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CN111562839A - Method and apparatus for presenting haptic effect based on displacement, storage medium and device - Google Patents

Method and apparatus for presenting haptic effect based on displacement, storage medium and device Download PDF

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Publication number
CN111562839A
CN111562839A CN202010238464.1A CN202010238464A CN111562839A CN 111562839 A CN111562839 A CN 111562839A CN 202010238464 A CN202010238464 A CN 202010238464A CN 111562839 A CN111562839 A CN 111562839A
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displacement
motor
time
frequency
along
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CN111562839B (en
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樊晨晨
郑亚军
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AAC Technologies Pte Ltd
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Priority to PCT/CN2020/132770 priority patent/WO2021196680A1/en
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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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/014—Force feedback applied to GUI

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  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Power Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Abstract

The embodiment of the invention provides a method and a device for presenting a haptic effect based on displacement of a motor oscillator, which solve the technical problem of low haptic control effect when the haptic effect is defined by adopting a mode of defining an acceleration waveform in the prior art. According to the embodiment of the invention, by defining the displacement waveform of the motor oscillator, a user can input the vibration duration T, the vibration frequencies F1, F2, the absolute values A1 and A2 according to the preference of the user, the relative strength of the vibration displacement of the motor oscillator is converted into the absolute strength of the vibration displacement of the motor oscillator, the change rule of the displacement of the motor oscillator along with time (namely the displacement waveform of the motor oscillator) is generated, and then the change rule of the displacement along with time is subjected to displacement equalization to obtain the driving voltage, so that the haptic effect is realized.

Description

Method and apparatus for presenting haptic effect based on displacement, storage medium and device
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of control technologies, and in particular, to a method and an apparatus for presenting a haptic effect based on displacement, a storage medium, and a device.
[ background of the invention ]
Electronic devices can provide a rich interface for a user, and in some interface devices, kinesthetic feedback or haptic feedback, commonly referred to as "haptic effects," can also be provided to the user. Haptic effects may provide prompts or the like to a user to prompt the user for particular events or the like. And the customized haptic effect can bring rich haptic experience. An effective vibration waveform is customized according to the performance of the motor and the output capability of the device. In the prior art, a customized haptic effect usually defines a haptic effect by defining an acceleration waveform, but after the driving voltage obtained by acceleration equalization is usually over, a motor vibrator is in an unbalanced position, so that large aftervibration is caused, and the control effect of the haptic is reduced.
[ summary of the invention ]
In view of this, embodiments of the present invention provide a method and an apparatus, a storage medium, and a device for presenting a haptic effect based on displacement, in which a user may input a vibration duration T, a vibration frequency F1, a vibration frequency F2, and an absolute value of vibration intensity a1, a vibration intensity a2 according to his/her preference by defining a displacement waveform of a motor oscillator, and generate a time-varying displacement rule of the motor oscillator (i.e., a displacement waveform of the motor oscillator) by converting a relative vibration displacement strength of the motor oscillator into an absolute vibration displacement strength of the motor oscillator, and then perform displacement equalization on the time-varying displacement rule to obtain a driving voltage, thereby implementing a haptic effect.
In one aspect, an embodiment of the present invention provides a method for presenting a haptic effect based on a displacement of a motor vibrator, including: obtaining vibration parameters of the motor vibrator; carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time; generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time; carrying out displacement equilibrium calculation on the displacement change rule X (t) along with the time to generate a voltage change rule V (t) along with the time; and driving the motor vibrator to vibrate according to the time-varying law V (t) of the voltage.
In an embodiment of the present invention, the data processing is performed on the vibration parameterAnd generating a time-varying rule D (t) of the absolute displacement intensity of the motor oscillator, and further comprising: analyzing the vibration parameters to obtain the vibration time length T, the first vibration frequency F1, the second vibration frequency F2, the first relative strength value A1 and the second relative strength value A2 of the motor vibrator; generating a time-varying frequency law F (T) of the motor vibrator according to the first vibration frequency F1 and the second vibration frequency F2 in the vibration time period T; generating a relative intensity change rule H (t) of the motor vibrator along with the time in the vibration time period according to the first relative intensity value A1 and the second relative intensity value A2; generating a displacement versus frequency (ASL) of the motor vibrator in a range of the frequency versus timen) (ii) a And ASL (f) according to the law of variation of said displacement with frequencyn) And generating a law D (t) that the displacement absolute intensity of the motor vibrator changes along with time according to the law H (t) that the relative intensity changes along with time.
In an embodiment of the present invention, the frequency of the motor oscillator varies with time in a sinusoidal cycle within the oscillation time period.
In an embodiment of the present invention, the generating generates a displacement variation-with-frequency rule ASL (f) of the motor oscillator in a range where the frequency varies with timen) Further comprising: generating a frequency-dependent variation law V (f) of the voltage required by the motor oscillator and a maximum voltage V (V) required by the motor oscillator within a range of the frequency-dependent variation and within a preset voltage range on the premise that the motor oscillator exerts the maximum capacitymaxAnd the maximum displacement X that the motor vibrator can reachmax(ii) a According to the change rule V (f) of the voltage required by the motor oscillator along with the frequency and the maximum voltage VmaxAnd the maximum displacement XmaxCalculating a first critical frequency f of the motor vibrator1And a second critical frequency f2(ii) a Generating a change rule X (f) of the displacement of the motor oscillator along with the frequency under the maximum voltage in the range of the frequency along with the change of time; according to the change rule V (f) of the voltage required by the motor oscillator along with the frequency, the maximum voltage isCarrying out voltage balance calculation on the change rule X (f) of the displacement of the motor oscillator along with the frequency to generate a change rule ASL (f) of the displacement of the motor oscillator along with the frequencyn)。
In an embodiment of the present invention, the maximum voltage V (f) is a voltage that varies with frequency according to a variation law V (f) of a voltage required by the motor oscillatormaxAnd the maximum displacement XmaxCalculating a first critical frequency f of the motor vibrator1And a second critical frequency f2The method comprises the following steps:
the first critical frequency f1Is equal to:
Figure BDA0002431786870000021
the first critical frequency f2Is equal to:
Figure BDA0002431786870000031
wherein, in the formula (2),
Figure BDA0002431786870000032
wherein, in the formula (1), the formula (2) and the formula (3), VmaxIs the maximum voltage, XmaxIs the maximum displacement, ReIs the DC impedance of the motor, m is the mass of the motor, cdIs the mechanical damping coefficient of the motor, ctFor the total damping of the motor, k is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor.
In an embodiment of the present invention, according to a change law v (f) of voltage required by the motor oscillator along with frequency, the change law x (f) of displacement of the motor oscillator along with frequency under the maximum voltage is subjected to voltage equalization calculation to generate a change law ASL (f) of displacement of the motor oscillator along with frequencyn) The method comprises the following steps:
law AS of variation of displacement of motor oscillator with frequencyL(fn) The calculation formula of (2) is as follows:
Figure BDA0002431786870000033
wherein, in the formula (4),
Figure BDA0002431786870000034
Figure BDA0002431786870000035
wherein, in the formula (5) and the formula (6), ReIs the DC impedance of the motor, m is the mass of the motor, ctFor the total damping of the motor, k is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor.
In one embodiment of the invention, the ASL (f) is determined according to the law of the displacement with frequencyn) And the law H (t) of the change of the relative intensity along with time generates a law D (t) of the change of the displacement absolute intensity of the motor oscillator along with time, and further comprises the following steps: the calculation formula of the rule D (t) that the absolute displacement intensity of the motor oscillator changes along with time is as follows:
D(t)＝ASL(fn) H (t) formula (7).
In an embodiment of the present invention, the generating a time-varying law x (t) of the displacement of the motor oscillator according to the time-varying law d (t) of the absolute displacement intensity further includes: generating a time-varying rule f (t) of a given frequency of the motor vibrator; and generating a displacement change rule X (t) of the motor oscillator along with time according to a given frequency change rule f (t) of the motor oscillator along with time and a displacement absolute intensity change rule D (t) along with time.
In an embodiment of the present invention, generating a time-varying rule x (t) of the displacement of the motor oscillator according to a time-varying rule f (t) of the given frequency of the motor oscillator and a time-varying rule d (t) of the absolute displacement strength, further includes: the calculation formula of the time-dependent change rule X (t) of the displacement of the motor oscillator is as follows:
x (t) ═ d (t) × g (t) formula (8);
wherein, in the formula (8),
Figure BDA0002431786870000041
wherein,
Figure BDA0002431786870000042
is a phase value of the motor vibrator changing with time,
Figure BDA0002431786870000043
the calculation formula of (2) is as follows:
Figure BDA0002431786870000044
in another aspect, an embodiment of the present invention provides an apparatus for presenting a haptic effect based on a displacement of a motor vibrator, including: a vibration parameter generation unit configured to generate a vibration parameter of the motor vibrator; the data processing unit is used for carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time; the calculation unit is used for generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time; carrying out displacement equilibrium calculation on the displacement change rule X (t) along with time to generate a voltage change rule V (t) along with time; and the driving unit is used for driving the motor vibrator to vibrate according to the time-varying rule V (t) of the voltage.
In an embodiment of the present invention, the data processing unit further includes: the data analysis module is used for analyzing the vibration parameters to generate a vibration time length T, a first vibration frequency F1, a second vibration frequency F2, a first relative strength value A1 and a second relative strength value A2 of the motor vibrator; a frequency-time variation generation module for generating a frequency-time variation of the motor vibrator according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration time period TLaw F (t); a relative strength variation with time generation module, configured to generate a relative strength variation with time law h (t) of the motor vibrator within the vibration time period according to the first relative strength value a1 and the second relative strength value a 2; a displacement variation with frequency generation module for generating ASL (f) of displacement variation with frequency of the motor oscillator in the frequency variation with time rangen) (ii) a And a module for the variation with time of the absolute intensity of the displacement, for ASL (f) according to the law of the variation with frequency of the displacementn) And generating a law D (t) that the displacement absolute intensity of the motor vibrator changes along with time according to the law H (t) that the relative intensity changes along with time.
In an embodiment of the present invention, the calculation unit further includes: the given frequency generating module is used for generating a given frequency change rule f (t) of the motor oscillator along with time; and the calculation module is used for generating a displacement change rule X (t) of the motor oscillator along with time according to a given frequency change rule f (t) of the motor oscillator along with time and a displacement absolute intensity change rule D (t) along with time.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is configured to execute the following steps: obtaining vibration parameters of the motor vibrator; carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time; generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time; carrying out displacement equilibrium calculation on the displacement change rule X (t) along with the time to generate a voltage change rule V (t) along with the time; and driving the motor vibrator to vibrate according to the time-varying law V (t) of the voltage.
In a fourth aspect, an embodiment of the present invention provides an electronic device, where the electronic device includes: a processor;
a memory for storing the processor-executable instructions; wherein the processor is configured to perform the following steps: obtaining vibration parameters of the motor vibrator; carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time; generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time; carrying out displacement equilibrium calculation on the displacement change rule X (t) along with the time to generate a voltage change rule V (t) along with the time; and driving the motor vibrator to vibrate according to the time-varying law V (t) of the voltage.
The embodiment of the invention provides a method and a device for presenting a haptic effect based on displacement of a motor oscillator, wherein by defining a displacement waveform of the motor oscillator, a user can input vibration duration T, vibration frequencies F1, F2 and absolute values A1 and A2 according to own preference, and by converting the relative strength of vibration displacement of the motor oscillator into the absolute strength of vibration displacement of the motor oscillator, a rule (namely the displacement waveform of the motor oscillator) of the displacement of the motor oscillator along with time is generated, and then displacement equalization is performed on the rule of the displacement along with the time to obtain a driving voltage, so that the haptic effect is realized.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for presenting haptic effects based on displacement of a motor transducer according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for presenting haptic effects based on displacement of a motor transducer according to another embodiment of the present invention;
FIG. 3 is a flow chart of a method for presenting haptic effects based on displacement of a motor transducer according to another embodiment of the present invention;
FIG. 4 shows an exemplary embodiment of the present invention providing a maximum voltage VmaxA curve graph of a change rule X (f) of the vibration displacement of the motor oscillator along with the frequency;
fig. 5 shows a variation law ASL (f) of vibration displacement of the motor oscillator with frequency under the balanced voltage according to an embodiment of the present inventionn) A graph of (a);
FIG. 6 is a flow chart illustrating a method for presenting haptic effects based on displacement of a motor transducer according to another embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an apparatus for providing haptic effects based on displacement of a motor vibrator according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram illustrating an apparatus for providing haptic effects based on displacement of a motor vibrator according to another embodiment of the present invention;
fig. 9 is a schematic structural diagram illustrating an apparatus for presenting a haptic effect based on a displacement of a motor vibrator according to another embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Exemplary method
Fig. 1 is a flowchart illustrating a method for presenting a haptic effect based on a displacement of a motor vibrator according to an embodiment of the present invention, where as shown in fig. 1, the method for presenting a haptic effect based on a displacement of a motor vibrator includes the following steps:
step S101: obtaining vibration parameters of a motor vibrator;
in step S101, the vibration parameters are customized parameters input by a user, where the customized parameters at least include parameters capable of exhibiting vibration displacement of the motor vibrator, and for example, the vibration parameters input by the user may include: vibration time length T, vibration frequency (F1, F2), and absolute value of vibration intensity (a1, a 2).
When the user inputs the custom parameters, the user inputs the parameters according to a predetermined format, for example, the user inputs a group of numbers (100,0.6,0.8,150,200) including the vibration time length T, the vibration frequency (F1, F2), and the absolute value of the vibration intensity (a1, a 2).
Step S102: carrying out data processing on vibration parameters input by a user and generating a time-dependent change rule D (t) of the absolute displacement intensity of the motor oscillator;
step S103: generating a displacement change rule X (t) of the motor oscillator along with time according to a change rule D (t) of the absolute displacement strength of the motor oscillator along with time;
step S104: carrying out displacement equilibrium calculation on the displacement change rule X (t) of the motor oscillator along with time to generate a voltage change rule V (t) along with time; and
step S105: and driving the motor vibrator to vibrate according to the time variation law V (t) of the voltage.
According to the method for presenting the haptic effect based on the displacement of the motor oscillator, provided by the embodiment of the invention, a user can input the vibration duration T, the vibration frequencies F1 and F2 and the absolute values A1 and A2 according to the preference of the user, and the relative strength of the vibration displacement of the motor oscillator is converted into the absolute strength of the vibration displacement of the motor oscillator, so that the change rule of the displacement of the motor oscillator along with time (namely the displacement waveform of the motor oscillator) is generated, namely the vibration parameters of the motor oscillator can be defined by the user, the displacement waveform of the motor oscillator is customized, and then the change rule of the displacement along with time is subjected to displacement equalization to obtain the driving voltage, so that the haptic effect is realized.
In an embodiment of the present invention, as shown in fig. 2, step S102: the method comprises the following steps of carrying out data processing on vibration parameters input by a user and generating a time-dependent change rule D (t) of the absolute displacement intensity of a motor oscillator, and specifically comprises the following steps:
step S1021: analyzing the vibration parameters to generate a vibration time length T, a first vibration frequency F1, a second vibration frequency F2, a first relative strength value A1 and a second relative strength value A2 of the motor vibrator;
in step S101, the user usually inputs a set of numbers to represent the vibration parameters of the motor vibrator, for example, the set of numbers input by the user in step S101 is (100,0.6,0.8,150,200), in step S1021, the set of numbers input by the user is first analyzed to obtain a vibration time period T of the motor vibrator of 100ms, a first vibration frequency F1 of 150HZ, a second vibration frequency F2 of 200HZ, a first relative strength value a1 of 0.6, and a second relative strength value a2 of 0.8.
Step S1022: generating a time-varying frequency law F (T) of the motor oscillator according to the first vibration frequency F1 and the second vibration frequency F2 in the vibration time period T;
preferably, the frequency of the motor vibrator changes in a sinusoidal cycle with time in the vibration time period T, that is, the frequency change law f (T) of the motor vibrator with time is a sinusoidal function. The frequency of the motor oscillator changes in a sine cycle along with time, which is beneficial to subsequent calculation.
Step S1023: generating a time-varying law H (t) of the relative intensity of the motor vibrator in the vibration time length according to the first relative intensity value A1 and the second relative intensity value A2;
step S1024: generating ASL (f) of displacement of motor vibrator along with frequency variation in frequency variation range along with timen) (ii) a And
step S1025: according to the law of displacement with frequency ASL (f)n) And a rule H (t) that the relative intensity changes along with time generates a rule D (t) that the absolute displacement intensity of the motor oscillator changes along with time;
preferably, the calculation formula of the law d (t) that the absolute intensity of displacement of the motor vibrator changes with time is as follows:
D(t)＝ASL(fn)*H(t)。
finally generated in step S102 is a time-dependent change law d (t) of the absolute intensity of displacement of the motor oscillator, and d (t) ASL (f)n) H (t), and h (t) is a time-varying law h (t) of relative intensity (a1-a2) of the motor vibrator during the vibration time period, which has been generated in step S1023; to obtain a specific calculation formula of the law d (t) of the absolute intensity of displacement of the motor oscillator changing with time, ASL (f) needs to be obtainedn) So in an embodiment of the present invention, as shown in fig. 3, step S1024 (the displacement of the motor vibrator changes with the frequency) rule ASL (f)n) Generation of (d) specifically comprises the steps of:
step S10241: within the range of frequency change along with time, under the premise that the motor oscillator exerts the maximum capacity (namely the motor oscillator achieves the maximum displacement as much as possible) within a preset voltage range (namely within a voltage allowable range), acquiring the change rule V (f) of the voltage required by the motor oscillator along with the frequencyn) Maximum voltage V required for motor vibratormaxAnd the maximum displacement X that the motor vibrator can reachmax；
Wherein,
Figure BDA0002431786870000081
wherein, the calculation formulas of a and b in the formula (1) are as follows:
Figure BDA0002431786870000082
Figure BDA0002431786870000083
wherein, in the formula (2) and the formula (3),
Figure BDA0002431786870000084
wherein, in the formula (1), the formula (2) and the formula (3), VmaxMaximum voltage required for motor vibrator, XmaxFor the maximum displacement that can be achieved by the motor vibrator, ReIs the DC impedance of the motor vibrator, m is the mass of the motor, cdIs the mechanical damping coefficient of the motor, ctFor the total damping of the motor, k is the stiffness coefficient of the motor, and BL is the electromagnetic coefficient of the motor.
In addition, in the formula (1), f1(first critical frequency) and f2(second critical frequency) are two critical frequencies at which it is easier to reach the maximum displacement, i.e. the frequency when the motor vibrator is able to reach the maximum displacement is f, then f1<f<f2；
Step S10242: according to the change rule V (f) of the voltage required by the motor vibrator along with the frequencyn) Maximum voltage VmaxAnd a maximum displacement XmaxCalculating a first critical frequency f of a motor vibrator1And a second critical frequency f2；
Because:
Figure BDA0002431786870000091
wherein, the calculation formulas of a and b in the formula (1) are as follows:
Figure BDA0002431786870000092
Figure BDA0002431786870000093
therefore, the first critical frequency f1Equal to:
Figure BDA0002431786870000094
the first critical frequency f2Equal to:
Figure BDA0002431786870000095
step S10243: generating V at maximum voltage in the range of frequency variation with timemaxThe change rule X (f) of the displacement of the motor oscillator along with the frequency;
i.e. when the motor vibrator is at a maximum voltage VmaxWhen the motor vibrator vibrates downwards, the curve of the change rule X (f) of the vibration displacement of the motor vibrator along with the frequency is shown in fig. 4 in the range of the change rule F (t) of the frequency along with the time:
in fig. 4, two critical frequencies when the motor oscillator reaches the maximum displacement are ω1And ω2I.e. the motor vibrator is at the maximum voltage VmaxThe two critical frequencies of maximum displacement are most easily reached when vibrating.
Although step S S10243 obtains the motor vibrator at the maximum voltage VmaxIn the case of the lower vibration, the motor oscillator has a change law x (f) of vibration displacement with frequency within a range of a change law f (t) of frequency with time, but the motor oscillator has low safety when vibrating at the maximum voltage, and therefore, it is necessary to perform voltage equalization calculation on the change law x (f) of displacement with frequency of the motor oscillator at the maximum voltage, that is, step S10244.
Step S10244: according to the change rule V (f) of the voltage required by the motor oscillator along with the frequency and the change rule X (f) of the displacement of the motor oscillator along with the frequency under the maximum voltage, voltage equalization calculation is carried out to generate a change rule ASL (f) of the displacement of the motor oscillator along with the frequencyn)。
That is, ASL (f) of the variation law of the displacement of the motor oscillator with frequencyn) The formula of (1) is:
Figure BDA0002431786870000101
in the formula (6), the calculation formulas of a and b in the formula (1) are as follows:
Figure BDA0002431786870000102
Figure BDA0002431786870000103
first critical frequency f1And the second critical frequency has been calculated in step S10242, i.e.
Figure BDA0002431786870000104
Figure BDA0002431786870000105
Wherein, in formula (2), formula (3), formula (4), formula (5) and formula (6), ReIs the DC impedance of the motor, m is the mass of the motor, ctFor the total damping of the motor, k is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor.
ASL (f) rule of displacement of motor oscillator along with frequency change under balanced voltagen) The curve of (a) is shown in fig. 5.
In step S10244, the displacement of the motor oscillator changes with frequency according to the rule ASL (f)n) Has already been calculated.
The change rule ASL (f) of the displacement of the motor oscillator along with the frequency is obtained through calculationn) Thereafter, step S1025 is executed, i.e., ASL (f) according to the displacement-frequency-dependent variation lawn) And a rule H (t) that the relative intensity changes along with time generates a rule D (t) that the absolute displacement intensity of the motor oscillator changes along with time; namely, the calculation formula of the rule D (t) that the absolute displacement intensity of the motor oscillator changes along with time is as follows: d (t) ═ ASL (f)n)*H (t) formula (7).
Step S101 and step S102 are mainly to calculate a rule d (t) of the absolute displacement intensity of the motor oscillator changing with time from the vibration data of the motor oscillator input by user-defined, that is, the rule of the relative displacement intensity of the motor oscillator changing with time is converted into a rule of the absolute displacement intensity changing with time. Then, continuing to execute step S103, namely generating a displacement change rule X (t) of the motor oscillator along with the time according to a displacement absolute intensity change rule D (t) of the motor oscillator along with the time; in an embodiment of the present invention, as shown in fig. 6, step S103 specifically includes:
step S1031: acquiring a time-varying rule f (t) of a given frequency of a motor oscillator; and
step S1032: and generating a displacement change rule X (t) of the motor vibrator along with time according to a given frequency change rule f (t) along with time and a displacement absolute intensity change rule D (t) along with time of the motor vibrator.
Specifically, the calculation formula of the displacement change rule x (t) of the motor oscillator along with time is as follows: x (t) ═ d (t) × g (t) formula (8), wherein g (t) is calculated by the following formula:
Figure BDA0002431786870000111
wherein,
Figure BDA0002431786870000112
is the phase value of the motor vibrator over time,
Figure BDA0002431786870000113
the calculation formula of (2) is as follows:
Figure BDA0002431786870000114
wherein the given frequency variation law f (T) of the motor oscillator along with time is a discrete signal extracted from a continuous signal in the frequency variation law F (T) of the motor oscillator along with time in the vibration time period T, and the sampling rate is fsThe expression for the sampling time interval t is:
t＝0:1/fs:(T-1/fs) Formula (11)
The phase of the discrete signal is expressed as:
Figure BDA0002431786870000115
wherein, in the formula (8) and the formula (9), T is the vibration time length T in the vibration data input by the user,
f1and f2Is calculated in step S10242, i.e.
Figure BDA0002431786870000116
Figure BDA0002431786870000117
In step S103, a time-dependent change law x (t) of the displacement of the motor oscillator is obtained. Step S104 is performed next: namely, displacement equilibrium calculation is carried out on the displacement change rule X (t) of the motor oscillator along with time, and a voltage change rule V (t) along with time is generated.
In step S104, a time-varying rule of the displacement of the motor oscillator (i.e., a displacement waveform of the motor oscillator is defined) is generated according to the motor oscillator parameter input by the user, and a time-varying rule v (t) of the voltage of the motor oscillator is generated according to the time-varying rule of the displacement of the motor oscillator. Namely, the acquisition of the driving voltage of the motor vibrator by defining the displacement waveform of the motor vibrator is completed. After the driving voltage of the motor vibrator is obtained, the driving voltage is input to the motor vibrator, and then the motor vibrator can be driven to vibrate to generate a touch effect.
Exemplary devices
On the other hand, fig. 7 is a schematic structural diagram of an apparatus for presenting a haptic effect based on a displacement of a motor vibrator according to an embodiment of the present invention, and as shown in fig. 7, the apparatus for presenting a haptic effect based on a displacement of a motor vibrator includes: a vibration parameter acquisition unit 1 for acquiring a vibration parameter of a motor vibrator; the data processing unit 2 is used for carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time; the calculating unit 3 is used for generating a displacement change rule X (t) of the motor oscillator along with the time according to the displacement absolute intensity change rule D (t) along with the time; carrying out displacement equilibrium calculation on the displacement change rule X (t) along with the time to generate a voltage change rule V (t) along with the time; and the driving unit 4 is used for driving the motor vibrator to vibrate according to the time-varying rule V (t) of the voltage.
According to the device for presenting the haptic effect based on the displacement of the motor oscillator, provided by the embodiment of the invention, a user can input the vibration duration T, the vibration frequencies F1 and F2 and the absolute values A1 and A2 according to the preference of the user, and the relative strength of the vibration displacement of the motor oscillator is converted into the absolute strength of the vibration displacement of the motor oscillator, so that the change rule of the displacement of the motor oscillator along with time (namely the displacement waveform of the motor oscillator) is generated, namely the vibration parameters of the motor oscillator can be defined by the user, the displacement waveform of the motor oscillator is customized, and then the change rule of the displacement along with time is subjected to displacement equalization to obtain the driving voltage, so that the haptic effect is realized.
In an embodiment of the present invention, as shown in fig. 8, the data processing unit 2 further includes: the data analysis module 21 is configured to analyze the vibration parameters to generate a vibration duration T, a first vibration frequency F1, a second vibration frequency F2, a first relative strength value a1, and a second relative strength value a2 of the motor oscillator; the frequency-time change generating module 22 is configured to generate a frequency-time change rule F (T) of the motor oscillator according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T; the relative intensity variation-with-time generation module 23 is configured to generate a relative intensity variation-with-time law h (t) of the motor oscillator in the vibration time period according to the first relative intensity value a1 and the second relative intensity value a 2; a displacement versus frequency variation generation module 24 for generating a displacement versus frequency variation rangeInternally, ASL (f) is generated according to the frequency variation law of the displacement of the motor oscillatorn) (ii) a And a displacement absolute intensity variation with time module 25 for ASL (f) according to the displacement variation with frequency lawn) And generating a rule D (t) that the displacement absolute intensity of the motor vibrator changes along with time according to the rule H (t) that the relative intensity changes along with time.
Specifically, a generation process of a time-dependent frequency change rule F (t) of the motor vibrator, a generation process of a time-dependent relative intensity change rule H (t) of the motor vibrator, and a frequency-dependent displacement change rule ASL (f) of the motor vibratorn) The generation process of (a), and the generation process of the rule d (t) that the absolute intensity of displacement changes with time are as described above, and are not described herein again.
In an embodiment of the present invention, as shown in fig. 9, the calculating unit 3 further includes: a given frequency generating module 31, configured to generate a time-dependent change rule f (t) of a given frequency of the motor oscillator; and a calculating module 32, configured to generate a time-varying rule x (t) of the displacement of the motor oscillator according to a time-varying rule f (t) of the given frequency of the motor oscillator and a time-varying rule d (t) of the absolute displacement intensity.
The specific generation process of the displacement change rule x (t) with time is as described above, and is not described herein again.
Exemplary electronic device
As a third aspect of the present invention, an embodiment of the present invention further provides an electronic device, which includes one or more processors and a memory.
The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.
The memory may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by a processor to implement the method for presenting haptic effects based on displacement of a motor vibrator of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the method of presenting haptic effects based on displacement of a motor vibrator according to the embodiments of the present application described in fig. 1-3 and fig. 6 of the present application in the above-described "exemplary method" section of this specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the power parameter adjustment method or the training method of the reinforcement learning model according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art.
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (14)

1. A method of presenting haptic effects based on displacement of a motor transducer, comprising:
obtaining vibration parameters of the motor vibrator;
carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time;
generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time;
carrying out displacement equilibrium calculation on the displacement change rule X (t) along with the time to generate a voltage change rule V (t) along with the time; and
and driving the motor vibrator to vibrate according to the time-varying rule V (t) of the voltage.
2. The method of claim 1, wherein the processing the vibration parameters and generating a time-dependent law D (t) of absolute intensity of displacement of the motor vibrator further comprises:
analyzing the vibration parameters to obtain the vibration time length T, the first vibration frequency F1, the second vibration frequency F2, the first relative strength value A1 and the second relative strength value A2 of the motor vibrator;
generating a time-varying frequency law F (T) of the motor vibrator according to the first vibration frequency F1 and the second vibration frequency F2 in the vibration time period T;
generating a relative intensity change rule H (t) of the motor vibrator along with the time in the vibration time period according to the first relative intensity value A1 and the second relative intensity value A2;
generating a displacement versus frequency (ASL) of the motor vibrator in a range of the frequency versus timen) (ii) a And
according to the law of variation of said displacement with frequency ASL (f)n) And generating a law D (t) that the displacement absolute intensity of the motor vibrator changes along with time according to the law H (t) that the relative intensity changes along with time.
3. A method of presenting haptic effects as recited in claim 2 wherein the frequency of said motor vibrator varies sinusoidally with time over said period of vibration.
4. A method of presenting haptic effects as recited in claim 2 wherein said generating generates a displacement versus frequency law ASL (f) of said motor vibrator over a range of said frequency versus timen) Further comprising:
generating a frequency-dependent variation law V (f) of the voltage required by the motor oscillator and a maximum voltage V (V) required by the motor oscillator within a range of the frequency-dependent variation and within a preset voltage range on the premise that the motor oscillator exerts the maximum capacitymaxAnd the maximum displacement X that the motor vibrator can reachmax；
According to the change rule V (f) of the voltage required by the motor oscillator along with the frequency and the maximum voltage VmaxAnd the maximum displacement XmaxCalculating a first critical frequency f of the motor vibrator1And a second critical frequency f2；
Generating a change rule X (f) of the displacement of the motor oscillator along with the frequency under the maximum voltage in the range of the frequency along with the change of time;
according to the change rule V (f) of the voltage required by the motor oscillator along with the frequency, carrying out voltage balance calculation on the change rule X (f) of the displacement of the motor oscillator along with the frequency under the maximum voltage to generate the motor oscillatorASL (f) law of variation of displacement of motor oscillator with frequencyn)。
5. Method for presenting haptic effects according to claim 4, characterized in that said maximum voltage V (f), according to law of variation of voltage required by motor vibrator with frequency V (f)maxAnd the maximum displacement XmaxCalculating a first critical frequency f of the motor vibrator1And a second critical frequency f2The method comprises the following steps:
the first critical frequency f1Is equal to:
Figure FDA0002431786860000021
the first critical frequency f2Is equal to:
Figure FDA0002431786860000022
wherein, in the formula (2),
Figure FDA0002431786860000023
wherein, in the formula (1), the formula (2) and the formula (3), VmaxIs the maximum voltage, XmaxIs the maximum displacement, ReIs the DC impedance of the motor, m is the mass of the motor, cdIs the mechanical damping coefficient of the motor, ctFor the total damping of the motor, k is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor.
6. The method of claim 5, wherein the displacement of the motor vibrator along with the frequency is generated by performing a voltage equalization calculation on the displacement of the motor vibrator along with the frequency according to a voltage variation law V (f) of the motor vibrator along with the frequency at the maximum voltageRate change law ASL (f)n) The method comprises the following steps:
ASL (f) law of variation of displacement of motor oscillator with frequencyn) The calculation formula of (2) is as follows:
Figure FDA0002431786860000024
wherein, in the formula (4),
Figure FDA0002431786860000031
Figure FDA0002431786860000032
wherein, in the formula (5) and the formula (6), ReIs the DC impedance of the motor, m is the mass of the motor, ctFor the total damping of the motor, k is the stiffness coefficient of the motor and BL is the electromagnetic force coefficient of the motor.
7. Method for presenting haptic effects according to claim 2, characterized in that ASL (f) is a function of the law of variation of the displacement with frequencyn) And the law H (t) of the change of the relative intensity along with time generates a law D (t) of the change of the displacement absolute intensity of the motor oscillator along with time, and further comprises the following steps:
the calculation formula of the rule D (t) that the absolute displacement intensity of the motor oscillator changes along with time is as follows:
D(t)＝ASL(fn) H (t) formula (7).
8. The method of claim 1, wherein generating a law of change over time x (t) of displacement of the motor vibrator according to the law of change over time d (t) of absolute intensity of displacement further comprises:
generating a time-varying rule f (t) of a given frequency of the motor vibrator; and
and generating a displacement change rule X (t) of the motor oscillator along with time according to a given frequency change rule f (t) of the motor oscillator along with time and a displacement absolute intensity change rule D (t) along with time.
9. The method of claim 8, wherein generating a law of change over time x (t) of displacement of the motor vibrator according to a law of change over time f (t) of a given frequency of the motor vibrator and a law of change over time d (t) of an absolute intensity of displacement further comprises:
the calculation formula of the time-dependent change rule X (t) of the displacement of the motor oscillator is as follows:
x (t) ═ d (t) × g (t) formula (8);
wherein, in the formula (8),
Figure FDA0002431786860000033
wherein,
Figure FDA0002431786860000034
is a phase value of the motor vibrator changing with time,
Figure FDA0002431786860000035
the calculation formula of (2) is as follows:
Figure FDA0002431786860000036
10. an apparatus for presenting haptic effects based on displacement of a motor transducer, comprising:
a vibration parameter generation unit configured to generate a vibration parameter of the motor vibrator;
the data processing unit is used for carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time;
the calculation unit is used for generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time; carrying out displacement equilibrium calculation on the displacement change rule X (t) along with time to generate a voltage change rule V (t) along with time; and
and the driving unit is used for driving the motor vibrator to vibrate according to the time-varying rule V (t) of the voltage.
11. The apparatus for presenting haptic effects of claim 10, wherein the data processing unit further comprises:
the data analysis module is used for analyzing the vibration parameters to generate a vibration time length T, a first vibration frequency F1, a second vibration frequency F2, a first relative strength value A1 and a second relative strength value A2 of the motor vibrator;
a frequency-time variation generating module, configured to generate a frequency-time variation law F (T) of the motor oscillator according to the first vibration frequency F1 and the second vibration frequency F2 within the vibration duration T;
a relative strength variation with time generation module, configured to generate a relative strength variation with time law h (t) of the motor vibrator within the vibration time period according to the first relative strength value a1 and the second relative strength value a 2;
a displacement variation with frequency generation module for generating ASL (f) of displacement variation with frequency of the motor oscillator in the frequency variation with time rangen) (ii) a And
a module for variation with time of absolute intensity of displacement, for ASL (f) according to the law of variation with frequency of displacementn) And generating a law D (t) that the displacement absolute intensity of the motor vibrator changes along with time according to the law H (t) that the relative intensity changes along with time.
12. The apparatus for presenting haptic effects of claim 10, wherein the computing unit further comprises:
the given frequency generating module is used for generating a given frequency change rule f (t) of the motor oscillator along with time; and
and the calculation module is used for generating a displacement change rule X (t) of the motor oscillator along with time according to a given frequency change rule f (t) of the motor oscillator along with time and a displacement absolute intensity change rule D (t) along with time.
13. A computer-readable storage medium, the storage medium storing a computer program for performing the steps of:
obtaining vibration parameters of a motor vibrator;
carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time;
generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time;
carrying out displacement equilibrium calculation on the displacement change rule X (t) along with the time to generate a voltage change rule V (t) along with the time; and
and driving the motor vibrator to vibrate according to the time-varying rule V (t) of the voltage.
14. An electronic device, characterized in that the electronic device comprises:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to perform the steps of:
obtaining vibration parameters of a motor vibrator;
carrying out data processing on the vibration parameters and generating a change rule D (t) of the absolute displacement intensity of the motor oscillator along with time;
generating a displacement change rule X (t) of the motor oscillator along with time according to the displacement absolute intensity change rule D (t) along with time;
carrying out displacement equilibrium calculation on the displacement change rule X (t) along with the time to generate a voltage change rule V (t) along with the time; and
and driving the motor vibrator to vibrate according to the time-varying rule V (t) of the voltage.
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