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公开(公告)号：US11380470B2
公开(公告)日：2022-07-05
申请号：US16581686
申请日：2019-09-24
申请人： Apple Inc.
发明人： Darya Amin-Shahidi , Hari Vasudevan , Juil Lee , Denis M. Chen
摘要： 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.
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公开(公告)号：US20220336132A1
公开(公告)日：2022-10-20
申请号：US17855116
申请日：2022-06-30
申请人： Apple Inc.
发明人： Darya Amin-Shahidi , Hari Vasudevan , Juil Lee , Denis G. Chen
IPC分类号： H01F7/18 , G06F3/01 , G06F3/041 , H02P25/08 , H02P25/092
摘要： 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.
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公开(公告)号：US20210090773A1
公开(公告)日：2021-03-25
申请号：US16581686
申请日：2019-09-24
申请人： Apple Inc.
发明人： Darya Amin-Shahidi , Hari Vasudevan , Juil Lee , Denis M. Chen
摘要： 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.
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公开(公告)号：US20230090674A1
公开(公告)日：2023-03-23
申请号：US17483700
申请日：2021-09-23
申请人： Apple Inc.
发明人： Juil Lee
IPC分类号： G06F3/01 , H02K11/215 , H02K33/16
摘要： Embodiments are disclosed for non-linear control of a reluctance haptic actuator. A linear state feedback controller receives estimated position and velocity of a moving mass in a reluctance haptic engine and a reference position and velocity, generates a control signal based on the reference position and velocity and the estimated position and velocity. In response to the control signal, the drive electronics adjusts a current into at least one coil in the reluctance haptic engine to generate at least one magnetic field to control the moving mass. A non-linear state observer receives measurements of the voltage input into the reluctance haptic engine, the current, and an output voltage from a magnetic field sensor, and generates the estimated position and velocity of the moving mass based at least in part on the inputs, and sends the estimated position and velocity to the linear state feedback controller.
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公开(公告)号：US20210175831A1
公开(公告)日：2021-06-10
申请号：US17033578
申请日：2020-09-25
申请人： Apple Inc.
IPC分类号： H02P25/092 , G06F3/01 , H02P25/086
摘要： A haptic system includes a haptic engine in which a reluctance motor is driven by a driver controller operated in conjunction with an impedance-estimator that uses amplitude-modulated calibration signals. An enveloped-calibration signal is superimposed on a haptic-drive signal to quickly, and accurately, estimate the driving coil's impedance, while minimizing power penalty.
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公开(公告)号：US11755113B2
公开(公告)日：2023-09-12
申请号：US17483700
申请日：2021-09-23
申请人： Apple Inc.
发明人： Juil Lee
IPC分类号： H04B3/36 , G06F3/01 , H02K33/16 , H02K11/215
CPC分类号： G06F3/016 , H02K11/215 , H02K33/16
摘要： Embodiments are disclosed for non-linear control of a reluctance haptic actuator. A linear state feedback controller receives estimated position and velocity of a moving mass in a reluctance haptic engine and a reference position and velocity, generates a control signal based on the reference position and velocity and the estimated position and velocity. In response to the control signal, the drive electronics adjusts a current into at least one coil in the reluctance haptic engine to generate at least one magnetic field to control the moving mass. A non-linear state observer receives measurements of the voltage input into the reluctance haptic engine, the current, and an output voltage from a magnetic field sensor, and generates the estimated position and velocity of the moving mass based at least in part on the inputs, and sends the estimated position and velocity to the linear state feedback controller.
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公开(公告)号：US11763971B2
公开(公告)日：2023-09-19
申请号：US17855116
申请日：2022-06-30
申请人： Apple Inc.
发明人： Darya Amin-Shahidi , Hari Vasudevan , Juil Lee , Denis G. Chen
CPC分类号： H01F7/1844 , G06F3/016 , G06F3/041 , H02P25/08 , H02P25/092 , H01F2007/185 , H01F2007/1855 , H01F2007/1861 , H01H2047/046
摘要： 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.
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公开(公告)号：US11522483B2
公开(公告)日：2022-12-06
申请号：US17033578
申请日：2020-09-25
申请人： Apple Inc.
IPC分类号： H02P25/092 , H02P25/086 , G06F3/01
摘要： A haptic system includes a haptic engine in which a reluctance motor is driven by a driver controller operated in conjunction with an impedance-estimator that uses amplitude-modulated calibration signals. An enveloped-calibration signal is superimposed on a haptic-drive signal to quickly, and accurately, estimate the driving coil's impedance, while minimizing power penalty.
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