13的输出端连接至传感模组14的输入端，传感模组14的输出端连接至反馈单元15的输入端，反馈单元15的输出端连接至比较器16的第一输入端，比较器16的第二输入端连接接入期望信号，比较器16的输出端连接至命令生成器11的输入端。
命令生成器11根据输入信号生成原始命令信号，并根据比较器16发送的误差信号调整原始命令信号，将调整后的命令信号发送给触觉驱动器12。
本实施例中的命令生成器11可以设置PID(proportional integral derivative，比例积分微分)控制单元来调整生成的原始命令信号。优选地每半个线性谐振致动器振动周期内根据误差信号调整原始命令信号，如调整原始命令信号对应波形的幅度、时长或周期等波形参数。
其中，本实施例的输入信号可以为包括表征线性谐振致动器振动模式的期望信号和选择指令，也可以为媒体流数据，媒体流数据可以为音频流数据、视频流数据等媒体流数据。
如图1所示，本实施例中的命令生成器11还与振动效果库17连接，振动效果库17中的振动模式列表记录有线性谐振致动器每种振动模式对应的表征振动效果的物理量序列。
当输入信号为包括表征线性谐振致动器振动模式的期望信号和选择指令时，命令生成器11读取振动效果库17的振动模式列表，并根据输入信号中的选择指令从该振动模式列表中选择相应的物理量序列，将该物理量序列作为原始命令信号。
当输入信号为媒体流数据时，命令生成器11从该媒体流数据中获取媒体流数据衍生出的表征振动效果的物理信号，将该物理信号作为原始命令信号。
触觉驱动器12根据接收到的调整后的命令信号生成驱动信号，并将生成的驱动信号发送给线性谐振致动器13。
线性谐振致动器13接收驱动信号，并在驱动信号的驱动下振动。
传感模组14包括多种传感器，每种传感器实时感应线性谐振致动器13的状态，在感应到线性谐振致动器13振动时，生成相应的传感信号。
传感模组14包括反电动势感应电路，反电动势感应电路设置在线性谐振致动器13上，在线性谐振致动器振动时，该反电动势感应电路生成反电动势信号；
和/或，传感模组14包括在智能终端中与线性谐振致动器13相分离的位置设置的运动传感器，在线性谐振致动器振动时，该运动传感器生成相应的运动传感信号；
和/或，传感模组14包括设置在线性谐振致动器13上的运动传感器，在线性谐振致动器振动时，该运动传感器生成相应的运动传感信号；
其中，运动传感器指能够实时感应线性谐振致动器的重要物理量，运动传感器可以是基于压电、超声、红外、电容等器件的传感器，如可以感应振动加速度、振动速度、振动位移或振动频率的相关传感器。优选地，运动传感器包括加速度传感器、激光多普勒振动测试仪、麦克风和陀螺仪的一种或多种。
反馈单元15将传感模组14生成的多路传感信号融合，得到用于估计线性谐振致动器13振动模式的反馈信号，并将反馈信号发送给比较器16。
比较器16比较反馈信号与输入信号中表征线性谐振致动器振动模式的期望信号，根据比较结果生成误差信号，并将该误差信号发送给命令生成器11。
当然，本实施例中的触觉振动控制系统还包括控制命令生成器11、触觉控制器12、线性谐振致动器13、传感模组14、反馈单元15、比较器16、振动效果库17间信号传递的微控制单元，将该微控制单元作为触觉振动控制系统的中央控制器。
本实施例的触觉振动控制系统采用闭环控制方式来控制线性谐振致动器，通过在闭环控制中设置多种能够感应线性谐振致动器振动状态的传感器，在线性谐振致动器振动时，通过设置多个能够对线性谐振致动器的振动状态进行监测或感应的传感器，将多个传感器输出的表征振动模式相关物理量的传感信号作为反馈信号来实时控制线性谐振致动器振动的物理量，通过有效整合的方式来更加鲁棒地估计致动器的状态并施加控制，达到解决线性谐振致动器振动时出现拖尾的残余现象。并且，本实施例能够通过实时的反馈和调整，达到对线性谐振致动器的振动状态进行实时调整的技术效果。
此外，相比于单一使用反电动势信号的处理方式，本实施例上述设置多种传感器的技术方案能够解决在该反电动势信号的信噪比较低时，预测出的振动相关物理变量不可靠，出现的反馈调节精度差的问题。
在本实施例的一个实现方案中，反馈单元15包括：获取模块和加权模块；其中，
获取模块接收传感模组14发送的多路传感信号，分别获取每路传感信号的物理量观察值，并将不同类型的物理量观察值转换为同一参考系下同类型的物理量观察值；
加权模块计算每路传感信号的物理量观察值的加权系数，并将各路传感信号的物理量观察值按照各自加权系数求和，得到用于估计线性谐振致动器振动模式的物理量估计值，根据物理量估计值生成反馈信号发送给比较器16；
则比较器16将反馈信号的物理量估计值和期望信号中该物理量的期望值进行比较，根据比较结果生成误差信号。
如图1所示，该触觉振动控制系统还包括与反馈单元15连接的参数存储器18，用于存储根据物理量估计值推算出的线性谐振致动器的固有参数，该固有参数包括线性谐振致动器的一些长期缓变的性能参数，如线性谐振致动器内部摩擦力、与弹簧强度相关的谐振频率、磁流密度等参数，可以通过设置相应的变化阈值，来适时的更新该性能参数。如当根据反馈信号的物理量估计值推算出的线性谐振致动器内部摩擦力相比于参数存储器中该参数的当前值满足变化阈值，则用推算出的线性谐振致动器内部摩擦力更新参数存储器中该参数，便于了解和掌握线性谐振致动器的性能。
为了便于说明本实现方案中获取模块和加权模块的具体工作方式，以能够输出BEMF信号(Back Electro-Motive Force，反电动势)的BEMF感应电路和能够输出加速度信号的加速度传感器为例，详细说明反馈信号和误差信号的生成。
由于线性谐振致动器在振动的时候会产生BEMF信号，通过设置相应的传感电路即可获得跨线性谐振致动器两级的电压信号或流过线性谐振致动器的电流信号，去除该电压信号或电流信号中线性谐振致动器阻抗导致的直流分量就可以得到所需的BEMF信号。BEMF信号既包含线性谐振致动器的振动状态信息，如速度、加速度等信息，也包含线性谐振致动器本身的一些物理参数信息，如马达因子。
本实施例以加速度物理量为例，首先，由于反电动势感应电路设置在线性谐振致动器13上，因而从BEMF信号中提取出加速度观察值S1是线性谐振致动器13自身振子的加速度，若加速度传感器设置在线性谐振致动器13上，则加速度传感器输出的加速度信号也是该线性谐振致动器13自身振子的加速度，则直接从该加速度信号中获取相应的加速度观察值S2。
然后，计算这两路加速度观察值的加权系数，可以采用加速度观察值的信噪比或方差来计算加权系数；通过方差计算加权系数时，对每路加速度观察值进行统计处理得到每路加速度观察值的方差，计算两路加速度观察值的方差倒数和，每路加速度观察值方差的倒数与所述方差倒数和的比值即为其加权系数；在通过信噪比计算加权系数时，计算每路加速度观察值的信噪比，并对两路加速度观察值的信噪比进行归一化处理即可得到各自的加权系数。
接着，根据加权求和的方式计算用于估计线性谐振致动器各个时刻振动模式的加速度估计值EV(Estimate Value，EV)，EV(t)＝αS1(t)+βS2(t)；其中，α+β＝1，S1(t)为t时刻从BEMF信号中提取出的加速度观察值，α为S1(t)的加权系数，S2(t)为t时刻加速器传感器采集到的加速度观察值，β为S2(t)的加权系数。
最后，比较加速度估计值EV和输入信号中的加速度期望值DV(Desired
Value，DV)各个时刻的差异，如通过对t时刻的加速度估计值EV(t)和t时刻的加速度期望值DV(t)做差生成误差信号Err(t)，即Err(t)＝EV(t)-DV(t)。
需要说明的是，若本实现方案中的加速度传感器设置在智能终端中与线性谐振致动器13相分离的位置，则该加速器传感器输出的加速度信号是智能终端的加速度，需要将加速器传感器输出的加速度信号转换为线性谐振致动器13的振子加速度，可以通过智能终端与振子的质量比进行加速度的转换。
进一步需要说明的是，若在本实现方案中，从BEMF信号中提取出的物理量观察值为速度观察值，还需要将两个不同类型的物理量观察值转换为相同类型的物理量观察值，如将BEMF信号中提取的速度观察值转换为加速度观察值，或者将加速度传感器输出的加速度观察值转换为速度观察值。
本实施例触觉振动控制系统的工作过程如图2所示：
智能终端中的微控制单元根据某些触发事件(如用户按压触摸屏)生成输入信号，使命令生成器11依据该输入信号中的选择指令从振动效果库中选择期望的振动模式对应的数字化的物理量序列作为原始命令信号，或者依据该输入信号中的媒体流数据衍生出的模拟化的物理信号作为原始命令信号；命令生成器11再根据比较器16发送的误差信号调整该原始命令信号，并将调整后的命令信号发送给触觉驱动器12，由触觉驱动器12根据该调整后的命令信号生成相应的驱动信号，该驱动信号可以为驱动电流或驱动电压；线性谐振致动器13在驱动电流或驱动电压的驱动下发生振动，使得该智能终端受迫振动，既而用户与该智能终端接触的部位会产生振动触感；传感模组14实时感应线性谐振致动器13的状态，在线性谐振致动器13振动器时，传感模组14将每种传感器感应的传感信号发送给反馈单元15进行传感信号的融合处理，得到用于估计线性谐振致动器振动模式的反馈信号，比较器16通过比较反馈信号和期望信号生成相应的误差信号，并将该误差信号发送给命令控制器11。
实施例二：
本实施例针对线性谐振致动器在驱动信号停止驱动时出现拖尾的残余现象进行分析得到：该拖尾的残余现象完全由驱动信号与线性谐振致动器冲激响应的卷积决定，因而本实施例通过对驱动信号进行处理，以达到改变其与线性谐振致动器冲激响应卷积后的输出，进一步解决线性谐振致动器振动时出现拖尾的残余现象。
图3为本实施例提供的智能终端的触觉振动控制系统框图，如图3所示，该触觉振动控制系统还包括滤波器39，本实施例要求由经滤波器处理后的命令信号生成的驱动信号在初始时段具有过驱动特点并且在末尾时段具有主动制动特点。
如图3所示，命令生成器31的输出端连接至滤波器39的输入端，滤波器
39的输出端连接至触觉驱动器32的输入端，触觉驱动器32的输出端连接至线性谐振致动器33的输入端，线性谐振致动器33的输出端连接至传感模组34的输入端，传感模组34的输出端连接至反馈单元35的输入端，反馈单元35的输出端连接至比较器36的输入端，比较器36的输出端连接至命令生成器31的输入端。
如图3所示，滤波器39对调整后的命令信号滤波，并将滤波后的命令信号发送给触觉驱动器32；其中，滤波后的命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转。本实施例中的命令生成器31、触觉驱动器32、线性谐振致动器33、传感模组34、反馈单元35、比较器36的具体工作方式参见实施例一中的相关描述，在此不再赘述。
需要说明的话，本实施例中的滤波器作为命令生成器的后置模块，连接在命令生成器和触觉控制器之间。该滤波器也可以作为命令生成器的前置模块，其输出端连接在命令生成器的输入端，对输入信号滤波，并将滤波后的输入信号发送给命令生成器，使命令生成器生成的原始命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转。
本实施例中滤波器的参数由线性谐振致动器的冲激响应决定，优选地滤波器的时域信号为冲激信号。如图3所示，本实施例中的触觉振动控制系统还设置有与滤波器39连接的参数存储器38，该参数存储器38中存储的线性谐振致动器的固有参数包括线性谐振致动器的一些长期缓变的性能参数，如线性谐振致动器内部摩擦力、与弹簧强度相关的谐振频率、磁流密度等参数，还包括计算线性谐振致动器的阻尼谐振周期和阻尼比的相关参数，从而可以利用计算得到的阻尼谐振周期和阻尼比来计算冲激信号每个冲激的冲激时刻和冲激幅度。
在设计滤波器39时，可以根据线性谐振致动器33的谐振频率和阻尼比计算得到线性谐振致动器33的阻尼谐振周期，如根据公式
计算该线性谐振致动器的阻尼谐振周期Td，再根据阻尼谐振周期Td确定冲激信号每个冲激的冲激时刻；以及根据线性谐振致动器33的阻尼比计算得到每个冲激的冲激幅度，如根据公式
计算冲激的冲激幅度；其中，fn为线性谐振致动器的谐振频率，ζ为线性谐振致动器的阻尼比。
假设本实施例中的冲激信号包括两个冲激，则该冲激信号的冲激时刻和冲激幅度满足的约束条件为：t1＝0，A1+A2＝1，t1和t2分别为第一个冲激和第二个
冲激的冲激时刻，A1和A2分别为第一个冲激和第二个冲激的冲激幅值。
若线性谐振致动器的谐振频率为fn＝175Hz，阻尼比为ζ＝0.028，则根据上述线性谐振致动器的阻尼谐振周期计算公式可以计算出其阻尼谐振周期Td＝5.8ms，则第一个冲激的冲激时刻t1＝0，冲激幅值
第二个冲激的冲激时刻
冲激幅值A2＝1-A1＝0.478。
其中，图4a和图4b分别为未经滤波处理的命令信号示意图和线性谐振致动器振子位移图，图5a和图5b分别为滤波处理的命令信号示意图和线性谐振致动器振子位移图；从图4a中可以看出，图4a示例性示出了具有三个周期的矩形波命令信号，在第四个周期开始时刻，停止输出命令信号；利用本发明的滤波器对图4a中的命令信息进行滤波处理后，得到图5a所示的命令信号。从图5a中可以看出，第一个周期的前半段周期对应的命令信号表现为脉冲信号，即第一个周期的前半个周期对应命令信号的幅度远大于该周期的后半个周期对应命令信号的幅度(从图5a中可以看出后半个周期对应命令信号的幅度接近0)；第四个周期的前半段周期对应的命令信号表现为脉冲信号，即第四个周期的前半个周期对应命令信号的幅度远大于后半个周期对应命令信号的幅度(从图5a中可以看出后半个周期对应命令信号的幅度为零)，且该脉冲信号的相位翻转了180°；第二个周期和第三个周期内对应命令信号表现为峰值接近于零值的矩形波信号。
对比图4a和图5a，可以看出滤波处理后的命令信号在其初始阶段和末尾阶段都表现为脉冲信号，图4a中示例性示出了在初始阶段和末尾阶段均具有一个脉冲，且末尾阶段的脉冲的相位翻转了180°，中间阶段表现为峰值接近于零的周期信号。从而利用图4a中的命令信号生成驱动信号，来驱动线性谐振致动器振动时，能够驱动线性谐振致动器快速进入稳定振动状态，快速停止振动，并能够有效抑制拖尾的残余。需要说明的是，图4a仅示例性示出了在初始阶段和末尾阶段均具有一个脉冲的情况，在实际应用中，可以根据需要设计相应数量的脉冲，本发明并不局限脉冲的个数。
对比图4b和图5b，可以看出图5b中的线性谐振致动器具有启动快、制动快的振动效果，且能够很好地抑制拖尾的残余。即图4b中的线性谐振致动器进入稳定振动状态的速度比较慢，且在结束振动时产生较长的拖尾；而图5b中的线性谐振致动器能够快速地进入稳定振动状态，快速地停止振动，且在停止振动时基本没有拖尾残余产生。可见，滤波后的命令信号生成的驱动信号具有过驱动和主动抑制的特点，即能够驱动线性谐振致动器快速地进入稳定振动状态，
在结束振动时，有效抑制拖尾的残余。
本实施例的触觉振动控制系统通过增设滤波器，利用滤波器对命令生成器生成的原始命令信号进行滤波处理，使得在通过后续生成的驱动信号驱动线性谐振致动器振动时，具有快速的启动响应和制动响应，弱化时间维度上间隔较短的前后振动事件的重叠程度，提高前后振动事件时间维度上的区分度，实现快速启动和快速制动，从而进一步保证得到期望的振动效果。
如图6所示，图6示出了一种闭环触觉振动控制系统的工作过程示意图，图6中的滤波器69构成闭环触觉振动控制系统的一部分，其连接在命令生成器61和触觉控制器62之间，用于对调整后的命令信号滤波，使滤波器处理后的命令信号在初始时段具有过驱动特点并且在末尾时段具有主动制动特点。
如图7所示，图7示出了另一闭环触觉振动控制系统的工作过程示意图，图7中的滤波器79的输出端连接在命令生成器71的输入端，对输入信号滤波，并将滤波后的输入信号发送给命令生成器71，命令生成器71将生成的命令信号发送给触觉驱动器72，使触觉驱动器72输出的驱动信号在初始时段具有过驱动特点并且在末尾时段具有主动制动特点。
其中，图6和图7中的触觉控制器62、72，线性谐振致动器63、73，传感器模组64、74，反馈单元65、75，比较器66、76的具体工作方式参见本实施例中的相关描述，在此不再赘述。
参照图6所示，该触觉振动控制系统的工作过程如下：
首先，智能终端中的微控制单元根据某些触发事件(如用户按压触摸屏)生成输入信号，使命令生成器61依据该输入信号中的选择指令从振动效果库中选择期望的振动模式对应的数字化的物理量序列作为原始命令信号，或者依据该输入信号中的媒体流数据衍生出的模拟化的物理信号作为原始命令信号；命令生成器61再根据比较器66发送的误差信号调整上述原始命令信号，并将调整后的命令信号发送给滤波器69。
然后，图6中的滤波器69对命令生成器61输出的调整后的命令信号进行滤波，滤波器将滤波处理后的命令信号发送给触觉驱动器62；由触觉驱动器62根据该滤波后的命令信号生成相应的驱动信号，该驱动信号可以为驱动电流或驱动电压；线性谐振致动器63在驱动电流或驱动电压的驱动下发生振动，使得该智能终端受迫振动，既而用户与该智能终端接触的部位会感觉到振动触感。
最后，传感模组64(图6中示例性示出具有BEMF感应电路和加速度传感器的传感模组)实时感应线性谐振致动器的状态，在线性谐振致动器振动器时，传感模组64将每种传感器感应的传感信号发送给反馈单元进行传感信号的融合处理，得到用于估计线性谐振致动器振动模式的反馈信号，比较器66通过比较反馈信号和期望信号生成相应的误差信号，使得命令控制器根据该误差信号调
整其生成的原始命令信号。
参照图7所示，该触觉振动控制系统的工作过程如下：
首先，智能终端中的微控制单元根据某些触发事件(如用户按压触摸屏)生成输入信号，滤波器79对输入信号进行滤波处理，并将滤波处理后的输入信号发送给命令生成器71。
然后，命令生成器71依据该输入信号中的选择指令从振动效果库中选择期望的振动模式对应的数字化的物理量序列作为原始命令信号，或者依据该输入信号中的媒体流数据衍生出的模拟化的物理信号作为原始命令信号；命令生成器71再根据比较器76发送的误差信号调整上述原始命令信号，并将调整后的命令信号发送给触觉驱动器72，由触觉驱动器72根据该滤波后的命令信号生成相应的驱动信号，该驱动信号可以为驱动电流或驱动电压；线性谐振致动器73在驱动电流或驱动电压的驱动下发生振动，使得该智能终端受迫振动，既而用户与该智能终端接触的部位会感觉到振动触感。
最后，传感模组74(图7中示例性示出具有BEMF感应电路和加速度传感器的传感模组)实时感应线性谐振致动器的状态，在线性谐振致动器73振动器时，传感模组将每种传感器感应的传感信号发送给反馈单元进行传感信号的融合处理，得到用于估计线性谐振致动器振动模式的反馈信号，比较器76通过比较反馈信号和期望信号生成相应的误差信号，使得命令控制器71根据该误差信号调整其生成的原始命令信号。
实施例三：
基于与实施例一和二相同的技术构思，本实施例提供了一种智能终端的触觉振动控制方法。
如图8所示，图8为本实施例提供的智能终端的触觉振动控制方法，该控制方法包括：
S810，根据输入信号生成原始命令信号，并根据生成的误差信号调整原始命令信号，以及根据调整后的命令信号生成驱动信号，使线性谐振致动器在驱动信号的驱动下振动。
本步骤中根据输入信号生成原始命令信号具体为：
读取振动效果库的振动模式列表，并根据输入信号中的选择指令从振动模式列表中选择期望振动模式对应的表征振动效果的物理量序列，将该物理量序列作为原始命令信号；
或者，从输入信号中的媒体流数据中获取该媒体流数据衍生出的表征振动效果的物理信号，将该物理信号作为原始命令信号。
S820，通过多种传感器实时感应线性谐振致动器的状态，在感应到线性谐振致动器振动时，生成相应的多路传感信号。
在实际应用中可以利用反电动势感应电路和运动传感器等传感器感应线性谐振致动器的振动状态。
如可以在线性谐振致动器上设置反电动势感应电路，反电动势感应电路在线性谐振致动器振动时，生成反电动势信号；也可以在智能终端中与线性谐振致动器相分离的位置设置运动传感器，运动传感器在线性谐振致动器振动时，生成相应的运动传感信号；当然，还可以在线性谐振致动器上设置运动传感器，运动传感器在线性谐振致动器振动时，生成相应的运动传感信号；其中，运动传感器至少包括加速度传感器、激光多普勒振动测试仪、麦克风和陀螺仪一种或多种。
S830，将多路传感信号融合得到用于估计线性谐振致动器振动模式的反馈信号。
S840，比较反馈信号与输入信号中表征线性谐振致动器振动模式的期望信号，根据比较结果生成误差信号，并根据误差信号调整生成的原始命令信号。
在本实施例的一个优选方案中，步骤S830中将多路传感信号融合得到用于估计线性谐振致动器振动模式的反馈信号具体为：
分别获取每路传感信号的物理量观察值，并将不同类型的物理量观察值转换为同一参考系下同类型的物理量观察值；
计算每路传感信号的物理量观察值的加权系数，并将各路传感信号的物理量观察值按照各自加权系数求和，得到用于估计线性谐振致动器振动模式的物理量估计值，根据该物理量估计值生成反馈信号发送给所述比较器。
则步骤S840中比较反馈信号与输入信号中表征线性谐振致动器振动模式的期望信号具体为:将反馈信号的物理量估计值和期望信号中该物理量的期望值进行比较，根据比较结果生成误差信号。
本优选方案中各步骤的具体执行方式，可以参见本发明实施例一中触觉振动控制系统的具体内容，在此不再赘述。
在本实施例的另一个优选方案中，步骤S810中根据调整后的命令信号生成驱动信号具体为：
设置滤波器，并利用滤波器对调整后的命令信号滤波，使滤波后的命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转。
或者，步骤S810中根据输入信号生成原始命令信号具体为：
设置滤波器，并利用滤波器对输入信号滤波，根据滤波后的输入信号生成原始命令信号，使生成的原始命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转。
本优选方案中的滤波器的时域信号为冲激信号，则可通过下述方法设置滤波器：
根据线性谐振致动器的谐振频率和阻尼比计算得到线性谐振致动器的阻尼谐振周期，并由该阻尼谐振周期确定滤波器每个冲激的冲激时刻；
根据线性谐振致动器的阻尼比计算得到每个冲激的冲激幅度。
示例性地，该冲激信号包括两个冲激，根据下述公式计算每个冲激的冲激时刻和冲激幅度；
其中，t1和t2分别为第一个冲激和第二个冲激的冲激时刻，A1和A2分别为第一个冲激和第二个冲激的冲激幅值，fn为线性谐振致动器的谐振频率，ζ为线性谐振致动器的阻尼比，σ为大于0小于1的常数。
本优选方案中各步骤的具体执行方式，可以参见本发明实施例二中触觉振动控制系统的具体内容，在此不再赘述。
综上所述，对线性谐振致动器在驱动信号停止驱动时出现拖尾的残余现象，采用闭环控制方式来控制线性谐振致动器，通过设置多个能够对线性谐振致动器的振动状态进行监测或感应的传感器，将多个传感器输出的表征振动模式相关物理量的传感信号作为反馈信号来实时控制线性谐振致动器振动的物理量，通过有效整合的方式来更加鲁棒地估计致动器的状态并施加控制，达到解决线性谐振致动器振动时出现拖尾的残余现象；且本方案能够通过实时的反馈和调整，达到对致动器的振动状态进行实时调整的技术效果。本发明相比于单一使用反电动势信号的处理方式，通过设置多种传感器的技术方案能够解决在该反电动势信号的信噪比较低时，预测出的振动相关物理变量不可靠，出现的反馈调节精度差的问题。在优选方案中，本发明还通过设置滤波器进一步解决线性谐振致动器在驱动信号停止驱动时出现的残余现象，利用滤波器对命令生成器输出的命令信号或者对输入信号进行滤波处理，使得在通过后续生成的驱动信号驱动线性谐振致动器振动时，具有快速的启动响应速率和制动响应速率，弱化时间维度上间隔较短的前后振动事件的重叠程度，提高前后振动事件时间维度上的区分度，实现快速启动和快速制动，从而保证得到期望的振动效果。
以上所述仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本发明的保护范围内。
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- 一种智能终端的触觉振动控制系统，其特征在于，所述触觉振动控制系统包括：命令生成器、触觉驱动器、线性谐振致动器、传感模组、反馈单元和比较器；所述命令生成器根据输入信号生成原始命令信号，并根据所述比较器发送的误差信号调整所述原始命令信号，将调整后的命令信号发送给所述触觉驱动器；所述触觉驱动器根据接收到的调整后的命令信号生成驱动信号，并将生成的驱动信号发送给所述线性谐振致动器；所述线性谐振致动器接收所述驱动信号，并在所述驱动信号的驱动下振动；所述传感模组包括多种传感器，每种传感器实时感应所述线性谐振致动器的状态，在感应到所述线性谐振致动器振动时，生成相应的传感信号；所述反馈单元将所述传感模组生成的多路传感信号融合，得到用于估计所述线性谐振致动器振动模式的反馈信号，并将所述反馈信号发送给所述比较器；所述比较器比较所述反馈信号与所述输入信号中表征所述线性谐振致动器振动模式的期望信号，根据比较结果生成误差信号，并将所述误差信号发送给所述命令生成器。
- 如权利要求1所述的触觉振动控制系统，其特征在于，所述反馈单元包括：获取模块和加权模块；所述获取模块接收所述传感模组发送的多路传感信号，分别获取每路传感信号的物理量观察值，并将不同类型的物理量观察值转换为同一参考系下同类型的物理量观察值；所述加权模块计算每路传感信号的物理量观察值的加权系数，并将各路传感信号的物理量观察值按照各自加权系数求和，得到用于估计所述线性谐振致动器振动模式的物理量估计值，根据所述物理量估计值生成反馈信号发送给所述比较器；所述比较器将所述反馈信号的物理量估计值和所述期望信号中该物理量的期望值进行比较，根据比较结果生成误差信号。
- 如权利要求1所述的触觉振动控制系统，其特征在于，所述传感模组包括反电动势感应电路，所述反电动势感应电路设置在所述线性谐振致动器上， 在所述线性谐振致动器振动时，该反电动势感应电路生成反电动势信号；和/或，所述传感模组包括在智能终端中与所述线性谐振致动器相分离的位置设置的运动传感器，在所述线性谐振致动器振动时，该运动传感器生成相应的运动传感信号；和/或，所述传感模组包括设置在所述线性谐振致动器上的运动传感器，在所述线性谐振致动器振动时，该运动传感器生成相应的运动传感信号；其中，所述运动传感器至少包括加速度传感器、激光多普勒振动测试仪、麦克风和陀螺仪一种或多种。
- 如权利要求1所述的触觉振动控制系统，其特征在于，所述命令生成器读取振动效果库的振动模式列表，并根据输入信号中的选择指令从所述振动模式列表中选择期望振动模式对应的表征振动效果的物理量序列，将该物理量序列作为所述原始命令信号；或者，所述命令生成器从输入信号中的媒体流数据中获取该媒体流数据衍生出的表征振动效果的物理信号，将该物理信号作为原始命令信号。
- 如权利要求1所述的触觉振动控制系统，其特征在于，所述触觉振动控制系统还包括滤波器；所述滤波器连接在所述命令生成器和所述触觉控制器之间，对调整后的命令信号滤波，滤波后的命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转。
- 如权利要求1所述的触觉振动控制系统，其特征在于，所述触觉振动控制系统还包括滤波器；所述滤波器的输出端连接在所述命令生成器的输入端，对所述输入信号滤波，并将滤波后的输入信号发送给所述命令生成器，使命令生成器生成的原始命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转。
- 如权利要求5或6所述的触觉振动控制系统，其特征在于，所述滤波器的时域信号为冲激信号，通过下述方法设置所述滤波器：根据所述线性谐振致动器的谐振频率和阻尼比计算得到线性谐振致动器的阻尼谐振周期，并由该阻尼谐振周期确定滤波器每个冲激的冲激时刻；根据所述线性谐振致动器的阻尼比计算得到每个冲激的冲激幅度。
- 如权利要求7所述的触觉振动控制系统，其特征在于，所述冲激信号包 括两个冲激，根据下述公式计算每个冲激的冲激时刻和冲激幅度；
其中，t1和t2分别为第一个冲激和第二个冲激的冲激时刻，A1和A2分别为第一个冲激和第二个冲激的冲激幅值，fn为线性谐振致动器的谐振频率，ζ为线性谐振致动器的阻尼比，σ为大于0小于1的常数。 - 如权利要求7所述的触觉振动控制系统，其特征在于，所述触觉振动控制系统还包括参数存储器，所述参数存储器存储根据所述反馈信号的物理变量估计值推算出的所述线性谐振致动器的固有参数。
- 一种智能终端的触觉振动控制方法，其特征在于，所述方法包括：根据输入信号生成原始命令信号，并根据生成的误差信号调整所述原始命令信号，以及根据调整后的命令信号生成驱动信号，使线性谐振致动器在所述驱动信号的驱动下振动；通过多种传感器实时感应线性谐振致动器的状态，在感应到所述线性谐振致动器振动时，生成相应的多路传感信号；将多路传感信号融合得到用于估计线性谐振致动器振动模式的反馈信号；比较所述反馈信号与所述输入信号中表征所述线性谐振致动器振动模式的期望信号，根据比较结果生成误差信号，并根据所述误差信号调整生成的所述原始命令信号。
- 如权利要求10所述的触觉振动控制方法，其特征在于，所述将多路传感信号融合得到用于估计线性谐振致动器振动模式的反馈信号包括：分别获取每路传感信号的物理量观察值，并将不同类型的物理量观察值转换为同一参考系下同类型的物理量观察值；计算每路传感信号的物理量观察值的加权系数，并将各路传感信号的物理量观察值按照各自加权系数求和，得到用于估计所述线性谐振致动器振动模式的物理量估计值，根据所述物理量估计值生成反馈信号；所述比较所述反馈信号与所述输入信号中表征所述线性谐振致动器振动模式的期望信号，根据比较结果生成误差信号具体为：将所述反馈信号的物理量估计值和所述期望信号中该物理量的期望值进行 比较，根据比较结果生成误差信号。
- 如权利要求10所述的触觉振动控制方法，其特征在于，所述通过多种传感器实时感应线性谐振致动器的状态，在感应到所述线性谐振致动器振动时，生成相应的多路传感信号具体为：在所述线性谐振致动器上设置反电动势感应电路，所述反电动势感应电路在所述线性谐振致动器振动时，生成反电动势信号；和/或，在智能终端中与所述线性谐振致动器相分离的位置设置运动传感器，所述运动传感器在所述线性谐振致动器振动时，生成相应的运动传感信号；和/或，在所述线性谐振致动器上设置运动传感器，所述运动传感器在所述线性谐振致动器振动时，生成相应的运动传感信号；其中，所述运动传感器至少包括加速度传感器、激光多普勒振动测试仪、麦克风和陀螺仪一种或多种。
- 如权利要求10所述的触觉振动控制方法，其特征在于，所述根据输入信号生成原始命令信号包括：读取振动效果库的振动模式列表，并根据输入信号中的选择指令从振动模式列表中选择期望振动模式对应的表征振动效果的物理量序列，将该物理量序列作为所述原始命令信号；或者，从输入信号中的媒体流数据中获取该媒体流数据衍生出的表征振动效果的物理信号，将该物理信号作为原始命令信号。
- 如权利要求10所述的触觉振动控制方法，其特征在于，所述根据输入信号生成原始命令信号，并根据生成的误差信号调整所述原始命令信号包括：设置滤波器，利用所述滤波器对调整后的命令信号滤波，使滤波后的命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转；或者，设置滤波器，并利用所述滤波器对所述输入信号滤波，根据滤波后的输入信号生成原始命令信号，使生成的原始命令信号的起始预定数目脉冲的幅值大于设定阈值，且末尾预定个数脉冲的相位反转。
- 如权利要求14所述的触觉振动控制方法，其特征在于，所述滤波器的时域信号为冲激信号，所述设置滤波器包括：根据线性谐振致动器的谐振频率和阻尼比计算得到线性谐振致动器的阻尼谐振周期，并由该阻尼谐振周期确定所述滤波器每个冲激的冲激时刻；根据线性谐振致动器的阻尼比计算得到每个冲激的冲激幅度。
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3206105B1 (en) | 2019-01-09 |
| US20180183372A1 (en) | 2018-06-28 |
| CN105511514A (zh) | 2016-04-20 |
| CN105511514B (zh) | 2019-03-15 |
| EP3206105A4 (en) | 2018-02-21 |
| EP3206105A1 (en) | 2017-08-16 |
| DK3206105T3 (en) | 2019-04-15 |
| US10122310B2 (en) | 2018-11-06 |
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