US 11,755,113 B2
Non-linear control of reluctance haptic engine
Juil Lee, Pleasanton, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Sep. 23, 2021, as Appl. No. 17/483,700.
Prior Publication US 2023/0090674 A1, Mar. 23, 2023
Int. Cl. H04B 3/36 (2006.01); G06F 3/01 (2006.01); H02K 33/16 (2006.01); H02K 11/215 (2016.01)
CPC G06F 3/016 (2013.01) [H02K 11/215 (2016.01); H02K 33/16 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An electronic device comprising:
an input structure;
a reluctance haptic engine mechanically coupled to the input structure;
a linear state controller configured to generate a control signal for controlling a moving mass in the reluctance haptic engine, the control signal generated based on a difference between an estimated position and velocity of the moving mass and a reference position and velocity;
drive electronics configured to drive current into at least one coil in the reluctance haptic engine based on the control signal to control the moving mass; and
a non-linear state observer configured to generate the estimated position and velocity of the moving mass based on a voltage applied input to the reluctance haptic engine, the current in the at least one coil, and a sensor voltage output from a magnetic field sensor in the reluctance haptic engine that indicates a change in at least one magnetic field induced in the reluctance haptic engine due to the current in the at least one coil.