CN100578338C - Automatic focusing system device and method for compensating load variation - Google Patents
Automatic focusing system device and method for compensating load variation Download PDFInfo
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- CN100578338C CN100578338C CN200510134457A CN200510134457A CN100578338C CN 100578338 C CN100578338 C CN 100578338C CN 200510134457 A CN200510134457 A CN 200510134457A CN 200510134457 A CN200510134457 A CN 200510134457A CN 100578338 C CN100578338 C CN 100578338C
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Abstract
An automatic-focusing device enabling to compensate load variation is prepared as using linear actuator to carry out compensation control on sway and so on except gravity, generating new control voltage to compensate load variation according to difference of speed variation amount by utilizing linear character of speed variation amount to external force load in order to realize purpose of carrying out focusing quickly and accurately.
Description
Technical field
The present invention relates to a kind of autofocus system devices and methods therefor of optical photography equipment, and be particularly related to a kind of can be to external loading power and rock the autofocus system devices and methods therefor of the optical photography equipment of the control that can afford redress.
Background technology
Traditional autofocus system adopts step motor as automatic focus actuator, but it has following shortcoming:
1. focusing speed is fast inadequately, can't be applied to high-quality travelling shot device;
2. in auto-focus process at a slow speed, the more consuming time and power consumption of system;
3. the mechanical nose in the auto-focus process is bigger;
4. in the auto-focus process, cause step-out, need by way of compensation by digital signal processing back coupling parameter later because of the applied load change.
And when being the actuator of autofocus system with linear magnetic actuator, then linear magnetic actuator is subject to the influence of load change and causes the focusing position that can't correctly arrive expectation.And the basic load change source of the actuator of autofocus system (or claiming motor) is gravity and rocks.For example when the actuator levels operation of autofocus system, the exerting oneself of its actuator changes certainly will be different with the actuator vertical operation of autofocus system.Therefore if with identical control in the horizontal direction with vertical direction different loads power situation under when going to control the displacement of linear motor, can expect to reach correct focusing position.Above-mentioned because of the problem of gravity generation level with vertical different loads power for solving, the technology of known solution has following several person:
U.S. Patent number the 5th, 838, No. 374 (applicant Sanyo) discloses a kind of automatic focusing video camera that can afford redress to the external force load variation amount of linear motor.But Sanyo is according to the Newtonian mechanics theorem to the compensation of load.So work as camera under different attitude angle, the linear motor of the automatic focusing of control can have different influences because of the component of gravity, and causes mobile result non-for expecting the order that sets.And the video camera of Sanyo is through calculating in advance and experimental result, predict designed linear motor in advance under horizontality, voltage and duration that output is fixing, and allow this motor move a fixed range, and the side's of output magnitude of voltage and displacement are linear.Therefore, calculate, utilize the margin of error of displacement to decide the size of load force and then the voltage bias value of increase and decrease CD-ROM drive motor by position feedback signal and Newtonian mechanics.So Sanyo can produce compensation to the gravity load change that adds of motor.
It is to utilize pulse generator to be used as scrambler to produce pulse signal that No. the 5th, 057,859, another U.S. Patent number (applicant Olympus), its motor position detect, and converts the displacement of reality to by the number of pulses of counting.The mechanism but Olympus affords redress in the time of can't be to load variation.
Also have No. the 5th, 325,145, another U.S. Patent number (applicant Canon), its focus process is to reach the focusing action by three eyeglasses.By the graphical analysis result, judge the performance level of whole focusing, and then three kinds of friction speeds (i.e. high speed, middling speed and low speed) come three groups of focusing motor, each eyeglass can be moved on the correct focusing position.Yet Canon is as the Olympus mechanism that affords redress can't be to load variation the time.
Though aforementioned Sanyo can produce compensation to the gravity load change that adds of motor, for rocking the load variation that (stagger) caused, mechanism also can't afford redress.Even the prerequisite important document of the realization of Sanyo is the mobile displacement of motor, speed and driving voltage relation are all very linear.But it is on the reality, all very difficult in circuit elements design that can arrive this requirement and making.Thereby for solve the above-mentioned load variation that causes because of rocking and and then the problem of influence focusing be that industry faces the most serious problem at present.Even, under the consideration that does not increase hardware cost, how to use linear actuators and collocation load change compensation control method with realize rapid focus and effectively the compensating load change also be that industry faces the most serious problem at present.Therefore, but be necessary to provide a kind of compensating load change and reach fast and the accurate autofocus system device of focusing.
Summary of the invention
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and conjunction with figs. are described in detail below.
But providing a kind of compensating load change, fundamental purpose of the present invention reaches fast and the autofocus system device of accurately focusing.It utilizes linear actuators and collocation load change compensation control method, and by monitoring the speed and the location variation of this actuator, reaches the position control of compensating load variation.
Further purpose of the present invention provide a kind of can at the load variation that rocks afford redress control the autofocus system device.The present invention utilizes load change compensation control method to control focusing lens, and uses linear actuators to reach the purpose of rapid focus as carrier.The load change compensation control program sign indicating number that simplifies later can be written to the interior ROM (read-only memory) of system's CPU (central processing unit), and the reference model (reference model) that in its load change compensation control, is used, owing to be the calculating that belongs to the s field (s-domain) of complexity.Therefore, earlier process by experiment will import, export the result and be built in the ROM (read-only memory) of table in the CPU (central processing unit) of this system, by the mode of tabling look-up, effectively lower operand and will reach good control compensation effect.
Further purpose of the present invention provides a kind of method of automatic focusing, and it comprises:
Use the portable eyeglass carrier of linear actuator drives fixing eyeglass;
The changes of magnetic field of the linear magnetic stripe that is created in when using magnetoresistive transducer to move to induce this linear actuators, and this changes of magnetic field produces the position signalling of corresponding this linear actuators subsequently by the position calculation method of central processing unit; Use the image digital signal processor, in order to produce position command to position that should linear actuators; The use location controller is in order to receive the original control voltage that this position command also determines the horizontal attitude of this linear actuators according to this; The use location differentiator, it is in order to convert this position signalling to the actual speed signal of this linear actuators; Use the reference model converter, and, the control voltage transitions of input linear actuators is become the speed that this movable type eyeglass carrier is moved of correspondence by building the reference model characteristic of the linear actuators in the ROM (read-only memory) in utilizing in; The operating speed comparer, the true velocity signal that rate signal that this reference model converter is exported and position differentiator are produced compares, and produces a speed difference signal; And working load change compensator, in order to the speed difference value that will export according to this speed comparator, determine compensation control voltage, this compensation control common input summer of original control voltage that voltage and positioner produced is done addition, and then the driver that transfers to this linear actuators is to adjust the speed of this linear actuators.
In addition, the used load change of the present invention compensation control mode, but be that difference by velocity variable is to produce the control voltage of compensating load variation.Therefore, the present invention not only can compensate the influence of gravity, and can compensate the load variation except that gravity, and reaches the purpose of accurately focusing fast.
Further purpose of the present invention provides a kind of load change compensation control method, the principle that it utilized is that the velocity variable and the external load change of this linear actuators is linear, so can clearly learn the variation of external load, and and then compensate the change of external load according to the velocity variable of this linear actuators by this velocity variable.
Description of drawings
Fig. 1 is the hardware structure figure of the autofocus system device of the preferred embodiment according to the present invention.
Fig. 2 is the architecture block diagram of the autofocus system device of the preferred embodiment according to the present invention.
Fig. 3 is the family curve of the algorithm institute basis that becomes required driving voltage order of pulse width modulation control and suitable pulse width responsibility cycle order according to the input control voltage command conversion of preferred embodiment of the present invention.
The last figure of Fig. 4 is according to the compensation control voltage of a preferred embodiment of the present invention and the relation of time shaft.
Figure below of Fig. 4 is according to the external load variation of a preferred embodiment of the present invention and the relation of time shaft.
The main element description of symbols
1. portable eyeglass carrier
2. sleeve
3. guide rod
5. yoke
6. magnetic stripe
7. reluctive transducer
8. soft arranging wire
9. linear actuators
10. active low-pass filter
11. but has the program motor driver of serial transmission interface
12. signal amplifier
13. two analog/digital converters
14. CPU (central processing unit)
15. read-only storer
16. random access memory
17. image digital signal processor
Embodiment
According to Newton mechanics law, work as linear actuators as can be known and be subjected to outer load F
LOADInfluence down suppose exerting oneself to F and friction force are zero of linear actuators, and then the clean power output of linear actuators is:
F-F
LOAD＝Ma＝MΔv/Δt (1)
F＝K
tV (2)
Wherein M represents the weight of linear actuators; A represents the acceleration of linear actuators; Δ v is the velocity variable of Δ t time; V represents the operating voltage of linear actuators.Then equation (1) can change into:
FΔt-F
LOADΔt＝MΔv→Δv＝FΔt/M-F
LOADΔt/M (3)
In equation (3), M, F, Δ t is all fixed value, so Δ v and F
LOADLinear.Therefore, the present invention compensates the change of external load according to the velocity variable of this linear actuators.
Please refer to Fig. 1, it is hardware structure figure of the present invention.The present invention includes CPU (central processing unit) (CPU) (14), plural analog/digital converter (13), 60KBytes read-only storer (15) and 1Kbytes random access memory (16).Wherein the driver of linear actuators (11) is by serial transmission interface (serial peripheral interface), can receive numerical data and the control command of being exported from CPU (central processing unit) (14) on the one hand, then can produce different driving voltages to linear actuators (9) on the other hand according to data of being received and control command.When this linear actuators (9) is mobile, the reluctance type scrambler is to utilize reluctive transducer (MR sensor) (7) to respond to the changes of magnetic field of linear magnetic stripe (6), and then produce two groups of phase differential be 90 the degree magnetic string ripple signals (being sin and cos), deliver to the noise of active low-pass filter (10) by soft arranging wire (FPC) (8), by signal amplifier (12) voltage level is adjusted to the follow-up acceptable scope of this analog/digital converter (13) again with trap signal.At last, the noise-free signal of gained is exported to this CPU (central processing unit) (14) by this analog/digital converter (13) again, precisely calculates the position at this linear actuators (9) place by the quick position algorithm in it.
Please refer to the architecture block diagram of the present invention of Fig. 2 simultaneously.Position command d when image digital signal processor (17)
*Send to positioner (20), this positioner (20) is then by can be earlier through two stepwise proportional integral algorithms in this CPU (central processing unit) (14) (as shown in Figure 1), to determine the original control voltage commands V of this actuator when the level.If do not have applied load power this moment on this linear actuators (9) or portable eyeglass carrier (1), then do not have back coupling bucking voltage V
eCompensate original control voltage commands V, so input control voltage order V
*Equal original control voltage commands V.Then, by pulse width modulation signal converter (22), with this input control voltage order V
*Convert the suitable required driving voltage order V of pulse width modulation control to
COMAnd suitable pulse width responsibility cycle order DT
COM, this two the order deliver to linear actuators (9) again but program motor driver (11); The control voltage that produces pulse width modulation PWM at last is to this linear actuators (9).Thereby this linear actuators (9) is as shown in Figure 1 done straight line along guide rod (3) together with this movable type eyeglass carrier (1) and is moved in yoke (5).
The present invention utilizes the load change compensation as theoretical foundation; Promptly, the response characteristic of linear actuators reference model (is promptly imported original control voltage commands V and velocity variable Δ v in advance by computer simulation and experiment
eProportional relation) built the read-only storer (15) of table in the s operation control chip, to constitute reference model converter (28).In addition, the actual speed v of this linear actuators (9) is constantly to make position back coupling d by this reluctive transducer (MR sensor) (7) in position differentiator (25), and according to C sample time
DATADo Difference Calculation and export the speed v of actual magnetic actuator (9).This implements speed v can inquire corresponding velocity variable Δ v with the original control voltage commands of the foundation V that this reference model converter (28) of the speed responsive characteristic of built-in linear actuators reference model is exported
eThe v of integration gained
e, subtraction by this CPU (central processing unit) (14) in comparer (26).In fact, this comparer (26) is essentially subtracter.If linear actuators (9) has external load T together with this movable type eyeglass carrier (1)
ExtDuring (t) change, the difference value e after this subtraction
vWill be definite value, therefore pass through the conversion of load change compensator (27), according to e
vThe size of difference value produces the not compensation control voltage commands V on coordination rank
e, pass through V again
eWith original signal V addition (21), produce the input control voltage order V of one group of tool compensation characteristic
*Come the external load T of dynamic compensation
Ext(t) speed difference that is caused the time.
In order to improve the electric energy service efficiency, this input control voltage order V
*To control required driving voltage order V in the inner fast computing of determining of this CPU (central processing unit) (14) to determine suitable pulse width modulation by pulse Wide degree modulating signal converter (22)
COMAnd suitable pulse width responsibility cycle order DT
COM, this two order deliver to this linear actuators (9) of receiving the serial digital data input but program motor driver (11).Therefore, compensation controlling mechanism of the present invention not only can be used for the influence that modulation gravity load change is caused, and can compensate outside disturbance (or rocking) input.
Please refer to Fig. 3, it is this input control voltage order V
*Convert the required driving voltage order V of pulse width modulation control to
COMAnd suitable pulse width responsibility cycle order DT
COMThe family curve of algorithm institute basis.Wherein, solid line (voltage V
1) the original control voltage of representative, and dotted line (voltage V
2) representative compensation control voltage commands.According to described theoretical experiment, earlier whole experiment porch is placed level again, and when time shaft is 70 milliseconds, have one to add transient-upset (or rocking) load and put on the linear actuators (9), shown in figure below of Fig. 4; Anticipate promptly, when time shaft is lower than 70 milliseconds, external load force T
Ext(t) the change but be gravity T (t), so T
Ext(t)-T (t)=0; But when time shaft is 70 milliseconds, show except gravity, to have added transient-upset.Shown in the last figure of Fig. 4, when time shaft was 70 milliseconds, embodiments of the invention (as Fig. 1 and 2) will produce compensation control voltage and come the external disturbance (or rocking) on the compensated linear actuator (9) to import for another example.
In sum, of the present invention comparing with known technology from focusing system has following advantage:
The present invention can provide a kind of can at the load variation that rocks afford redress control the autofocus system device, its load change that not only has producing because of gravity affords redress, and the load change that produces because of external disturbance (or rocking) is afforded redress, compare because of the load change that gravity produces so only have compensation, also have the load change that compensation produces because of external disturbance (or rocking) with known technology.So the present invention compares the effect that known technology obviously has enhancement.
2. the forgone shortcoming of known step motor of autofocus system device of the present invention, and improve the efficient of actuator, shorten the automatic focusing time, also reduce the power consumption of battery, so battery of the present invention is than the growth serviceable life of known technology.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; any person of ordinary skill in the field; without departing from the spirit and scope of the present invention; when can doing a little change and improvement, so protection scope of the present invention is as the criterion when looking the claim person of defining.
Claims (9)
1. autofocus system device is characterized in that comprising:
Linear actuators, it is in order to drive the portable eyeglass carrier of fixing eyeglass;
The image digital signal processor, it is in order to produce the position command to position that should linear actuators;
Positioner, the original control voltage that it receives this position command and determines the horizontal attitude of this linear actuators according to this;
The position differentiator, it position signalling that comprises that magnetic resistance scrambler and this position differentiator can be produced this magnetic resistance scrambler converts the actual speed signal of this linear actuators to;
The reference model converter, it is by building the reference model characteristic of the linear actuators in the ROM (read-only memory) in using, and the control voltage transitions that will import linear actuators becomes the corresponding speed that this movable type eyeglass carrier is moved;
Speed comparator, the actual speed signal that rate signal that this reference model converter is exported and position differentiator are produced compares, and produces a speed difference signal; And
The load change compensator, the speed difference signal that it is exported according to this speed comparator, determine compensation control voltage, this compensation control common input summer of original control voltage that voltage and positioner produced is done addition, and then the driver that transfers to this linear actuators is to adjust the speed of this linear actuators.
2. autofocus system device according to claim 1, it is characterized in that also comprising the pulse width modulation signal converter, become required driving voltage order of pulse width modulation control signal and suitable pulse width responsibility cycle order with original control voltage transitions in order to voltage is controlled in the compensation after the addition, and the driver of this linear actuators is imported in this two order subsequently.
3. autofocus system device according to claim 1, it is characterized in that this magnetic resistance scrambler also comprises magnetoresistive transducer, in order to respond to the mobile changes of magnetic field that is created in linear magnetic stripe of this linear actuators, and then produce the magnetic string ripple signal that two groups of phase differential are 90 degree, and this magnetic resistance scrambler can be the position signalling of corresponding this linear actuators of position calculation method generation of 90 magnetic string ripple signals of spending and central processing unit by these two groups of phase differential.
4. autofocus system device according to claim 1 is characterized in that this speed comparator is a subtracter.
5. autofocus system device according to claim 1 is characterized in that this positioner comprises the second-order proportional-plus-integral algorithm, the original control voltage when it calculates the horizontal attitude of this linear actuators in order to this position command that will be received.
6. automatic method of focusing is characterized in that comprising:
Use the portable eyeglass carrier of linear actuator drives fixing eyeglass;
Use magnetoresistive transducer to move the changes of magnetic field of the linear magnetic stripe that is created in to induce this linear actuators, and this changes of magnetic field position signalling of corresponding this linear actuators of position calculation method generation by central processing unit subsequently;
Use the image digital signal processor, in order to produce position command to position that should linear actuators;
The use location controller is in order to receive the original control voltage that this position command also determines the horizontal attitude of this linear actuators according to this;
The use location differentiator, it is in order to convert this position signalling to the actual speed signal of this linear actuators;
Use the reference model converter, and by building the reference model characteristic of the linear actuators in the ROM (read-only memory) in using in, the control voltage transitions that will import linear actuators becomes the corresponding speed that this movable type eyeglass carrier is moved;
The operating speed comparer, the actual speed signal that rate signal that this reference model converter is exported and position differentiator are produced compares, and produces a speed difference signal; And
Working load change compensator, in order to the speed difference signal that will export according to this speed comparator, determine compensation control voltage, this compensation control common input summer of original control voltage that voltage and positioner produced is done addition, and then the driver that transfers to this linear actuators is to adjust the speed of this linear actuators.
7. the method for automatic focusing according to claim 6, it is characterized in that also comprising the step of using the pulse width modulation signal converter, become required driving voltage order of pulse width modulation control signal and suitable pulse width responsibility cycle order with original control voltage transitions in order to voltage is controlled in the compensation after the addition, and the driver of this linear actuators is imported in this two order subsequently.
8. the method for automatic focusing according to claim 6 is characterized in that in the step of this operating speed comparer, and this speed comparator is a subtracter.
9. the method for automatic focusing according to claim 6, it is characterized in that in the step of this use location controller, this positioner comprises the second-order proportional-plus-integral algorithm, the original control voltage when calculating the horizontal attitude of this linear actuators in order to this position command that will be received.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200510134457A CN100578338C (en) | 2005-12-15 | 2005-12-15 | Automatic focusing system device and method for compensating load variation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200510134457A CN100578338C (en) | 2005-12-15 | 2005-12-15 | Automatic focusing system device and method for compensating load variation |
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| Publication Number | Publication Date |
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| CN1983009A CN1983009A (en) | 2007-06-20 |
| CN100578338C true CN100578338C (en) | 2010-01-06 |
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| CN200510134457A Expired - Fee Related CN100578338C (en) | 2005-12-15 | 2005-12-15 | Automatic focusing system device and method for compensating load variation |
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| CN110989500B (en) * | 2019-12-31 | 2023-03-10 | 苏州大学 | Drive control method, device and equipment for fast tool servo turning and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5105135A (en) * | 1989-11-08 | 1992-04-14 | Okuma Machinery Works Ltd. | Feedback controller for NC controlled machine tools |
| CN1475885A (en) * | 2003-07-29 | 2004-02-18 | 威盛电子股份有限公司 | Control method for correcting stepper motor and its related device |
-
2005
- 2005-12-15 CN CN200510134457A patent/CN100578338C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5105135A (en) * | 1989-11-08 | 1992-04-14 | Okuma Machinery Works Ltd. | Feedback controller for NC controlled machine tools |
| CN1475885A (en) * | 2003-07-29 | 2004-02-18 | 威盛电子股份有限公司 | Control method for correcting stepper motor and its related device |
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| CN1983009A (en) | 2007-06-20 |
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