公开(公告)号：US10564728B1

公开(公告)日：2020-02-18

申请号：US16127139

申请日：2018-09-10

Applicant: Apple Inc.

Inventor： Hari Vasudevan

IPC: G06F3/01 ,  G01C9/06 ,  G06F3/041

Abstract: Disclosed is a system, method and apparatus for dynamic management of haptic module mechanical offset with gravity-induced position offset tracking. In an embodiment, a method comprises: determining, by a processor, a gravity-induced position offset of a mass in a haptic module; generating, by the processor, a position command for moving the mass from a sensor reference position to a mechanical resting position based at least in part on the gravity-induced position offset; and moving, by a closed-loop controller, the mass from the sensor reference position to the mechanical resting position in accordance with the position command.

公开(公告)号：US10277154B2

公开(公告)日：2019-04-30

申请号：US15698559

申请日：2017-09-07

Applicant: Apple Inc.

Inventor： Arman Hajati ,  Hari Vasudevan

IPC: H02P25/032 ,  H02P29/68 ,  H02K11/25 ,  H02K33/16 ,  H02K11/215

Abstract: In an embodiment of a system for closed-loop control of a linear resonant actuator, a system processor coupled to a magnetic field sensor is configured to: receive a magnetic field sensor signal from a channel coupling a magnetic field sensor and the system processor; receive measurements of actuator current and actuator voltage from drive electronics; receive a temperature signal from a linear resonant actuator, the temperature signal indicating a temperature of the magnetic field sensor; calculate a first estimate of mass position using the magnetic field sensor signal, actuator current and a magnetic model; calculate an estimate of coil resistance based on the temperature signal, the actuator current, the actuator voltage and a thermal model; and calculate a second estimate of mass position and an estimate of mass velocity based on the first estimate of mass position, the actuator current, the actuator voltage and the estimated coil resistance.

公开(公告)号：US11837937B2

公开(公告)日：2023-12-05

申请号：US16989559

申请日：2020-08-10

Applicant: Apple Inc.

Inventor： Kathryn K. Wopat ,  Fu-Ying Huang ,  Hari Vasudevan ,  Xin Alice Wu ,  Shingo Yoneoka

IPC: H02K33/18 ,  H05K5/02 ,  B06B1/04

CPC classification number: H02K33/18 ,  B06B1/045 ,  H05K5/0217

Abstract: A haptic actuator may include a base, a field member coupled to the base and that may include spaced apart permanent magnets. The haptic actuator may also include a coil having a loop shape defining a slotted opening therein, and a spring member suspending the coil so that the field member is within the slotted opening and permitting relative movement of the field member and the coil.

公开(公告)号：US20220336132A1

公开(公告)日：2022-10-20

申请号：US17855116

申请日：2022-06-30

Applicant: Apple Inc.

Inventor： Darya Amin-Shahidi ,  Hari Vasudevan ,  Juil Lee ,  Denis G. Chen

IPC: H01F7/18 ,  G06F3/01 ,  G06F3/041 ,  H02P25/08 ,  H02P25/092

Abstract: Disclosed herein are reluctance actuators and methods for feedback control of their applied force. Embodiments of the reluctance actuators include an electromagnet positioned to deflect a metallic plate to provide a haptic output. The control of the force is provided without force sensors (sensorless control) by monitoring voltage and/or current (V/I) applied during an actuation. For a given intended force output, an electrical parameter value (flux, current, or other parameter) is read from a look up table (LUT). The LUT may store a present value of the inductance of the reluctance actuator. The feedback control may be a quasi-static control in which the LUT is updated after actuation based on the monitored V/I. The feedback control may be real-time, with a controller comparing an estimated electrical parameter value based on the measured V/I with the value from the LUT.

公开(公告)号：US20210090773A1

公开(公告)日：2021-03-25

申请号：US16581686

申请日：2019-09-24

Applicant: Apple Inc.

Inventor： Darya Amin-Shahidi ,  Hari Vasudevan ,  Juil Lee ,  Denis M. Chen

IPC: H01F7/18 ,  G06F3/01 ,  G06F3/041

Abstract: Disclosed herein are reluctance actuators and methods for feedback control of their applied force. Embodiments of the reluctance actuators include an electromagnet positioned to deflect a metallic plate to provide a haptic output. The control of the force is provided without force sensors (sensorless control) by monitoring voltage and/or current (V/I) applied during an actuation. For a given intended force output, an electrical parameter value (flux, current, or other parameter) is read from a look up table (LUT). The LUT may store a present value of the inductance of the reluctance actuator. The feedback control may be a quasi-static control in which the LUT is updated after actuation based on the monitored V/I. The feedback control may be real-time, with a controller comparing an estimated electrical parameter value based on the measured V/I with the value from the LUT.

公开(公告)号：US10601355B2

公开(公告)日：2020-03-24

申请号：US16147434

申请日：2018-09-28

Applicant: Apple Inc.

Inventor： Hari Vasudevan ,  Eileen A. Mazzochette ,  Arman Hajati ,  Shingo Yoneoka

IPC: H02K33/00 ,  H02P25/034 ,  H02P23/12 ,  H02P23/14 ,  G06F3/01 ,  H02K29/12 ,  H02K33/18 ,  H02K29/08 ,  H02P29/60

Abstract: A system for providing closed-loop control of a linear resonant actuator using Back Electromotive Force (EMF) and inertial compensation is disclosed. In an embodiment, one or more inertial sensors are used to estimate low frequency motion of a haptic engine moving mass and compensate for the motion using a feedforward model, thus providing a more robust closed-loop control system for controlling the moving mass when subjected to low frequency disturbances by a user, for example, shaking or swinging the device.

公开(公告)号：US20190103829A1

公开(公告)日：2019-04-04

申请号：US16147434

申请日：2018-09-28

Applicant: Apple Inc.

Inventor： Hari Vasudevan ,  Eileen A. Mazzochette ,  Arman Hajati ,  Shingo Yoneoka

IPC: H02P25/034 ,  H02P23/12 ,  H02P23/14 ,  H02K29/08 ,  H02K29/12 ,  H02K33/18 ,  G06F3/01

Abstract: A system for providing closed-loop control of a linear resonant actuator using Back Electromotive Force (EMF) and inertial compensation is disclosed. In an embodiment, one or more inertial sensors are used to estimate low frequency motion of a haptic engine moving mass and compensate for the motion using a feedforward model, thus providing a more robust closed-loop control system for controlling the moving mass when subjected to low frequency disturbances by a user, for example, shaking or swinging the device.

公开(公告)号：US20180316296A1

公开(公告)日：2018-11-01

申请号：US15698559

申请日：2017-09-07

Applicant: Apple Inc.

Inventor： Arman Hajati ,  Hari Vasudevan

IPC: H02P25/032 ,  H02K11/215 ,  H02P29/68 ,  H02K11/25

CPC classification number: H02P25/032 ,  H02K11/215 ,  H02K11/25 ,  H02K33/16 ,  H02P29/685

Abstract: In an embodiment of a system for closed-loop control of a linear resonant actuator, a system processor coupled to a magnetic field sensor is configured to: receive a magnetic field sensor signal from a channel coupling a magnetic field sensor and the system processor; receive measurements of actuator current and actuator voltage from drive electronics; receive a temperature signal from a linear resonant actuator, the temperature signal indicating a temperature of the magnetic field sensor; calculate a first estimate of mass position using the magnetic field sensor signal, actuator current and a magnetic model; calculate an estimate of coil resistance based on the temperature signal, the actuator current, the actuator voltage and a thermal model; and calculate a second estimate of mass position and an estimate of mass velocity based on the first estimate of mass position, the actuator current, the actuator voltage and the estimated coil resistance.