CN110112984A - Vibration control method and mobile terminal of a linear motor - Google Patents

Abstract

The embodiment of the invention discloses a vibration control method of a linear motor, which comprises the following steps: predicting a maximum displacement of the linear motor vibrating under the driving of the second vibration waveform according to the target parameter within a first time period in which the linear motor is controlled to vibrate based on the first vibration waveform and before the linear motor is controlled to vibrate based on the second vibration waveform; processing the second vibration waveform under the condition that the maximum displacement is larger than the preset displacement; controlling the linear motor to vibrate based on the processed second vibration waveform so that the displacement of the linear motor vibration is less than or equal to the preset displacement; wherein the target parameters include acceleration and speed of the linear motor. By adopting the embodiment of the invention, noise generated by collision of the mass block of the linear motor with the shell of the linear motor due to overlarge displacement can be avoided, thereby improving user experience.

Description

Vibration control method and mobile terminal of a linear motor

technical field

The invention relates to the field of mobile terminals, in particular to a vibration control method of a linear motor and a mobile terminal.

Background technique

At present, in order to meet the user's higher and higher experience requirements for mobile terminal equipment, a linear motor used as a tactile feedback module is installed in the mobile terminal equipment. The linear motor can be used to make various realistic vibration effects and is used in games. It can bring a good tactile feedback experience to users when it is in scenes such as audio and video.

In order to enhance the vibration feeling and enrich the user's human-computer interaction experience, the linear motor is usually driven by a high-voltage drive method. In this way, although it can bring a strong sense of vibration, in the short vibration of the linear motor, due to the needs of some applications, such as the burst mode of shooting games, the time interval between two continuous vibration waveforms issued by the linear motor is too long. Short, it is prone to the phenomenon that the previous vibration has not stopped, and the next vibration waveform has already been emitted, resulting in the superposition of the vibration of the linear motor, so that the displacement of the mass block of the linear motor is too large during the vibration process, which is different from that of the linear motor. The shells collide, generating noise and degrading the user experience.

Contents of the invention

Embodiments of the present invention provide a vibration control method for a linear motor and a mobile terminal to solve the problem of vibration superposition due to the short vibration interval of the linear motor, which causes the mass block of the linear motor to move too much during the vibration process and collide with the casing, resulting in Noise problem.

In order to solve the problems of the technologies described above, the present invention is achieved in that:

In a first aspect, a vibration control method of a linear motor is provided, the method comprising:

During the first period of time during which the vibration of the linear motor is controlled based on the first vibration waveform and before the vibration of the linear motor is controlled based on the second vibration waveform, the maximum vibration of the linear motor driven by the second vibration waveform is predicted according to the target parameter. displacement;

When the maximum displacement is greater than a preset displacement, process the second vibration waveform;

controlling the vibration of the linear motor based on the processed second vibration waveform, so that the displacement of the linear motor vibration is less than or equal to the preset displacement;

Wherein, the target parameters include the acceleration and speed of the linear motor.

In a second aspect, a mobile terminal is provided, and the mobile terminal includes:

A predicting module for predicting the linear motor in the second vibration waveform according to the target parameters within the first duration of controlling the vibration of the linear motor based on the first vibration waveform and before controlling the vibration of the linear motor based on the second vibration waveform The maximum displacement of vibration under driving;

A processing module, configured to process the second vibration waveform when the maximum displacement is greater than a preset displacement;

A control module, configured to control the vibration of the linear motor based on the processed second vibration waveform, so that the vibration displacement of the linear motor is less than or equal to the preset displacement;

Wherein, the target parameters include the acceleration and speed of the linear motor.

In a third aspect, a mobile terminal is provided. The mobile terminal includes a processor, a memory, and a computer program stored in the memory and operable on the processor. When the computer program is executed by the processor The steps of the method described in the first aspect are realized.

In a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method according to the first aspect are implemented .

In the embodiment of the present invention, when the linear motor is controlled to perform multiple continuous vibrations, if a new vibration waveform, namely the second vibration waveform, is triggered before the end of the process of controlling the linear motor to vibrate based on the first vibration waveform, then the Before outputting the second vibration waveform to control the linear motor to vibrate, combine the acceleration and speed parameters of the linear motor to predict the maximum displacement that it can achieve under the drive of the second vibration waveform, and determine that the maximum displacement exceeds the preset displacement , the second vibration waveform is adjusted in advance and then output to control the linear motor to vibrate; in this way, the linear motor is controlled to vibrate based on the new processed second vibration waveform, which can ensure that the actual vibration displacement of the linear motor is not The preset displacement can be exceeded, so as to prevent the mass block of the linear motor from colliding with the casing of the linear motor due to excessive displacement during the vibration process, thereby improving user experience.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is a structural schematic diagram of a vibration control system of a linear motor in the related art;

2 is a schematic flow chart of a vibration control method for a linear motor in an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of a vibration control system of a linear motor in an embodiment of the present invention;

Fig. 4 is another schematic flow chart of the vibration control method of the linear motor in the embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a mobile terminal in an embodiment of the present invention;

FIG. 6 is another schematic structural diagram of a mobile terminal in an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

For the scheme of driving the linear motor in the high-voltage driving mode stated in the background technology section, reference can be made to the vibration control system of the linear motor in the mobile terminal device shown in Figure 1, including a central processing unit (Central Processing Unit, CPU) and a linear motor drive module, The linear motor drive module mainly includes an input port, a drive circuit, a boost circuit, and a voltage and current detection circuit. Among them, the CPU outputs vibration waveforms to the linear motor drive module to provide vibration electrical signals for driving the linear motor; After preliminary processing, output to the drive circuit for modulation to output the drive signal to the linear motor; the boost circuit is mainly used to supply power to the drive circuit, and the voltage and current detection circuit is mainly used to sample the electrical signal modulated by the drive circuit and output to the linear motor , and transmit the sampled current and voltage information to the CPU. Further, the CPU calculates the displacement of the mass block based on the following formula:

Among them, the known quantities in formula 1 are: the mass m of the linear motor, the spring coefficient k of the linear motor, the internal mechanical damping γ of the linear motor, the magnetic field strength B, the length L of the magnetic induction line cut by the mass block, and the linear motor’s The coil resistance value R; in addition, the voltage U across the linear motor and the current I flowing through the linear motor can be obtained in real time through the voltage and current detection circuit.

Substituting the above known quantities into formula 1 and formula 2, the running speed v of the mass block of the linear motor can be calculated, and then the acceleration a and displacement x of the mass block can be obtained respectively through differentiation and integration. Further, if the calculated displacement x of the mass block exceeds the preset warning value, the CPU will perform processing such as reducing the voltage of the output vibration waveform.

It can be seen that, based on the above-mentioned solutions in the prior art, the voltage and current detection circuit is required to detect the voltage U and current I in real time, so as to calculate the real-time displacement of the mass block of the linear motor during the actual vibration process of the linear motor during the actual vibration control process. However, when the linear motor performs multiple consecutive short vibrations, the time interval between the two continuously triggered vibration waveforms is too short. Based on the relationship between the above-mentioned real-time displacement and the preset warning value, the vibration waveform is processed in real time such as step-down. In this way, it is inevitable that the previous vibration has not stopped and the next vibration waveform has been sent out, which will still cause the vibration of the linear motor to superimpose, so that the displacement of the mass block of the linear motor is too large, which is different from that of the linear motor. The case of the machine collides and produces noise.

Therefore, there is a need for a new vibration control scheme of the linear motor, which can more effectively solve the problem of the noise generated by the mass block of the linear motor colliding with the casing during the vibration process.

The technical solutions provided by various embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Referring to FIG. 2 , an embodiment of the present invention provides a vibration control method of a linear motor, which is executed by a mobile terminal. The method may specifically include:

Step 101: Predict the maximum vibration displacement of the linear motor driven by the second vibration waveform according to the target parameters within the first duration of controlling the vibration of the linear motor based on the first vibration waveform and before controlling the vibration of the linear motor based on the second vibration waveform.

Optionally, the above-mentioned target parameters may at least include the acceleration and speed of the linear motor; and the above-mentioned first duration may be the total time elapsed from the start of the vibration to the end of the vibration by the linear motor driven by the first vibration waveform.

Step 103: When the maximum displacement is greater than the preset displacement, process the second vibration waveform.

Step 105: Control the vibration of the linear motor based on the processed second vibration waveform, so that the vibration displacement of the linear motor is less than or equal to a preset displacement.

Optionally, the preset displacement may be a nominal maximum displacement of the vibration of the linear motor, that is, a capability attribute parameter of the linear motor itself, or may be a displacement slightly smaller than the nominal maximum displacement.

In the embodiment of the present invention, when the linear motor is controlled to perform multiple continuous vibrations, if a new vibration waveform, namely the second vibration waveform, is triggered before the end of the process of controlling the linear motor to vibrate based on the first vibration waveform, then the Before outputting the second vibration waveform to control the linear motor to vibrate, combine the acceleration and speed parameters of the linear motor to predict the maximum displacement that it can achieve under the drive of the second vibration waveform, and determine that the maximum displacement exceeds the preset displacement , the second vibration waveform is adjusted in advance and then output to control the linear motor to vibrate; in this way, the linear motor is controlled to vibrate based on the new processed second vibration waveform, which can ensure that the actual vibration displacement of the linear motor is not The preset displacement can be exceeded, so as to prevent the mass block of the linear motor from colliding with the casing of the linear motor due to excessive displacement during the vibration process, thereby improving user experience.

It should be noted that, in the vibration control method of the linear motor in the embodiment of the present invention, when the maximum displacement is greater than the preset displacement, in order to more securely ensure that the actual vibration displacement of the linear motor will not exceed the preset displacement, that is, the linear motor The mass block will not collide with the casing, and the output of the second vibration waveform can be directly stopped, and the superposition of the second vibration waveform and the first vibration waveform can be avoided directly from the source, that is, the linear motor is canceled based on the second vibration waveform. Vibration performed by the drive, in this way, can significantly shorten the displacement of the linear motor vibration.

Optionally, in the vibration control method of the linear motor in the embodiment of the present invention, if the above-mentioned maximum displacement is less than or equal to the preset displacement, it means that the displacement of the mass block of the linear motor will not be too large during the vibration process, so that There will be no noise due to collision with the housing of the linear motor. At this time, the linear motor can be controlled to vibrate based on the unprocessed original second vibration waveform, so as to ensure the user's tactile experience.

Optionally, in the vibration control method of the linear motor in the embodiment of the present invention, the scheme of predicting the maximum displacement according to the target parameter in the above step 101 can be specifically implemented as follows:

determining the trigger acceleration of the linear motor at the trigger moment of the second vibration waveform;

Integrating the trigger acceleration to obtain the first speed of the linear motor;

Integrate the first velocity to obtain the maximum displacement.

It can be understood that since the voltage amplitude corresponding to the vibration waveform used by the mobile terminal to control the vibration of the linear motor at each moment is known, before it is determined that the second vibration waveform has been triggered and the vibration of the linear motor is controlled based on the second vibration waveform, you can Based on the known data of the second vibration waveform and the known data of the linear motor, the trigger acceleration of the linear motor at the trigger moment of the second vibration waveform can be determined, and then the speed can be obtained by sequentially integrating the trigger acceleration and the process of integrating the speed , the maximum displacement that the linear motor can vibrate under the driving of the second vibration waveform is predicted, and the prediction result obtained in this way is accurate and reliable.

In addition, considering that in the process of predicting the maximum displacement of the linear motor driven by the second vibration waveform, it is not necessary to detect the voltage at both ends of the linear motor and the current flowing through the linear motor in real time, so that it can be used in the vibration control system of the linear motor The voltage and current detection circuit in FIG. 1 is omitted, that is, there is no need to know the output voltage and current of the linear motor drive module. The composition and structure of the vibration control system of the linear motor in the embodiment of the present invention can be specifically referred to in FIG. 3 . In this way, while solving the problem that the mass block of the linear motor collides with the housing, the hardware equipment of the mobile terminal can be saved, thereby saving costs.

Optionally, in the vibration control method of the linear motor in the embodiment of the present invention, the above-mentioned step of determining the trigger acceleration of the linear motor at the trigger moment of the second vibration waveform may specifically include the following content:

Determine the initial acceleration the linear motor will have at the moment when both velocity and displacement are zero;

performing an integral operation on the initial acceleration to obtain a second speed of the linear motor at the triggering moment of the second vibration waveform;

Integrating the second speed to obtain a second displacement of the linear motor at the triggering moment of the second vibration waveform;

A trigger acceleration is determined based on the second velocity and the second displacement.

It can be understood that when the linear motor is in a static state, that is, when the speed and displacement are both zero, the following formula can be obtained from the above formula 1:

In this way, it can be accurately calculated based on the known mass m of the linear motor, the magnetic field strength B, the length L of the magnetic induction line cut by the mass block, the coil resistance value R of the linear motor, and the voltage amplitude U known from the current vibration waveform. Initial acceleration of the linear motor.

Further, when the curve of the vibration waveform is known, if the voltage value is set to be constant within a sufficiently small period of time T, then the speed and displacement of the mass block of the linear motor at time T will be It can be calculated by integrating Equations 4 and 5 as follows:

v(t)=v(t ₀ )+∫a(t)dt Formula 4,

x(t)=x(t ₀ )+∫v(t)dt Formula 5,

Then, after calculating v(T) and x(T) at time T, bring these two values into the above formula 1, and correspond to the voltage value U(T) at time T according to the vibration waveform, that is, the voltage-time curve , so that the acceleration a(T) at time T can be calculated.

By analogy, when the time enters between time T and time 2T, bring a(T), v(T) and x(T) into formula 4 and formula 5, and the mass of the linear motor at time 2T can be calculated The block has velocity values v(2T) and x(2T), where the smaller the value of T is, the closer the calculation result is to the real one. By repeating this, the speed and displacement of the linear motor at any time can be continuously obtained, that is, the second speed and second displacement of the linear motor at the triggering moment of the second vibration waveform can be accurately calculated, and then based on formula 1, it can be calculated The trigger acceleration of the linear motor at the triggering moment of the second vibration waveform can be obtained, and then the maximum displacement that the linear motor can achieve under the driving of the second vibration waveform can be accurately predicted.

Further optionally, in the vibration control method of the linear motor in the embodiment of the present invention, the following steps may also be included:

If the third vibration waveform is not triggered within the second duration of controlling the vibration of the linear motor based on the processed second vibration waveform, the second velocity and the second displacement are reset to zero.

It can be understood that the longer the integration time, the greater the deviation between the calculated result and the actual value, making the predicted maximum displacement more and more inaccurate. In the process of controlling the vibration of the linear motor by the second vibration waveform, if the new third vibration waveform is not triggered, the previously integrated second velocity and second displacement can be reset to zero to ensure the accuracy of the calculation results. In addition, clearing the integral can also reduce the duration of the integral calculation, so as to achieve the purpose of saving power and computing resources of the mobile terminal.

Optionally, the second duration may be the total duration elapsed from the start of the vibration to the end of the vibration of the linear motor driven by the second vibration waveform.

Optionally, in the vibration control method of the linear motor in the embodiment of the present invention, the scheme of processing the second vibration waveform in the above step 103 can be specifically implemented as one of the following:

reducing the voltage amplitude of the second vibration waveform to a target voltage amplitude;

Adjust the frequency of the second vibration waveform to the target frequency.

It can be understood that by reducing the current voltage amplitude of the second vibration waveform, for example, the original output 8V, 200Hz sine wave is adjusted to output a 6V, 200Hz sine wave through step-down processing, which can effectively shorten the vibration displacement of the linear motor The purpose; wherein, on the one hand, the voltage amplitude of the second vibration waveform can be reduced to the target voltage amplitude by direct step-down; The way of the target vibration waveform, so that when the target vibration waveform and the second vibration waveform are reversely superimposed, a part of the voltage amplitude is offset.

In addition, by adjusting the frequency of the second vibration waveform, increasing or decreasing the frequency, the frequency is adjusted to a target frequency deviated from the resonance frequency of the linear motor, so as to effectively shorten the vibration displacement of the linear motor.

Optionally, the complete process of the vibration control method of the linear motor in the embodiment of the present invention can refer to the process steps shown in FIG. 4 , which specifically includes:

Step 201, trigger the first vibration waveform and run the algorithm.

That is to say, when the linear motor is in a static state, the first vibration waveform is triggered, and the initial acceleration, speed and displacement at any moment of the linear motor can be calculated based on the above calculation formula. Wherein, the first vibration waveform may correspond to the above-mentioned first vibration waveform.

Step 203, when a new vibration waveform (corresponding to the second vibration waveform) is triggered within the set time period, the algorithm is used to predict the maximum displacement.

Step 205, determine whether the predicted maximum displacement is greater than the nominal maximum displacement, if so, perform step 207, otherwise, perform step 209.

Step 207, output after adjusting the voltage amplitude of the current vibration waveform (corresponding to the second vibration waveform), that is, output the new vibration waveform triggered in step 203 after step-down processing, so as to control the vibration of the linear motor to achieve The purpose of shortening the vibration displacement is to avoid noise caused by the mass block of the linear motor colliding with the casing due to excessive displacement during the vibration process.

Step 211 is further executed.

Step 209, directly output the current vibration waveform (corresponding to the second vibration waveform), that is, directly control the vibration of the linear motor based on the new vibration waveform triggered in step 203 .

Step 211 is further executed.

Step 211, waiting to trigger a new vibration waveform (corresponding to the third vibration waveform), that is, in the process of controlling the vibration of the linear motor based on the new vibration waveform triggered in step 203 or based on the adjusted vibration in step 207 In the process of waveform controlling the vibration of the linear motor, continue to determine whether to trigger a new vibration waveform.

If yes, return to the above step 203 to repeatedly execute steps 203-211; otherwise, execute step 213.

Step 213 , when no new vibration waveform (corresponding to the third vibration waveform) is triggered within the set period of time, the speed and displacement already obtained through integral calculation are cleared.

It can be understood that the first duration and the second duration may be the same set duration.

Through the vibration control method of the linear motor in the embodiment of the present invention, when the linear motor experiences a complex vibration scene, the collision between the mass block and the casing will not occur, and noise will be avoided; at the same time, it can ensure that various realistic The vibration effect brings users a good tactile feedback experience.

Referring to Fig. 5, an embodiment of the present invention also provides a mobile terminal, which may specifically include:

The prediction module 501 is used to predict the maximum vibration of the linear motor driven by the second vibration waveform according to the target parameters within the first duration of controlling the vibration of the linear motor based on the first vibration waveform and before controlling the vibration of the linear motor based on the second vibration waveform. displacement;

A processing module 503, configured to process the second vibration waveform when the maximum displacement is greater than the preset displacement;

A control module 505, configured to control the vibration of the linear motor based on the processed second vibration waveform, so that the displacement of the linear motor vibration is less than or equal to the preset displacement;

Among them, the target parameters include the acceleration and velocity of the linear motor.

Preferably, in the mobile terminal provided by the embodiment of the present invention, the above prediction module 501 may specifically include:

A determination submodule is used to determine the trigger acceleration of the linear motor at the trigger moment of the second vibration waveform;

The first operation sub-module is used to perform an integral operation on the trigger acceleration to obtain the first speed of the linear motor;

The second operation sub-module is used for performing an integral operation on the first speed to obtain the maximum displacement.

Preferably, in the mobile terminal provided in the embodiment of the present invention, the above determination submodule can be specifically used for:

Determine the initial acceleration the linear motor will have at the moment when both velocity and displacement are zero;

performing an integral operation on the initial acceleration to obtain a second speed of the linear motor at the triggering moment of the second vibration waveform;

Integrating the second speed to obtain a second displacement of the linear motor at the triggering moment of the second vibration waveform;

A trigger acceleration is determined based on the second velocity and the second displacement.

Preferably, in the mobile terminal provided by the embodiment of the present invention, the above-mentioned processing module 507 can also be used for:

If the third vibration waveform is not triggered within the second duration of controlling the vibration of the linear motor based on the processed second vibration waveform, the second velocity and the second displacement are reset to zero.

Preferably, in the mobile terminal provided by the embodiment of the present invention, the above-mentioned processing module 507 may be specifically configured to perform one of the following operations:

reducing the voltage amplitude of the second vibration waveform to a target voltage amplitude;

Adjust the frequency of the second vibration waveform to the target frequency.

It can be understood that the mobile terminal 500 provided by the embodiment of the present invention can implement the various processes of the vibration control method of the linear motor performed by the mobile terminal 500 above, and the related explanations about the vibration control method of the linear motor are all applicable to the mobile terminal 500, here I won't repeat them here.

In the embodiment of the present invention, when the linear motor is controlled to perform multiple continuous vibrations, if a new vibration waveform, namely the second vibration waveform, is triggered before the end of the process of controlling the linear motor to vibrate based on the first vibration waveform, then the Before outputting the second vibration waveform to control the linear motor to vibrate, combine the acceleration and speed parameters of the linear motor to predict the maximum displacement that it can achieve under the drive of the second vibration waveform, and determine that the maximum displacement exceeds the preset displacement , the second vibration waveform is adjusted in advance and then output to control the linear motor to vibrate; in this way, the linear motor is controlled to vibrate based on the new processed second vibration waveform, which can ensure that the actual vibration displacement of the linear motor is not The preset displacement can be exceeded, so as to prevent the mass block of the linear motor from colliding with the casing of the linear motor due to excessive displacement during the vibration process, thereby improving user experience.

6 is a schematic diagram of a hardware structure of a mobile terminal implementing various embodiments of the present invention, the mobile terminal 600 includes but not limited to: a radio frequency unit 601, a network module 602, an audio output unit 603, an input unit 604, a sensor 605, and a display unit 606 , a user input unit 607 , an interface unit 608 , a memory 609 , a processor 610 , and a power supply 611 and other components. Those skilled in the art can understand that the structure of the mobile terminal shown in Figure 6 does not constitute a limitation on the mobile terminal, and the mobile terminal may include more or less components than shown in the figure, or combine certain components, or different components layout. In the embodiment of the present invention, the mobile terminal includes, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a vehicle-mounted terminal, a wearable device, and a pedometer.

Wherein, the processor 610 is configured to perform the following processes:

During the first duration of controlling the vibration of the linear motor based on the first vibration waveform and before controlling the vibration of the linear motor based on the second vibration waveform, predicting the maximum displacement of the linear motor under the driving of the second vibration waveform according to the target parameter;

When the maximum displacement is greater than the preset displacement, processing the second vibration waveform;

controlling the vibration of the linear motor based on the processed second vibration waveform, so that the displacement of the linear motor vibration is less than or equal to a preset displacement;

Among them, the target parameters include the acceleration and velocity of the linear motor.

In the embodiment of the present invention, when the linear motor is controlled to perform multiple continuous vibrations, if a new vibration waveform, namely the second vibration waveform, is triggered before the end of the process of controlling the linear motor to vibrate based on the first vibration waveform, then the Before outputting the second vibration waveform to control the linear motor to vibrate, combine the acceleration and speed parameters of the linear motor to predict the maximum displacement that it can achieve under the drive of the second vibration waveform, and determine that the maximum displacement exceeds the preset displacement , the second vibration waveform is adjusted in advance and then output to control the linear motor to vibrate; in this way, the linear motor is controlled to vibrate based on the new processed second vibration waveform, which can ensure that the actual vibration displacement of the linear motor is not The preset displacement can be exceeded, so as to prevent the mass block of the linear motor from colliding with the casing of the linear motor due to excessive displacement during the vibration process, thereby improving user experience.

It should be understood that, in the embodiment of the present invention, the radio frequency unit 601 can be used for receiving and sending signals during sending and receiving information or during a call. Specifically, the downlink data from the base station is received and processed by the processor 610; in addition, the Uplink data is sent to the base station. Generally, the radio frequency unit 601 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. In addition, the radio frequency unit 601 can also communicate with the network and other devices through a wireless communication system.

The mobile terminal provides users with wireless broadband Internet access through the network module 602, such as helping users send and receive emails, browse web pages, and access streaming media.

The audio output unit 603 may convert audio data received by the radio frequency unit 601 or the network module 602 or stored in the memory 609 into an audio signal and output as sound. Also, the audio output unit 603 can also provide audio output related to a specific function performed by the mobile terminal 600 (for example, a call signal reception sound, a message reception sound, etc.). The audio output unit 603 includes a speaker, a buzzer, a receiver, and the like.

The input unit 604 is used for receiving audio or video signals. The input unit 604 may include a graphics processing unit (Graphics Processing Unit, GPU) 6041 and a microphone 6042, and the graphics processing unit 6041 is used for still pictures or video images obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The data is processed. The processed image frames may be displayed on the display unit 606 . The image frames processed by the graphics processor 6041 may be stored in the memory 609 (or other storage medium) or sent via the radio frequency unit 601 or the network module 602 . The microphone 6042 can receive sound, and can process such sound into audio data. The processed audio data can be converted into a format that can be sent to a mobile communication base station via the radio frequency unit 601 for output in the case of a phone call mode.

The mobile terminal 600 also includes at least one sensor 605, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 6061 according to the brightness of the ambient light, and the proximity sensor can turn off the display panel 6061 and the display panel 6061 when the mobile terminal 600 moves to the ear / or backlighting. As a kind of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes), and can detect the magnitude and direction of gravity when it is still, and can be used to identify the posture of mobile terminals (such as horizontal and vertical screen switching, related games, etc.) , magnetometer posture calibration), vibration recognition-related functions (such as pedometer, knocking), etc.; the sensor 605 can also include fingerprint sensors, pressure sensors, iris sensors, molecular sensors, gyroscopes, barometers, hygrometers, thermometers, Infrared sensors, etc., will not be repeated here.

The display unit 606 is used to display information input by the user or information provided to the user. The display unit 606 may include a display panel 6061, and the display panel 6061 may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an organic light-emitting diode (Organic Light-Emitting Diode, OLED), or the like.

The user input unit 607 can be used to receive input numbers or character information, and generate key signal input related to user settings and function control of the mobile terminal. Specifically, the user input unit 607 includes a touch panel 6071 and other input devices 6072 . The touch panel 6071, also referred to as a touch screen, can collect touch operations of the user on or near it (for example, the user uses any suitable object or accessory such as a finger or a stylus on the touch panel 6071 or near the touch panel 6071). operate). The touch panel 6071 may include two parts, a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and sends it to For the processor 610, receive the command sent by the processor 610 and execute it. In addition, the touch panel 6071 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 6071 , the user input unit 607 may also include other input devices 6072 . Specifically, other input devices 6072 may include, but are not limited to, physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be repeated here.

Furthermore, the touch panel 6071 can be covered on the display panel 6061, and when the touch panel 6071 detects a touch operation on or near it, it will be sent to the processor 610 to determine the type of the touch event, and then the processor 610 can The type of event provides a corresponding visual output on the display panel 6061. Although in FIG. 6, the touch panel 6071 and the display panel 6061 are used as two independent components to realize the input and output functions of the mobile terminal, in some embodiments, the touch panel 6071 and the display panel 6061 can be integrated. The implementation of the input and output functions of the mobile terminal is not specifically limited here.

The interface unit 608 is an interface for connecting an external device to the mobile terminal 600 . For example, an external device may include a wired or wireless headset port, an external power (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device with an identification module, audio input/output (I/O) ports, video I/O ports, headphone ports, and more. The interface unit 608 can be used to receive input from an external device (for example, data information, power, etc.) transfer data between devices.

The memory 609 can be used to store software programs as well as various data. The memory 609 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); Data created by the use of mobile phones (such as audio data, phonebook, etc.), etc. In addition, the memory 609 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

The processor 610 is the control center of the mobile terminal, which uses various interfaces and lines to connect various parts of the entire mobile terminal, by running or executing software programs and/or modules stored in the memory 609, and calling data stored in the memory 609 , execute various functions of the mobile terminal and process data, so as to monitor the mobile terminal as a whole. The processor 610 may include one or more processing units; preferably, the processor 610 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application programs, etc., and the modem The processor mainly handles wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 610 .

The mobile terminal 600 can also include a power supply 611 (such as a battery) for supplying power to various components. Preferably, the power supply 611 can be logically connected to the processor 610 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. and other functions.

In addition, the mobile terminal 600 includes some functional modules not shown, which will not be repeated here.

Preferably, the embodiment of the present invention also provides a mobile terminal, including a processor 610, a memory 609, a computer program stored in the memory 609 and operable on the processor 610, when the computer program is executed by the processor 610 Each process of the embodiment of the vibration control method for the linear motor described above can achieve the same technical effect, so to avoid repetition, details will not be repeated here.

The embodiment of the present invention also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the various processes of the above-mentioned embodiment of the vibration control method for a linear motor are implemented, and can achieve The same technical effects are not repeated here to avoid repetition. Wherein, the computer-readable storage medium is, for example, a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk or an optical disk, and the like.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present invention.

Embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementations, and the above-mentioned specific implementations are only illustrative, rather than restrictive, and those of ordinary skill in the art will Under the enlightenment of the present invention, without departing from the gist of the present invention and the protection scope of the claims, many forms can also be made, all of which belong to the protection of the present invention.

Claims (12)

1. a kind of vibration control method of linear motor, which is characterized in that the described method includes:

In the first duration for controlling linear motor vibrations based on the first vibrational waveform and institute is being controlled based on the second vibrational waveform Before stating linear motor vibration, predict what the linear motor vibrated under second vibrational waveform driving according to target component Maximum displacement；

In the case where the maximum displacement is greater than preset displacement, second vibrational waveform is handled；

Based on treated, second vibrational waveform controls the linear motor vibration, so that the position of linear motor vibration It moves and is less than or equal to the preset displacement；

Wherein, the target component includes the acceleration and speed of the linear motor.

2. the method according to claim 1, wherein described predict the linear motor in institute according to target component State the lower maximum displacement vibrated of the second vibrational waveform driving, comprising:

Determine the triggering acceleration that the linear motor has in the triggering moment of second vibrational waveform；

Integral operation is carried out to the triggering acceleration and obtains the First Speed of the linear motor；

Integral operation is carried out to the First Speed and obtains the maximum displacement.

3. according to the method described in claim 2, it is characterized in that, the determination linear motor is in second vibration wave The triggering acceleration that the triggering moment of shape has, comprising:

Determine the initial acceleration that the linear motor has at the time of speed and displacement are zero；

Integral operation is carried out to the initial acceleration, obtains the linear motor in the triggering moment of second vibrational waveform The second speed having；

Integral operation is carried out to the second speed, the linear motor is obtained and has in the triggering moment of second vibrational waveform Some second displacements；

The triggering acceleration is determined according to the second speed and the second displacement.

4. according to the method described in claim 3, it is characterized in that, the method also includes:

If not triggering the in the second duration based on treated second vibrational waveform controls linear motor vibration The second speed and the second displacement are then zeroed by three vibrational waveforms.

5. method according to any one of claims 1 to 4, which is characterized in that it is described to second vibrational waveform into Row processing, including following one:

The voltage amplitude of second vibrational waveform is down to target voltage amplitude；

The frequency of second vibrational waveform is adjusted to target frequency.

6. a kind of mobile terminal, which is characterized in that the mobile terminal includes:

Prediction module, in the first duration for controlling linear motor vibrations based on the first vibrational waveform and based on the second vibration Before dynamic waveform controls the linear motor vibration, predict the linear motor in second vibrational waveform according to target component The lower maximum displacement vibrated of driving；

Processing module is used in the case where the maximum displacement is greater than preset displacement, at second vibrational waveform Reason；

Control module, for second vibrational waveform to control the linear motor vibration based on treated, so that the line Property motor vibrations displacement be less than or equal to the preset displacement；

Wherein, the target component includes the acceleration and speed of the linear motor.

7. mobile terminal according to claim 6, which is characterized in that the prediction module specifically includes:

Submodule is determined, for determining that the linear motor accelerates in the triggering that the triggering moment of second vibrational waveform has Degree；

First operation submodule obtains the first speed of the linear motor for carrying out integral operation to the triggering acceleration Degree；

Second operation submodule obtains the maximum displacement for carrying out integral operation to the First Speed.

8. mobile terminal according to claim 7, which is characterized in that the determining submodule is specifically used for:

Determine the initial acceleration that the linear motor has at the time of speed and displacement are zero；

Integral operation is carried out to the initial acceleration, obtains the linear motor in the triggering moment of second vibrational waveform The second speed having；

Integral operation is carried out to the second speed, the linear motor is obtained and has in the triggering moment of second vibrational waveform Some second displacements；

The triggering acceleration is determined according to the second speed and the second displacement.

9. mobile terminal according to claim 8, which is characterized in that the processing module is also used to:

If not triggering the in the second duration based on treated second vibrational waveform controls linear motor vibration The second speed and the second displacement are then zeroed by three vibrational waveforms.

10. mobile terminal according to any one of claims 6 to 9, which is characterized in that the processing module is specific to use One of operation below executing:

The voltage amplitude of second vibrational waveform is down to target voltage amplitude；

The frequency of second vibrational waveform is adjusted to target frequency.

11. a kind of mobile terminal characterized by comprising memory, processor and be stored on the memory and can be in institute The computer program run on processor is stated, such as claim 1 to 5 is realized when the computer program is executed by the processor Any one of described in method the step of.

12. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium Program, the step of method as described in any one of claims 1 to 5 is realized when the computer program is executed by processor.