CN105785820A - Shaping signal control method for voice coil actuator of camera - Google Patents

Abstract

The invention discloses a shaping signal control method for a voice coil actuator of a camera. The method comprises the following steps that rise/fall time of each rise/fall step in a shaping signal is calculated; the initial rise/fall amplitude of the corresponding rise/fall step is calculated according to the rise/fall time of each rise/fall step; a rise/fall amplitude fine tuning coefficient of the shaping signal is calculated according to the initial rise/fall amplitude of each rise/fall step; and a given value of the rise/fall amplitude of each rise/fall step is calculated according to both the rise/fall amplitude fine tuning coefficient of the shaping signal and the initial rise/fall amplitude of each rise/fall step. According to the invention, the frequency and damping coefficient in oscillation characteristic of a motor are taken into full consideration, oscillation of the motor is inhibited, and error between a clock period and a natural oscillation period of the voice coil motor is highly tolerant.

Description

The reshaping signal control method of camera voice coil motor actuator

Technical field

The present invention relates to IC design technical field, be specifically related to the reshaping signal control method of a kind of camera voice coil motor actuator.

Background technology

Voice coil motor (VoiceCoilMotor) is widely used in electronic product.It is widely used in recent years in the camera lens driving of smart mobile phone and panel computer.Voice coil motor driver (LensDriver) chip accepts external signal (picture processing chip being usually in master chip in mobile phone provides) provides corresponding linear output current to control the position of camera lens by voice coil motor actuator (VoiceCoilActuator), thus reaching automatically to focus on (AutoFocus) effect.Along with the raising of quality of life and level of consumption, people to the requirement of camera properties also in continuous rising.How to shorten the focal time of camera, improve camera and take pictures speed, be an up an importance of camera properties.Application number is in the patent of 201510040282.2, gives the control method that several error to existing between clock cycle and voice coil motor nature cycle of oscillation has high fault tolerance, the motor system of these method energy very good control underdamped oscillations.But these methods have ignored the oscillation damping coefficient of motor, when motor damped coefficient big to a certain extent time, certain deficiency can be there is in the method when controlling motor, these deficiencies show that when signal is set up, the output of motor can exist certain vibration, or the serious forgiveness of clock cycle is had certain impact.

Summary of the invention

It is an object of the invention to provide the reshaping signal control method of a kind of camera voice coil motor actuator, frequency in taking into full account motor oscillating characteristic and after damped coefficient, for the vibration of motor there is inhibition, and the error existed between clock cycle and voice coil motor nature cycle of oscillation is had high fault tolerance.

In order to achieve the above object, the present invention is achieved through the following technical solutions: the reshaping signal control method of a kind of camera voice coil motor actuator, it is characterized in, reshaping signal is N rank reshaping signals, controlling camera voice coil motor and rise to object height A, this reshaping signal control method comprises the steps of

The rise/fall time of each rise/fall step in S1, calculating reshaping signal；

S2, calculate the initial rise/fall of corresponding rise/fall step according to the rise/fall time of each rise/fall step；

S3, calculate the rise/fall amplitude fine setting coefficient of reshaping signal according to the initial rise of each rise/fall step/fall；

S4, the rise/fall amplitude fine setting coefficient by reshaping signal the initial rise/fall in conjunction with each rise/fall step calculate the set-point of the rise/fall amplitude obtaining each rise/fall step.

The computing formula of the rise/fall time of described each rise/fall step is:

$t_i^{\′}=\frac{{\mathrm{\ω}}_n}{{\mathrm{\ω}}_d}{t}_i$

In formula, the value of i is 1～N, N is the exponent number of reshaping signal, t '_iThe rise/fall time of each rise/fall step during expression consideration damped coefficient, ω_nRepresent the natural frequency of oscillation of camera voice coil motor, ω_dRepresent the frequency of oscillation after camera voice coil motor introducing damped coefficient, t_iRepresent the rise/fall time of each rise/fall step when not considering damped coefficient.

The computing formula of the initial rise/fall of described each rise/fall step is:

${A_i}^{\′}=A_i{e}^{-{\mathrm{\ξ\ω}}_n{t_i}^{\′}}$

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, t '_iThe rise/fall time of each rise/fall step during expression consideration damped coefficient, ω_nRepresenting the natural frequency of oscillation of camera voice coil motor, ξ represents the damped coefficient that camera voice coil motor is vibrated, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, A_iRepresent the initial rise/fall of each rise/fall step when not considering damped coefficient.

The computing formula of described rise/fall amplitude fine setting coefficient is:

$\mathrm{\β}=\frac{A}{\underset{i=0}{\overset{N}{\Σ}}{A_i}^{\′}}$

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, A represents the object height that camera voice coil motor rises, and β represents rise/fall amplitude fine setting coefficient.

The computing formula of the set-point of the rise/fall amplitude of described each rise/fall step is:

A_i"=β A_i′

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, A_iInitial rise/the fall of each rise/fall step during expression consideration damped coefficient, β represents rise/fall amplitude fine setting coefficient, A_i" the set-point of the rise/fall amplitude of each rise/fall step during expression consideration damped coefficient.

Described step S5 comprises:

Vector form is adopted to represent with corresponding rise/fall time the set-point of the rise/fall amplitude of each rise/fall step of reshaping signal.

The reshaping signal that described employing vector form represents is:

Input_vector=[A₀", A₁" ..., A_N″；0, t '₁..., t '_N]

In formula, Input_vector represents the reshaping signal of input, A₀", A₁" ..., A_N" represent the set-point of the rise/fall amplitude of each rise/fall step in reshaping signal respectively, 0, t '₁..., t '_NRepresent in reshaping signal the rise time of corresponding each rise/fall step respectively.

The reshaping signal control method of a kind of camera voice coil motor actuator of the present invention compared with prior art has the advantage that the frequency in taking into full account motor oscillating characteristic and after damped coefficient, for the vibration of motor there is inhibition, and the error existed between clock cycle and voice coil motor nature cycle of oscillation is had high fault tolerance.

Accompanying drawing explanation

Fig. 1 is the flow chart of the reshaping signal control method of a kind of camera voice coil motor actuator of the present invention；

Fig. 2 A is damped coefficient be 0 motor unit-step response schematic diagram；

Fig. 2 B is damped coefficient be not 0 motor unit-step response schematic diagram；

Fig. 3 is the input shaper signal schematic representation on three rank in embodiment one；

Fig. 4 A is the effect schematic diagram that the reshaping signal of embodiment one acts on the motor that damped coefficient is 0；

Fig. 4 B is that to act on damped coefficient be not the motor effect schematic diagram of 0 for the reshaping signal of embodiment one；

Fig. 5 A is three rank reshaping signals after considering damped coefficient；

Fig. 5 B is that after considering damped coefficient, three rank reshaping signals act on the effect schematic diagram that damped coefficient is not the motor of 0；

Fig. 6 A is the three rank reshaping signal schematic diagrams that approximate calculation obtains；

Fig. 6 B is the effect schematic diagram that the three rank reshaping signals that approximate calculation obtains act on that damped coefficient is not the motor of 0；

Fig. 7 is the relation schematic diagram between three rank reshaping signal clock cycle deviation and motor vibration；

Fig. 8 A～8E represents the relation schematic diagram in vector 1～vector 5 between clock cycle deviation and motor vibration respectively.

Detailed description of the invention

Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.

The present invention is directed to the damped coefficient of camera voice coil motor, give the Computing Principle of reshaping signal control method, and the control method in the patent documentation that application number is 201510040282.2 has been made corresponding amendment, amended algorithm can eliminate the harmful effect produced in control process because of damped coefficient.Utilize the reshaping signal that computational methods of the present invention obtain, it is possible to better control the motor of various underdamped oscillations.

As it is shown in figure 1, the reshaping signal control method of a kind of camera voice coil motor actuator, reshaping signal is N rank reshaping signals, controls camera voice coil motor and rises to object height A, and this reshaping signal control method comprises the steps of

The rise/fall time of each rise/fall step in S1, calculating reshaping signal；

S2, calculate the initial rise/fall of corresponding rise/fall step according to the rise/fall time of each rise/fall step；

S3, calculate the rise/fall amplitude fine setting coefficient of reshaping signal according to the initial rise of each rise/fall step/fall；

S4, the rise/fall amplitude fine setting coefficient by reshaping signal the initial rise/fall in conjunction with each rise/fall step calculate the set-point of the rise/fall amplitude obtaining each rise/fall step；

S5, the set-point of the rise/fall amplitude of each rise/fall step of reshaping signal and corresponding rise/fall time adopt vector form represent.

In the present embodiment, the computing formula of the rise/fall time of described each rise/fall step is:

$t_i^{\′}=\frac{{\mathrm{\ω}}_n}{{\mathrm{\ω}}_d}{t}_i$

In formula, the value of i is 1～N, N is the exponent number of reshaping signal, t '_iThe rise/fall time of each rise/fall step during expression consideration damped coefficient, ω_nRepresent the natural frequency of oscillation of camera voice coil motor, ω_dRepresent the frequency of oscillation after camera voice coil motor introducing damped coefficient, t_iRepresent the rise/fall time of each rise/fall step when not considering damped coefficient.

In the present embodiment, the computing formula of the initial rise/fall of described each rise/fall step is:

${A_i}^{\′}=A_i{e}^{-{\mathrm{\ξ\ω}}_n{t_i}^{\′}}$

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, t '_iThe rise/fall time of each rise/fall step during expression consideration damped coefficient, ω_nRepresenting the natural frequency of oscillation of camera voice coil motor, ξ represents the damped coefficient that camera voice coil motor is vibrated, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, A_iRepresent the initial rise/fall of each rise/fall step when not considering damped coefficient.

In the present embodiment, the computing formula of described rise/fall amplitude fine setting coefficient is:

$\mathrm{\β}=\frac{A}{\underset{i=0}{\overset{N}{\Σ}}{A_i}^{\′}}$

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, A represents the object height that camera voice coil motor rises, and β represents rise/fall amplitude fine setting coefficient.

In the present embodiment, the computing formula of the set-point of the rise/fall amplitude of described each rise/fall step is:

A_i"=β A_i′

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, β represents rise/fall amplitude fine setting coefficient, A_i" the set-point of the rise/fall amplitude of each rise/fall step during expression consideration damped coefficient.

In the present embodiment, the reshaping signal that described employing vector form represents is:

Input_vector=[A₀", A₁" ..., A_N″；0, t '₁..., t '_N]

In formula, Input_vector represents the reshaping signal of input, A₀", A₁" ..., A_N" represent the set-point of the rise/fall amplitude of each rise/fall step in reshaping signal respectively, 0, t '₁..., t '_NRepresent in reshaping signal the rise time of corresponding each rise/fall step respectively.

Concrete application: camera voice coil motor, it is possible to describing by a second-order system, its mathematical model G (s) can represent with following formula:

$G\left(s\right)=\frac{{\mathrm{\ω}}_n^2}{s^2+2{\mathrm{\ξ\ω}}_{n}s+{\mathrm{\ω}}_n^2}---\left(1\right)$

In formula, ω_nFor the natural frequency of oscillation of camera voice coil motor, ξ is the damped coefficient of camera voice coil motor vibration.

Being the step signal of A for an amplitude, its response c (t) of the system of formula (1) correspondence is:

$c\left(t\right)=A-\frac{A}{\sqrt{1-{\mathrm{\ξ}}^2}}{e}^{-{\mathrm{\ξ\ω}}_{n}t}sin({\mathrm{\ω}}_{d}t+\mathrm{\θ})---\left(2\right)$

In formula,

It can be seen that the finally stable amplitude of the step response of camera voice coil motor is determined by the ascensional range of step signal from formula (2), for A；The initial oscillation amplitude of camera voice coil motor is also signal ascensional range, and extends constantly reduction in time, and reduction ratio isIts frequency of oscillation is by ω_nIt is changed to ω_d；Initial phase is

Being the camera voice coil motor of 100Hz for natural frequency of oscillation, when damped coefficient is 0 and 0.05, its unit-step response is respectively as shown in Figure 2 A and 2 B.In the present invention, if no special instructions, the camera voice coil motor being all 100Hz for natural frequency of oscillation.

In a preferred embodiment of the present invention, as it is shown on figure 3, adopt three rank shaping control signals, the amplitude that this signal rises for three times is equal, for the 1/3 of desired value, rises for the second time and third time rises relative to the time delay risen for the first time respectivelyWithWherein T_nFor the natural frequency of oscillation of camera voice coil motor, in figure, abscissa represents the rise time, and vertical coordinate represents lifting height.

Concrete, three rank reshaping signals in Fig. 3 are described as follows, this signal in 0 moment, the 1/3 of climbing target value,Moment, again the 1/3 of climbing target value,Moment, the 1/3 of last climbing target value, and reach desired value.

Utilize the signal in Fig. 3, controlling a natural frequency of oscillation is 100Hz, damped coefficient is the motor of 0.05, if ignoring the damped coefficient of motor, the motor output waveform simulation result obtained as shown in Figure 4 A, from Fig. 4 A it can be seen that when input shaper signal is set up, the output of motor also is able to quick foundation, and the time of foundation isI.e. 6.7ms；If not ignoring the damped coefficient of motor, if shown in the simulation result 4B obtained, can be seen that from Fig. 4 B, when input shaper signal is set up, the output of motor also has certain vibration, and oscillation amplitude is about the 4.8% of stationary value, and the time of setting up reaching 2% precision is about 40ms.

From the results contrast of Fig. 4 A and Fig. 4 B it can be seen that when the damped coefficient of motor big to a certain extent time, utilize reshaping signal to control motor, it is necessary to considering the impact of motor damped coefficient, no person controls effect and has reduction.

It is assumed that three rank shaping control signals are the amplitude respectively A that three steps rise₀, A₁And A₂, the time of rising is 0, t₁And t₂, then motor can represent with following formula for the response of this signal:

Can obtain from formula (3), if the height risen when motor is finally stablized is designated as A, then have:

A=A₀+A₁+A₂(4)

The amplitude of motor vibration is designated as A_v, then have:

Requiring when signal is set up, motor vibration is 0, then have A_v=0, therefore order:

$A_0+A_1{e}^{{\mathrm{\ξ\ω}}_n{t}_1}{\mathrm{cos\ω}}_d{t}_1+A_2{e}^{{\mathrm{\ξ\ω}}_n{t}_2}{\mathrm{cos\ω}}_d{t}_2=0---\left(6\right)$

$A_1{e}^{{\mathrm{\ξ\ω}}_n{t}_1}{\mathrm{sin\ω}}_d{t}_1+A_2{e}^{{\mathrm{\ξ\ω}}_n{t}_2}{\mathrm{sin\ω}}_d{t}_2=0---\left(7\right)$

Then formula (4) (6) (7) constitutes containing five parameter A₀, A₁, A₂, t₁, t₂, the equation group of three equations, the solution of equation group meets the requirement of shaping control signal.

It addition, second step signal amplitude is A₁, it is at t₁Moment starts effect, and the vibration of generation is at t₁The amplitude in moment isAttenuation characteristic according to damped oscillation amplitude, if this step signal equivalence acted on to 0 moment, then it in the oscillation amplitude that 0 moment produced isThen in formula (6) (7),Second pulse A can be regarded as₁At t₁Effect when the damped oscillation equivalence that moment produces is to 0 moment.For the step signal after any one 0 moment, the effect of its vibration can be done above-mentioned equivalence.

It is similar to the signal in Fig. 4, can be good at control system when damped coefficient is zero, when, in the system that damped coefficient is not zero, being only modified slightly just can meeting the requirement of shaping control signal.

If the three rank reshaping signals that applicable damped coefficient is 0, its three ascensional ranges are A₀, A₁, A₂, the rise time respectively 0, t₁, t₂, then it meets following formula:

A=A₀+A₁+A₂(8)

A₀+A₁cosω_nt₁+A₂cosω_nt₂=0 (9)

A₁sinω_nt₁+A₂sinω_nt₂=0 (10)

Ask now another to be applicable to three rank reshaping signals that damped coefficient is ξ, its three ascensional ranges are A₀', A₁', A₂', the rise time respectively 0, t₁', t₂', the requirement according to reshaping signal, this parameter must is fulfilled for formula (4) (6) (7), it is possible to makes in formula (9) (10) every equal with formula (6) (7) respective items, then has:

ω_nt₁=ω_dt₁′(11)

ω_nt₂=ω_dt₂′(12)

A₀=A₀′(13)

$A_1={A_1}^{\′}{e}^{{\mathrm{\ξ\ω}}_n{t_1}^{\′}}---\left(14\right)$

$A_2={A_2}^{\′}{e}^{{\mathrm{\ξ\ω}}_n{t_2}^{\′}}---\left(15\right)$

In the hope of the rise time of three rank reshaping signals, then will can be brought into the time in formula (13) (14) (15) by formula (11) (12), it is possible to obtain the amplitude risen on the three every rank of rank reshaping signal.

But the result that the formula of utilization (11)～(15) obtain not necessarily meets formula (4), it may be assumed that

${A_0}^{\′}+{A_1}^{\′}+{A_2}^{\′}=A_0+A_1{e}^{-{\mathrm{\ξ\ω}}_n{t_1}^{\′}}+A_2{e}^{-{\mathrm{\ξ\ω}}_n{t_2}^{\′}}---\left(16\right)$

Now, the ascensional range of signal is unequal with the final target location risen, it is therefore desirable to the A tried to achieve₀', A₁', A₂' do inching, order:

$\mathrm{\β}=\frac{A}{A_0+A_1{e}^{-{\mathrm{\ξ\ω}}_n{t_1}^{\′}}+A_2{e}^{-{\mathrm{\ξ\ω}}_n{t_2}^{\′}}}---\left(17\right)$

If the amplitude respectively A that after adjusting, three rank reshaping signals rises for three times₀", A₁", A₂", then order:

A₀"=β A₀'=β A₀(18)

${A_1}^{\′\′}={{\mathrm{\βA}}_1}^{\′}={\mathrm{\βA}}_1{e}^{-{\mathrm{\ξ\ω}}_n{t_1}^{\′}}---\left(19\right)$

${A_2}^{\′\′}={{\mathrm{\βA}}_2}^{\′}={\mathrm{\βA}}_2{e}^{-{\mathrm{\ξ\ω}}_n{t_2}^{\′}}---\left(20\right)$

A in formula (18)～(20)₀", A₁", A₂" meet formula (6) (7), it addition, three's and be

A₀″+A₁″+A₂"=β (A₀′+A₁′+A₂')=A (21)

The amplitude that now signal rises is equal with desired value, such that it is able to obtain, when damped coefficient is ξ, it is A that input shaper signal is adjusted to three ascensional ranges₀", A₁", A₂", the rise time respectively 0, t₁', t₂′。

For the reshaping signal in Fig. 3, utilize formula (11)～(12) and (18)～(20) to obtaining in system that damped coefficient is 0.05 after its finishing, reshaping signal is as shown in Figure 5A, the amplitude that its three step rises is 1.1066,0.9963,0.8970, the time of rising respectively 0,This signal is utilized to control motor, it is possible to the output waveform obtaining motor enters shown in Fig. 5 B, it will be seen that motor exists from Fig. 5 BWhen setting up, it does not have aftershock, its effect is identical with Fig. 4 A.

The resource taken due to exponent arithmetic, extracting operation and division arithmetic is relatively more, and therefore when damped coefficient is less, some calculating can do approximate processing.

When formula (11) (12) calculates the time that in damping system, signal rises, have:

${t_1}^{\′}=\frac{{\mathrm{\ω}}_n{t}_1}{{\mathrm{\ω}}_d}=\frac{t_1}{\sqrt{1-{\mathrm{\ξ}}^2}}---\left(22\right)$

In this formula, division and extracting operation can be approximately as described below:

$\frac{1}{\sqrt{1-{\mathrm{\&xi;}}^2}}\&ap;1+\frac{1}{2}{\mathrm{\&xi;}}^2,(\mathrm{\&xi;}<<1)---\left(23\right)$

During the height that in formula (14) (15), signal calculated rises in damping system, have:

${A_1}^{\&prime;}=A_1{e}^{-{\mathrm{\&xi;\&omega;}}_n{t_1}^{\&prime;}}---\left(24\right)$

This formula Exponential computing can be approximately as described below:

$e^{-{\mathrm{\&xi;\&omega;}}_{n}t}\&ap;1-\left({\mathrm{\&xi;\&omega;}}_{n}t\right)+\frac{1}{2}{\left({\mathrm{\&xi;\&omega;}}_{n}t\right)}^2,({\mathrm{\&xi;\&omega;}}_{n}t<<1)---\left(25\right)$

Formula (23) (25) is by Taylor's formula, functional expansion to be taken Two-order approximation again to obtain, and exponent arithmetic, extracting operation and division arithmetic can be converted to multiplying by this formula, the resource consumed when can save calculating.

Utilizing approximate calculation that the input shaper signal in Fig. 3 is repaired, as shown in Figure 6A, the amplitude that its three step rises is 1.1058,0.9959,0.8982 to the input waveform obtained respectively, the rise time is 0, This reshaping signal is acted on the motor output waveform that obtains on the motor that damped coefficient is 0.05 as shown in Figure 6B.

Comparison diagram 5 with Fig. 6's as a result, it is possible to obtain between the two almost without difference, illustrates that the result utilizing approximate calculation to obtain is able to the performance of guarantee reshaping signal.

In order to better describe the rising situation of input signal, the mode of a kind of vector is proposed here, this vector is represented by a two-dimensional matrix, wherein the first row of matrix represents the height that signal rises every time, the first row first row represents the height of signal first time rising, the first row secondary series represents the height that signal second time rises, after the like；Second row of matrix represents the time that each step of signal rises, and namely the second row first row represents the time that the signal first step rises, and the second row secondary series represents the time that signal second step rises, after the like.

Then according to definition above, the signal in Fig. 3 can be expressed as:

Input_vector=[1/31/31/3；01/3Td2/3Td]；(26)

Wherein Input_vector is the vectorial name that input signal is corresponding, T_dFor the cycle of oscillation of system, here the total height risen is done normalized.

Fig. 7 be vector in formula (26) as input signal time the clock cycle relative to when error occurring between motor cycle of oscillation, the vibration size of motor output waveform, wherein abscissa represents the clock cycle deviation ratio relative to the motor cycle, and vertical coordinate represents the ratio between the height that motor output oscillating phase rises for steady timing motor；In figure, ks=0 represents that damped coefficient is 0, ks=0.05 represent that damped coefficient is 0.05；Vectornodamp represents and does not account for damped coefficient in vector, and vectorwithdamp represents and considers damped coefficient in vector.

In Fig. 7, dotted line represents when the damped coefficient of motor is 0, the result (ks=0 that input vector obtains when being left out damping number；vectornodamp)；Dotted line represents when motor damped coefficient is not 0, the result (ks=0.05 that input vector obtains when being left out damped coefficient；vectornodamp)；Solid line represents when motor coefficient is not 0, the result (ks=0.05 that input vector obtains when considering damped coefficient；vectorwithdamp).

It can be seen from figure 7 that when input vector is left out damped coefficient, acts on and the system that damped coefficient is 0 can be good at work, and when output vibration is less than 10%, it is possible to the clock cycle errors of tolerance ranges for-8%～9%；And when this vector acts in the system that damped coefficient is non-zero (damped coefficient is 0.05), motor output vibration substantially increases, tolerable clock cycle errors ranges for-6.5%～12.5%；And after vector considers damped coefficient, the output vibration of motor is reduced to again the position in the first situation, and due to damped coefficient, motor oscillation amplitude when setting up is less than the first situation, clock cycle tolerable range of error is-10%～10%.

Application number is in the patent of 201510040282.2, gives the input shaper signal control method of five kinds high clock cycle serious forgiveness, if these five kinds of signals are described by vector mode given above, can obtain five kinds of vectors corresponding to input signal is:

$\begin{array}{c}input\_vector1=\&lsqb;\begin{array}{cccccccccccc}\frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{12}& \frac{4T_d}{12}& \frac{6T_d}{12}& \frac{7T_d}{12}& \frac{10T_d}{12}& \frac{11T_d}{12}& \frac{14T_d}{12}& \frac{15T_d}{12}& \frac{17T_d}{12}& \frac{20T_d}{12}& \frac{21T_d}{12}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector2=\&lsqb;\begin{array}{cccccccccccc}\frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{9}& \frac{3T_d}{9}& \frac{4T_d}{9}& \frac{5T_d}{9}& \frac{7T_d}{9}& \frac{8T_d}{9}& \frac{10T_d}{7}& \frac{11T_d}{9}& \frac{12T_d}{9}& \frac{14T_d}{9}& \frac{15T_d}{9}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector3=\&lsqb;\begin{array}{cccccccccccc}\frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{14}& \frac{3T_d}{14}& \frac{5T_d}{14}& \frac{6T_d}{14}& \frac{8T_d}{14}& \frac{9T_d}{14}& \frac{11T_d}{14}& \frac{12T_d}{14}& \frac{14T_d}{14}& \frac{16T_d}{14}& \frac{17T_d}{14}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector4=\&lsqb;\begin{array}{cccccccccccc}\frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{12}& \frac{3T_d}{12}& \frac{6T_d}{12}& \frac{7T_d}{12}& \frac{9T_d}{12}& \frac{9T_d}{12}& \frac{11T_d}{12}& \frac{12T_d}{12}& \frac{15T_d}{12}& \frac{17T_d}{12}& \frac{18T_d}{12}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector5=\&lsqb;\begin{array}{cccccccccccc}\frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}& \frac{1}{4}& -\frac{1}{4}& \frac{1}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{3T_d}{24}& \frac{9T_d}{24}& \frac{12T_d}{24}& \frac{15T_d}{24}& \frac{21T_d}{24}& \frac{26T_d}{24}& \frac{32T_d}{24}& \frac{35T_d}{24}& \frac{38T_d}{24}& \frac{44T_d}{24}& \frac{47T_d}{24}\end{array};\&rsqb;\end{array}$

Wherein T_dFor motor cycle of oscillation, when damped coefficient is 0, T_d=T_n.When damped coefficient is not 0, above vector need to consider damped coefficient, damped coefficient is presented herein below when being 0.05, above 5 vectors is adjusted the new vector obtained:

$\begin{array}{c}input\_vector\_damp1=\\ \&lsqb;\begin{array}{cccccccccccc}\frac{1.2907}{4}& -\frac{1.2573}{4}& \frac{1.1625}{4}& \frac{1.1037}{4}& -\frac{1.0756}{4}& \frac{0.9967}{4}& \frac{0.9722}{4}& -\frac{0.9040}{4}& \frac{0.8830}{4}& \frac{0.8437}{4}& -\frac{0.7914}{4}& \frac{0.7758}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{12}& \frac{4T_d}{12}& \frac{6T_d}{12}& \frac{7T_d}{12}& \frac{10T_d}{12}& \frac{11T_d}{12}& \frac{14T_d}{12}& \frac{15T_d}{12}& \frac{17T_d}{12}& \frac{20T_d}{12}& \frac{21T_d}{12}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector\_damp2=\\ \&lsqb;\begin{array}{cccccccccccc}\frac{1.2754}{4}& -\frac{1.2308}{4}& \frac{1.1479}{4}& \frac{1.1088}{4}& -\frac{1.0731}{4}& \frac{1.0009}{4}& \frac{0.9680}{4}& -\frac{0.9069}{4}& \frac{0.8787}{4}& \frac{0.8521}{4}& -\frac{0.8035}{4}& \frac{0.7815}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{9}& \frac{3T_d}{9}& \frac{4T_d}{9}& \frac{5T_d}{9}& \frac{7T_d}{9}& \frac{8T_d}{9}& \frac{10T_d}{7}& \frac{11T_d}{9}& \frac{12T_d}{9}& \frac{14T_d}{9}& \frac{15T_d}{9}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector\_damp3=\\ \&lsqb;\begin{array}{cccccccccccc}\frac{1.1992}{4}& -\frac{1.1726}{4}& \frac{1.1211}{4}& \frac{1.0721}{4}& -\frac{1.0484}{4}& \frac{1.0030}{4}& \frac{0.9812}{4}& -\frac{0.9395}{4}& \frac{0.9195}{4}& \frac{0.8813}{4}& -\frac{0.8456}{4}& \frac{0.8286}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{14}& \frac{3T_d}{14}& \frac{5T_d}{14}& \frac{6T_d}{14}& \frac{8T_d}{14}& \frac{9T_d}{14}& \frac{11T_d}{14}& \frac{12T_d}{14}& \frac{14T_d}{14}& \frac{16T_d}{14}& \frac{17T_d}{14}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector\_damp4=\\ \&lsqb;\begin{array}{cccccccccccc}\frac{1.2471}{4}& -\frac{1.2148}{4}& \frac{1.1529}{4}& \frac{1.0664}{4}& -\frac{1.0392}{4}& \frac{0.9876}{4}& \frac{0.9876}{4}& -\frac{0.9393}{4}& \frac{0.9165}{4}& \frac{0.8531}{4}& -\frac{0.8152}{4}& \frac{0.7975}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{1T_d}{12}& \frac{3T_d}{12}& \frac{6T_d}{12}& \frac{7T_d}{12}& \frac{9T_d}{12}& \frac{9T_d}{12}& \frac{11T_d}{12}& \frac{12T_d}{12}& \frac{15T_d}{12}& \frac{17T_d}{12}& \frac{18T_d}{12}\end{array};\&rsqb;\end{array}$

$\begin{array}{c}input\_vector\_damp5=\\ \&lsqb;\begin{array}{cccccccccccc}\frac{1.3210}{4}& -\frac{1.2701}{4}& \frac{1.1744}{4}& \frac{1.1296}{4}& -\frac{1.0869}{4}& \frac{1.0075}{4}& \frac{0.9476}{4}& -\frac{0.8832}{4}& \frac{0.8540}{4}& \frac{0.8270}{4}& -\frac{0.7789}{4}& \frac{0.7579}{4}\end{array};\\ \begin{array}{cccccccccccc}0& \frac{3T_d}{24}& \frac{9T_d}{24}& \frac{12T_d}{24}& \frac{15T_d}{24}& \frac{21T_d}{24}& \frac{26T_d}{24}& \frac{32T_d}{24}& \frac{35T_d}{24}& \frac{38T_d}{24}& \frac{44T_d}{24}& \frac{47T_d}{24}\end{array};\&rsqb;\end{array}$

To above five kinds to quantity research, it is possible to obtain

Motor damped coefficient is 0, and vector is left out damped coefficient (ks=0；vectornodamp)

Motor damped coefficient is not 0, and vector is left out damped coefficient (ks=0.05；vectornodamp)

Motor damped coefficient is not 0, and vector considers damped coefficient (ks=0.05；vectorwithdamp)

In three kinds of situations, the output of motor is vibrated and the clock cycle is relative to the relation between all pretty deviations of motor, respectively as shown in Fig. 8 A～Fig. 8 E.

When in Fig. 8, the damped coefficient of dotted line motor is 0, the result (ks=0 that input vector obtains when being left out damping number；vectornodamp)；Dotted line represents when motor damped coefficient is not 0, the result (ks=0.05 that input vector obtains when being left out damped coefficient；vectornodamp)；Solid line represents when motor coefficient is not 0, the result (ks=0.05 that input vector obtains when considering damped coefficient；vectorwithdamp).

As can see from Figure 8, when motor damped coefficient is not 0, it is considered to the vector of damped coefficient is relative to the vector not accounting for damped coefficient, and its action effect has certain superiority, but it can also be seen that this superiority is not obvious especially yet from Fig. 8.The reason of this phenomenon mainly has 2 points, and one is because vector itself has higher fault-tolerance for the error existed in system, so when small change occurs damped coefficient, on setting up, result impact is little；Two is owing to the time of setting up of these control signals is longer, both is greater than a cycle of oscillation, or even close to two cycles of oscillation, damped coefficient plays a role for the decay of vibration, so output vibration also can be weakened.

But, the vector low for error fault-tolerant ability, the time of setting up is comparatively short, it is considered to damped coefficient is with when being left out damped coefficient, and action effect difference between the two is still very big, for instance shown in Fig. 7.

Although present disclosure has been made to be discussed in detail already by above preferred embodiment, but it should be appreciated that the description above is not considered as limitation of the present invention.After those skilled in the art have read foregoing, multiple amendment and replacement for the present invention all will be apparent from.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (7)

1. the reshaping signal control method of a camera voice coil motor actuator, it is characterised in that reshaping signal is N rank reshaping signals, controls camera voice coil motor and rises to object height A, and this reshaping signal control method comprises the steps of

The rise/fall time of each rise/fall step in S1, calculating reshaping signal；

S2, calculate the initial rise/fall of corresponding rise/fall step according to the rise/fall time of each rise/fall step；

S3, calculate the rise/fall amplitude fine setting coefficient of reshaping signal according to the initial rise of each rise/fall step/fall；

S4, the rise/fall amplitude fine setting coefficient by reshaping signal the initial rise/fall in conjunction with each rise/fall step calculate the set-point of the rise/fall amplitude obtaining each rise/fall step.

2. reshaping signal control method as claimed in claim 1, it is characterised in that in described step S1, the computing formula of the rise/fall time of described each rise/fall step is:

$t_i^{\&prime;}=\frac{{\mathrm{\&omega;}}_n}{{\mathrm{\&omega;}}_d}{t}_i$

In formula, the value of i is 1～N, N is the exponent number of reshaping signal, t '_iThe rise/fall time of each rise/fall step during expression consideration damped coefficient, ω_nRepresent the natural frequency of oscillation of camera voice coil motor, ω_dRepresent the frequency of oscillation after camera voice coil motor introducing damped coefficient, t_iRepresent the rise/fall time of each rise/fall step when not considering damped coefficient.

3. reshaping signal control method as claimed in claim 1, it is characterised in that in described step S2, the computing formula of the initial rise/fall of described each rise/fall step is:

${A_i}^{\&prime;}=A_i{e}^{-{\mathrm{\&xi;\&omega;}}_n{t_i}^{\&prime;}}$

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, t '_iThe rise/fall time of each rise/fall step during expression consideration damped coefficient, ω_nRepresenting the natural frequency of oscillation of camera voice coil motor, ξ represents the damped coefficient that camera voice coil motor is vibrated, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, A_iRepresent the initial rise/fall of each rise/fall step when not considering damped coefficient.

4. reshaping signal control method as claimed in claim 1, it is characterised in that in described step S3, the computing formula of described rise/fall amplitude fine setting coefficient is:

$\mathrm{\&beta;}=\frac{A}{\underset{i=0}{\overset{N}{\&Sigma;}}{A_i}^{\&prime;}}$

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, A represents the object height that camera voice coil motor rises, and β represents rise/fall amplitude fine setting coefficient.

5. reshaping signal control method as claimed in claim 1, it is characterised in that in described step S4, the computing formula of the set-point of the rise/fall amplitude of described each rise/fall step is:

A_i"=β A_i′

In formula, the value of i is 0～N, N is the exponent number of reshaping signal, A_iInitial rise/the fall of each rise/fall step during ' expression consideration damped coefficient, β represents rise/fall amplitude fine setting coefficient, A_i" the set-point of the rise/fall amplitude of each rise/fall step during expression consideration damped coefficient.

6. reshaping signal control method as claimed in claim 1, it is characterised in that comprising a step S5 further, described step S5 comprises:

Vector form is adopted to represent with corresponding rise/fall time the set-point of the rise/fall amplitude of each rise/fall step of reshaping signal.

7. reshaping signal control method as claimed in claim 6, it is characterised in that the reshaping signal that described employing vector form represents is:

Input_vector=[A₀", A₁" ..., A_N″；0, t '₁..., t '_N]

In formula, Input_vector represents the reshaping signal of input, A₀", A₁" ..., A_N" represent the set-point of the rise/fall amplitude of each rise/fall step in reshaping signal respectively, 0, t '₁..., t '_NRepresent in reshaping signal the rise time of corresponding each rise/fall step respectively.