CN107024985B - Linear motor braking method and device, and tactile feedback system - Google Patents
Linear motor braking method and device, and tactile feedback system Download PDFInfo
- Publication number
- CN107024985B CN107024985B CN201710062586.8A CN201710062586A CN107024985B CN 107024985 B CN107024985 B CN 107024985B CN 201710062586 A CN201710062586 A CN 201710062586A CN 107024985 B CN107024985 B CN 107024985B
- Authority
- CN
- China
- Prior art keywords
- linear motor
- brake
- braking
- module
- feedback
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Linear Motors (AREA)
Abstract
The invention provides a linear motor braking method and device and a tactile feedback system. The braking method comprises the following steps: s100: detecting vibration information of a linear motor in a vibration state, and analyzing to obtain the vibration speed of the linear motor; s200: inputting a primary braking driving signal in a reverse phase of the vibration speed to a linear motor to primarily reduce the amplitude of the linear motor, thereby realizing primary braking of the linear motor; s300: detecting vibration information of the linear motor after the initial braking; s400: analyzing the vibration information detected in the step S300, and obtaining a feedback brake driving signal according to the vibration information analysis result; s500: and feeding back a brake driving signal to the linear motor after the primary braking so as to reduce the amplitude of the linear motor again, thereby realizing the secondary braking of the linear motor. The invention can realize the rapid reduction of the amplitude of the linear motor, shorten the braking time, and realize the rapid braking function of the linear motor when the amplitude of the linear motor is very small.
Description
Technical Field
The invention belongs to the field of linear motors, and particularly relates to a linear motor braking method, a linear motor braking device and a touch feedback system with the linear motor braking device.
Background
Linear motors are increasingly used in vibration feedback applications due to their superior performance in small size, fast start and fast brake, and are often used to simulate a wide variety of vibration situations. In various applications, there are situations where the linear motor vibration can achieve a fast braking, but the linear motor acceleration is often slow to brake. Fig. 1 shows a prior art linear motor brake apparatus. Such a device generally comprises a main control module 5, a drive module 2 connected to the main control module 5 and a linear motor 1 connected to the drive module 2. Feedback control does not exist in such haptic feedback systems, and thus it is not possible to monitor and feedback fluctuations in individual parameters and environmental changes. In the prior art, there is a linear motor brake device with feedback control, in which a linear motor is controlled to brake using a default voltage and a waveform, which cannot achieve optimal and fastest braking; when the vibration is small, the precision of the driving voltage itself, the sampling rate and its slight changes, the number of voltage bits, the optimization of the measuring device and the deviation due to environmental changes, etc. limit the effect of further controlling the driving waveform to implement braking. In addition, the feedback control can be based on the tracking of F0 only, and can be driven only in partial period, which results in that the braking work can be completed after a plurality of periods, and the stability is not good. Fig. 2 shows a graph of time versus voltage for the linear motor brake apparatus.
Disclosure of Invention
The invention provides a linear motor braking method, which is characterized in that on the basis of the prior art, a secondary braking process is added on the basis of primary braking through feedback control to realize rapid braking.
The technical scheme of the invention is as follows:
a linear motor braking method comprises the following steps:
s100: detecting vibration information of a linear motor in a vibration state, and analyzing to obtain the vibration speed of the linear motor;
s200: inputting a primary braking driving signal in a reverse phase of the vibration speed to a linear motor to primarily reduce the amplitude of the linear motor, thereby realizing primary braking of the linear motor;
s300: detecting vibration information of the linear motor after the initial braking;
s400: analyzing the vibration information detected in the step S300, and obtaining a feedback brake driving signal according to the vibration information analysis result;
s500: and feeding back a brake driving signal to the linear motor after the primary braking so as to reduce the amplitude of the linear motor again, thereby realizing the secondary braking of the linear motor.
Further, in step S200, the primary braking driving signal is a fixed waveform driving signal.
Further, in step S300, the vibration information is a vibration speed and/or a vibration acceleration of the linear motor and/or a back electromotive force generated when the linear motor vibrates.
Further, in the step S400, the feedback brake driving signal is used to provide an electromagnetic resistance force that reduces the amplitude of the linear motor.
The invention also provides a linear motor brake device, which comprises a linear motor, a driving module, a detection module, a feedback control module and a main control module;
the detection module is connected with the main control module and the feedback control module and is used for detecting vibration information of the linear motor and sending the vibration information to the main control module and the feedback control module;
the main control module is respectively connected with the detection module and the driving module and used for generating a primary brake control signal according to the vibration information and sending the primary brake control signal to the driving module;
the feedback control module is respectively connected with the detection module and the driving module, receives the vibration information detected by the detection module, analyzes the vibration information, obtains a feedback brake control signal according to the vibration information analysis result, and sends the feedback brake control signal to the driving module;
drive module respectively with main control module feedback control module with linear motor connects, drive module is according to respectively main control module sends first brake control signal produces first brake drive signal is with the drive linear motor realizes first brake, and according to the feedback brake control signal that feedback control module sent produces feedback brake drive signal, with the drive linear motor realizes the secondary brake.
In one embodiment, the vibration information is a vibration speed and/or a vibration acceleration of the linear motor and/or a back electromotive force generated when the linear motor vibrates; the detection module comprises a speed sensor and/or an acceleration sensor and/or an electromotive force sensor.
In one embodiment, the primary brake actuation signal is a signal that is in anti-phase with the vibration speed of the vibration motor.
Further, the feedback brake driving signal is used for providing electromagnetic resistance force for reducing the amplitude of the linear motor.
Furthermore, the feedback control module is connected with the main control module and sends the feedback brake control signal to the main control module, and the main control module stores the feedback brake control signal.
The invention also provides a tactile feedback system, which comprises a tactile detection module and the linear motor brake device;
the touch detection module detects a touch operation action, converts the detected touch operation action into a touch operation signal, and sends the touch operation signal to a main control module in the linear motor brake device;
the main control module in the linear motor brake device analyzes the touch operation signal detected by the touch detection module, and controls the drive module in the linear motor brake device to generate a first brake driving signal according to the analysis result of the touch operation signal and in combination with the vibration information of the linear motor to obtain the first brake control signal so as to drive the linear motor to realize the first brake.
Further, the haptic feedback system further comprises a storage module for storing a haptic feedback file, so that the main control module in the linear motor brake device generates a primary brake control signal according to the content of the haptic feedback file and in combination with vibration information of the linear motor.
Further, the touch detection module is a piezoelectric sensor.
Further, the haptic feedback system further comprises a wireless communication module for performing wireless communication with other haptic feedback systems or intelligent terminals, or for connecting to a network.
The invention provides a linear motor braking method and device and a touch feedback system, which adopt a primary braking (open-loop control) mode to realize the rapid reduction of the amplitude of a linear motor and adopt a feedback braking (closed-loop control) mode to control the natural attenuation of the linear motor, thereby further reducing the oscillation period of the vibration motor and shortening the braking time; the braking method can still realize the quick braking function of the linear motor when the amplitude of the linear motor is very small.
Drawings
FIG. 1 is a schematic diagram of a prior art linear motor brake assembly;
FIG. 2 is an experimental diagram of a linear motor braking method in the prior art;
FIG. 3 is a flowchart of a linear motor braking method according to embodiment 1 of the present invention;
FIG. 4 is an experimental diagram of a braking method of the linear motor in embodiment 1 of the present invention;
FIG. 5 is a schematic structural view of a linear motor braking device according to embodiment 2 of the present invention;
FIG. 6 is a schematic structural view of a linear motor braking device according to embodiment 3 of the present invention;
FIG. 7 is a schematic structural diagram of a haptic feedback system in embodiment 4 of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the components shown in the figures are schematic and not limiting, and that the features are not drawn to scale.
Example 1
As shown in fig. 3, the present invention provides a linear motor braking method, in which the linear motor may also be referred to as a linear motor, a linear motor or a linear motor, the linear motor includes a stator and a vibrator, and includes a vibrator and a stator, the stator may be driven to generate a structure of an induced magnetic field, and the vibrator interacts with the stator to generate an induced electromotive force. The brake of the linear motor generates an induction magnetic field with the direction opposite to that of the original induction magnetic field for the stator driven by a brake driving signal, so that the vibrator is driven to weaken vibration and the amplitude is reduced.
The invention specifically comprises the following steps:
s100: and detecting the vibration information of the linear motor in a vibration state, and analyzing to obtain the vibration speed of the linear motor. Wherein the vibration information includes a vibration speed of the linear motor and/or a back electromotive force generated when the linear motor vibrates. The vibration speed of the linear motor can be obtained according to the vibration information. Of course, in other embodiments of the present invention, besides calculating the vibration speed of the linear motor through the back electromotive force, other methods, such as a speed sensor, may be used to directly measure the vibration speed of the linear motor.
S200: and inputting a primary braking driving signal opposite to the vibration speed to the linear motor to primarily reduce the amplitude of the linear motor, so as to realize primary braking of the linear motor. The brake driving signal can be a fixed waveform driving signal, such as a square wave driving signal or a sine driving signal, and specific parameters of the driving signal, such as amplitude, frequency and the like, can be adjusted according to actual conditions. Wherein the initial braking is actually an open loop control of the linear motor. Preferably, after the initial braking, the vibration acceleration of the linear motor is reduced to 10% or less of the initial acceleration.
S300: and detecting vibration information of the linear motor after the initial braking. The vibration information includes a vibration speed of the linear motor and/or a vibration acceleration of the linear motor and/or a back electromotive force generated when the linear motor vibrates. The vibration speed may be detected using a vibration sensor; the acceleration may be detected using an acceleration sensor, such as an accelerometer; the back electromotive force may be detected using an electromotive force sensor, such as a magnetic induction type sensor, a hall type sensor, or a piezoelectric type sensor. In the step, the vibration information of the linear motor is collected, one information of the vibration speed of the linear motor, the vibration acceleration of the linear motor and the back electromotive force generated when the linear motor vibrates can be collected independently, two information can be collected, and three information can be collected.
S400: and analyzing the vibration information detected in the step S300, and obtaining a feedback brake driving signal according to the vibration information analysis result. In this step S400, the vibration speed of the linear motor may be inversely obtained according to the vibration information of the linear motor, and then the feedback brake driving signal is obtained according to the vibration speed. Wherein the feedback brake drive signal is used to provide a solenoid resistive force that reduces the amplitude of the linear motor; the electromagnetic resistance is obtained by tracking a change in the vibration speed of the linear motor, and is in phase with the linear motor vibration damping.
S500: and feeding back a brake driving signal to the linear motor after the primary braking so as to reduce the amplitude of the linear motor again, thereby realizing the secondary braking of the linear motor. Wherein the secondary braking is actually a closed loop control of the linear motor.
In this embodiment, first, an open-loop control mode is adopted to implement initial braking, so that the linear motor can reduce the acceleration to an extremely low level (for example, to be attenuated to less than 10% of the initial acceleration) at the fastest speed; and then, the secondary braking (automatic negative feedback braking) of the linear motor is realized in a closed-loop control mode, so that the natural attenuation of the linear motor is controlled, the oscillation period of the vibration motor is further reduced, and the braking time of the linear motor is shortened. The braking method can still realize rapid braking when the amplitude of the linear motor is very small.
It can be understood that the linear motor braking method provided by the present invention is not limited to two times of braking, and the steps S300-S500 can be cycled on the basis of initial braking according to actual situations until the expected braking effect is achieved, and the cycle is ended. For example, three times of braking or four times of braking can be performed according to actual conditions.
The method proposed by the present invention is compared with the prior art by simulation experiments. As shown in fig. 2 and 4, fig. 2 is an experimental diagram of a braking method of a linear motor in the prior art, and fig. 4 is an experimental diagram of a braking method of a linear motor in embodiment 1 of the present invention. In fig. 2, a curve 9 represents an input control signal, a curve 10 represents a vibration acceleration signal of the linear motor, and a curve 11 represents an output acceleration signal of the linear motor. As can be seen from the curves 10 and 11, after the linear motor is driven to brake by using the fixed model, the vibration acceleration of the linear motor still keeps the original vibration state for a period of time, i.e. the brake response speed is slow. In fig. 4, a curve 12 represents the linear motor vibration acceleration signal after the first braking, and a curve 13 represents the linear motor vibration acceleration signal after the second braking. After the braking method is adopted, after the primary braking, the vibration acceleration of the linear motor is reduced to a weaker degree, and after the secondary braking, the linear motor approximately reaches the state of stopping vibration, namely the braking method of the linear motor provided by the invention obviously reduces the braking time and has high braking response speed.
Example 2
As shown in fig. 5, the present invention provides a linear motor brake apparatus including a linear motor 1, a driving module 2, a detecting module 3, a feedback control module 4, and a main control module 5.
The detection module 3 is connected with the main control module 5 and the feedback control module 4, and is used for detecting the vibration information of the linear motor 1 and sending the vibration information to the feedback control module 4. The vibration information is the vibration speed and/or vibration acceleration of the linear motor and/or the back electromotive force generated when the linear motor vibrates. Correspondingly, the detection module 3 can be a speed sensor for detecting the vibration speed of the linear motor; the detection module can also be an acceleration sensor and is used for detecting the vibration acceleration of the linear motor; the detection module can also be an electromotive force sensor for detecting the reverse electromotive force generated when the linear motor vibrates, and the electromotive force sensor can use one or more of a magnetic induction type sensor, a Hall type sensor or a piezoelectric type sensor.
The main control module 5 respectively with detection module 3 with be connected with drive module 2 for the basis vibration information produces first brake control signal, and to drive module sends first brake control signal.
The feedback control module 4 is respectively connected with the detection module 3 and the driving module 2, the feedback control module 4 receives the vibration information detected by the detection module 3 and analyzes the vibration information, a feedback brake control signal is obtained according to the vibration information analysis result, and the feedback brake control signal is sent to the driving module.
The linear motor 1 brakes under the driving of the primary brake driving signal and the feedback brake driving signal respectively.
Fig. 1 is a schematic structural diagram of a linear motor brake device in the prior art, and it can be seen that the linear motor brake device in the prior art only includes a linear motor 1, a driving module 2 and a main control module 5, and a process of implementing linear motor braking in the prior art is that the main control module 5 sends a first braking control signal to drive the linear motor 1 to brake. The method adopts default voltage and waveform to drive the linear motor to brake, the corresponding speed and accuracy of the brake are not high, the further adjustment cannot be carried out, and the optimal and fastest solution cannot be provided.
Referring to fig. 5, the linear motor brake apparatus provided by the present invention adds a detection module 3 and a feedback control module 4. When the brake system works, the main control module 5 sends a primary brake control signal to the driving module 2, and the driving module 2 generates a primary brake driving signal according to the primary brake control signal to drive a wire motor to perform primary braking. The primary braking driving signal can be a fixed waveform, for example, a square wave or a sine wave is adopted, parameters of the waveform, such as amplitude or frequency, can be adjusted according to specific conditions, and the linear motor 1 performs primary braking under the driving of the driving module 2. The detection module 3 detects vibration information of the linear motor 1 after the initial braking and sends the detected vibration information to the feedback control module 4; the feedback control module 4 analyzes the vibration information, obtains a feedback brake control signal according to the analysis result and sends the feedback brake control signal to the driving module 2; the driving module 2 generates a feedback brake driving signal according to the feedback brake control signal to drive the linear motor to perform secondary braking.
Compared with the prior art, the linear motor brake device provided by the invention adopts a method of jointly using the detection module 3 and the feedback control module 4, and performs secondary braking according to the specific working state of the linear motor on the basis of primary braking, so that the braking process has better self-adaptability, the feedback brake control signal can be adjusted according to the actual situation, different feedback brake driving signals are selected, and a brake solution according with the actual situation is provided.
Example 3
As shown in fig. 6, the present embodiment is different from embodiment 2 in that a feedback control module 4 is connected to a main control module 5. When the brake system works, the feedback control module 4 sends a feedback brake control signal to the driving module 2 and also sends the feedback brake control signal to the main control module 5, and the main control module 5 stores the feedback brake control signal. In this embodiment, the main control module 5 stores the feedback brake control signal generated each time, so as to monitor the working states of the feedback control device 2 and the linear motor 1 at any time, and can combine and analyze all the stored feedback brake control signals and vibration information detected in the linear motor braking process to obtain the optimal feedback control signal of the linear motor, i.e. under the driving of the feedback control signal, the linear motor has the advantages of high brake response speed, strong stability, high precision and the best braking effect.
Example 4
As shown in fig. 7, a haptic feedback system proposed for the present invention includes the linear motor brake device and the haptic detection module 6 proposed in embodiment 2. The haptic detection module 6 detects a haptic operation action, converts the detected haptic operation action into a haptic operation signal, and transmits the haptic operation signal to the main control module 5 in the linear motor brake apparatus. The tactile detection module 6 can be various tactile devices, and in this embodiment, a piezoelectric sensor is used to detect a pressure signal.
In the working process, when the outside gives an operation action to the touch detection module 6, the touch detection module 6 converts the operation action into an electric signal, namely a touch operation signal, and sends the touch operation signal to the main control module 5 in the linear motor brake device. The main control module 5 analyzes the tactile operation signal detected by the tactile detection module 6, and obtains a first braking control signal according to the tactile operation signal analysis result and in combination with the vibration information of the linear motor, controls a driving module in the linear motor braking device to generate a first braking driving signal and drives the linear motor to perform first braking. The haptic feedback system provided by the present invention can drive the linear motor to perform the initial braking according to the external signal, for example, when the user presses the haptic sensing module 6, since the haptic sensing module 6 is a piezoelectric sensor in the present invention, the haptic sensing module 6 converts the pressing operation into an electrical signal, i.e., a haptic operation signal, and the linear motor braking device performs the initial braking driving control according to the haptic operation signal and in combination with the vibration information of the linear motor.
In addition, the haptic feedback system provided by the invention further comprises a storage module 7 and a wireless communication module 8, wherein the wireless communication module 8 can be a bluetooth communication device, an infrared communication device or a WIFI communication device. The storage module 7 is used for storing the haptic feedback file, so that the linear motor braking device can drive the linear motor to realize the initial braking operation according to the content of the haptic feedback file, and the initial braking of the linear motor is not required to be driven according to the haptic operation signal detected by the haptic detection module 6. The haptic feedback file is a file for recording haptic feedback control signals, such as a haptic feedback file based on a relative value of vibration intensity, a haptic feedback file based on an absolute value of vibration intensity, and a haptic feedback file based on a specific terminal device. The wireless communication module 8 is used for wireless communication with other tactile feedback systems or intelligent terminals or for connecting to a network. For example, the wireless communication module 8 wirelessly connects the haptic feedback system with other intelligent terminals to realize wireless signal transmission, and the haptic feedback system can drive the linear motor to perform initial braking according to the received control signal sent by the intelligent terminal. For another example, the wireless communication module 8 accesses the haptic feedback system to the network to realize network data transmission, downloads the haptic feedback file from the network, and drives the linear motor to brake for the first time by using the downloaded haptic feedback file.
The linear motor brake device used in the haptic feedback system proposed in this embodiment is the linear motor brake device proposed in embodiment 2, and the linear motor brake device proposed in embodiment 3 may also be used.
It should be understood that the above description of the technical solution of the present invention by means of preferred embodiments is illustrative and not restrictive. On the basis of the above embodiments, a person skilled in the art may modify the technical solutions described in the embodiments, or may substitute part of the technical features of the embodiments; and such modifications and substitutions are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (13)
1. A linear motor braking method is characterized by comprising the following steps:
s100: detecting vibration information of a linear motor in a vibration state, and analyzing to obtain the vibration speed of the linear motor;
s200: inputting a primary braking driving signal in a reverse phase of the vibration speed to a linear motor to primarily reduce the amplitude of the linear motor, thereby realizing primary braking of the linear motor;
s300: detecting vibration information of the linear motor after the initial braking;
s400: analyzing the vibration information detected in the step S300, and obtaining a feedback brake driving signal according to the vibration information analysis result;
s500: and feeding back a brake driving signal to the linear motor after the primary braking so as to reduce the amplitude of the linear motor again, thereby realizing the secondary braking of the linear motor.
2. The linear motor braking method according to claim 1, wherein the primary braking driving signal is a fixed waveform driving signal in the step S200.
3. The linear motor braking method according to claim 1, wherein in the step S300, the vibration information is a vibration speed and/or a vibration acceleration of the linear motor and/or a back electromotive force generated when the linear motor vibrates.
4. The linear motor braking method according to claim 1, wherein the feedback braking driving signal is used to provide an electromagnetic braking force that reduces the amplitude of the linear motor in the step S400.
5. A linear motor brake device is characterized by comprising a linear motor, a driving module, a detection module, a feedback control module and a main control module;
the detection module is connected with the main control module and the feedback control module and is used for detecting vibration information of the linear motor and sending the vibration information to the main control module and the feedback control module;
the main control module is respectively connected with the detection module and the driving module and used for generating a primary brake control signal according to the vibration information and sending the primary brake control signal to the driving module;
the feedback control module is respectively connected with the detection module and the driving module, receives the vibration information detected by the detection module, analyzes the vibration information, obtains a feedback brake control signal according to the vibration information analysis result, and sends the feedback brake control signal to the driving module;
drive module respectively with main control module feedback control module with linear motor connects, drive module is according to respectively main control module sends first brake control signal produces first brake drive signal is with the drive linear motor realizes first brake, and according to the feedback brake control signal that feedback control module sent produces feedback brake drive signal, with the drive linear motor realizes the secondary brake.
6. The linear motor brake device according to claim 5, wherein the vibration information is a vibration speed and/or a vibration acceleration of the linear motor and/or a back electromotive force generated when the linear motor vibrates; the detection module comprises a speed sensor and/or an acceleration sensor and/or an electromotive force sensor.
7. The linear motor brake apparatus of claim 5, wherein the primary brake actuation signal is a signal that is in anti-phase with a vibration speed of the vibration motor.
8. The linear motor brake apparatus of claim 5, wherein the feedback brake actuation signal is configured to provide a solenoid resistive force that reduces the amplitude of the linear motor.
9. The linear motor brake device according to claim 5, wherein the feedback control module is connected to the main control module, and transmits the feedback brake control signal to the main control module, and the main control module stores the feedback brake control signal.
10. A haptic feedback system comprising a haptic detection module and a linear motor brake device according to any one of claims 5 to 9;
the touch detection module detects a touch operation action, converts the detected touch operation action into a touch operation signal, and sends the touch operation signal to a main control module in the linear motor brake device;
the main control module in the linear motor brake device analyzes the touch operation signal detected by the touch detection module, and controls the drive module in the linear motor brake device to generate a first brake driving signal according to the analysis result of the touch operation signal and in combination with the vibration information of the linear motor to obtain the first brake control signal so as to drive the linear motor to realize the first brake.
11. A haptic feedback system as recited in claim 10 further comprising a memory module for storing a haptic feedback file for causing a main control module in said linear motor brake device to generate an initial braking control signal based on the contents of said haptic feedback file in combination with vibration information of said linear motor.
12. A haptic feedback system as recited in claim 11 wherein said haptic detection module is a piezoelectric sensor.
13. A haptic feedback system as recited in claim 11 further comprising a wireless communication module for wirelessly communicating with other haptic feedback systems or intelligent terminals or for connecting to a network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710062586.8A CN107024985B (en) | 2017-01-24 | 2017-01-24 | Linear motor braking method and device, and tactile feedback system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710062586.8A CN107024985B (en) | 2017-01-24 | 2017-01-24 | Linear motor braking method and device, and tactile feedback system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107024985A CN107024985A (en) | 2017-08-08 |
| CN107024985B true CN107024985B (en) | 2020-05-15 |
Family
ID=59526283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710062586.8A Active CN107024985B (en) | 2017-01-24 | 2017-01-24 | Linear motor braking method and device, and tactile feedback system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107024985B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108334193B (en) * | 2018-01-04 | 2021-04-20 | 瑞声科技(新加坡)有限公司 | Method and device for generating motor brake signal |
| CN109710067A (en) * | 2018-12-20 | 2019-05-03 | 上海艾为电子技术股份有限公司 | A kind of linear resonance device and its brake method |
| CN109713944B (en) * | 2019-01-17 | 2020-08-25 | 上海艾为电子技术股份有限公司 | Linear motor driving chip braking method and device |
| CN109713945B (en) * | 2019-01-21 | 2020-10-02 | 上海艾为电子技术股份有限公司 | Braking method and braking system of ERM motor |
| CN109713952B (en) * | 2019-01-21 | 2020-10-02 | 上海艾为电子技术股份有限公司 | Brake method and brake control system of ERM motor |
| CN111327247B (en) * | 2020-01-21 | 2023-09-05 | 上海艾为电子技术股份有限公司 | Control method and control system of motor |
| CN111552380B (en) * | 2020-04-20 | 2023-05-26 | 瑞声科技(新加坡)有限公司 | Haptic vibration self-adjustment method, apparatus, device and medium |
| CN116142158B (en) * | 2021-11-30 | 2024-05-07 | 武汉市聚芯微电子有限责任公司 | Method and device for braking linear motor |
| WO2024254839A1 (en) * | 2023-06-16 | 2024-12-19 | 瑞声开泰声学科技(上海)有限公司 | Vibration signal modulation method and system based on particle swarm optimization, and related device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158169A (en) * | 2010-01-28 | 2011-08-17 | 三洋电机株式会社 | Drive control circuit for linear vibration motor |
| CN102340279A (en) * | 2010-05-13 | 2012-02-01 | 安森美半导体贸易公司 | Drive control circuit for linear vibration motor |
| CN104020844A (en) * | 2013-03-01 | 2014-09-03 | 英默森公司 | Haptic device with linear resonant actuator |
| CN105630021A (en) * | 2015-12-31 | 2016-06-01 | 歌尔声学股份有限公司 | Touch sense vibration control system and method of intelligent terminal |
-
2017
- 2017-01-24 CN CN201710062586.8A patent/CN107024985B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102158169A (en) * | 2010-01-28 | 2011-08-17 | 三洋电机株式会社 | Drive control circuit for linear vibration motor |
| CN102340279A (en) * | 2010-05-13 | 2012-02-01 | 安森美半导体贸易公司 | Drive control circuit for linear vibration motor |
| CN104020844A (en) * | 2013-03-01 | 2014-09-03 | 英默森公司 | Haptic device with linear resonant actuator |
| CN105630021A (en) * | 2015-12-31 | 2016-06-01 | 歌尔声学股份有限公司 | Touch sense vibration control system and method of intelligent terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107024985A (en) | 2017-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107024985B (en) | Linear motor braking method and device, and tactile feedback system | |
| KR102407561B1 (en) | Braking characteristic detection system for haptic actuator | |
| CN106326594B (en) | Method and circuit for obtaining output quantity of linear resonant actuator | |
| US8994518B2 (en) | Haptic feedback generation based on resonant frequency | |
| CN103324305B (en) | The haptic effect optimization of eccentric rotating mass actuator | |
| US10692337B2 (en) | Real-time haptics generation | |
| EP3197573A1 (en) | Media driven haptics | |
| KR20200081213A (en) | Haptic signal conversion system | |
| CN106534476A (en) | Method and system for interactive control of smart-phone and sex toy through Bluetooth | |
| EP3871070B1 (en) | Use of actuator as sensor for input | |
| CN107677440B (en) | Center zero control method and system of vibrating table | |
| CN111351998B (en) | Motor polarity determination method and device, storage medium and equipment | |
| CN116341171B (en) | Evaluation method and system for motor tool vibration | |
| KR101187420B1 (en) | Server system, portable terminal and recording medium having control programs of a mobile robot | |
| Krishna et al. | Performance Analysis of Speed Control System using Voice Command and Ultra Sonic Sensor Based Approaches | |
| CN113949325B (en) | Control method, control device, equipment and medium for linear motor | |
| CN116683824A (en) | System optimization method based on motor parameter estimation and motor tactile feedback system | |
| WO2024192700A1 (en) | Method and system for evaluating vibration of motor tooling | |
| Lee et al. | Control of linear motor-based arm motion generator using active impedance implementation | |
| CN115542817A (en) | A large dynamic range high precision force output device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |