CN105824097A - Linear control method of actuator in voice coil motor driver - Google Patents
Linear control method of actuator in voice coil motor driver Download PDFInfo
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- CN105824097A CN105824097A CN201610183500.2A CN201610183500A CN105824097A CN 105824097 A CN105824097 A CN 105824097A CN 201610183500 A CN201610183500 A CN 201610183500A CN 105824097 A CN105824097 A CN 105824097A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
- G03B13/36—Autofocus systems
Abstract
The present invention provides a linear control method of an actuator in a voice coil motor driver. In the total time T required by a current signal amplitude rising from zero to a target current value, a min current value I is taken as a stepping value which is gradually increased or decreased until reaching the target current value P, so that the linear variation of the current is realized. The linear control method of an actuator in a voice coil motor driver is able to directly convert the input signal variation to linear variation so as to prolong the variation time of the signals, avoid the large energy variation in a unit time, reduce the high-frequency noise, decrease the noise generated by the signals to surrounding circuits and have high fault tolerance for the deviation between the time period and the motor oscillation period of a control algorithm.
Description
Technical field
The present invention relates to IC design field, particularly relate to the linear control method of executor in a kind of voice coil motor driver.
Background technology
Voice coil motor (VoiceCoilMotor) is widely used in electronic product, is widely used in recent years in the camera lens driving of smart mobile phone and surface computer.Voice coil motor driver (LensDriver) chip accepts external input signal (picture processing chip being typically 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 reaches automatically to focus on (AutoFocus) effect.Voice coil motor actuator can describe with second-order under damped system, and along with voice coil motor volume diminishes and material improvement, the damped coefficient of this system also can reduce.When driving electric current to be added on motor promotion camera lens to desired position, executor can occur machinery concussion, and its concussion the least of system damping coefficient decays the slowest, thus the focal time needed for camera is the longest.
By controlling input signal, can be with oscillation-damped, in the input signal control method the most generally used, input signal arrives some ad-hoc location, all directly arrived by a step, so, input signal is at short notice, having a bigger energy variation, can produce bigger high-frequency noise, this high-frequency noise can be easy to be coupled in other circuit, affect circuit performance, and current control method is for the deviation between clock cycle and motor cycle of oscillation, has relatively low fault-tolerance, it is impossible to control motor output well.
Summary of the invention
The present invention provides the linear control method of executor in a kind of voice coil motor driver, input signal is changed from directly becoming linear change, extend the transformation period of signal, bigger energy variation is had in avoiding the unit interval, reduce high-frequency noise, reduce signal and peripheral circuits is produced noise, the deviation between clock cycle of control algolithm and motor cycle of oscillation is also had higher fault-tolerance simultaneously.
In order to achieve the above object, the present invention provides the linear control method of executor in a kind of voice coil motor driver, in current signal amplitude within total time T being raised to needed for target current value above freezing, using minimum current value I as step value, it is stepped up or reduces, it is finally reached target current value P, it is achieved the linear change of electric current, minimum current value number N=P/I between initial value and the desired value of current signal.
Described current signal amplitude is equal to the interval time between two current signals from total time T being raised to needed for target current value above freezing.
Current signal amplitude comprises s changes phase from the zero linear process changing to target current value；
Each changes phase required time tsSummation equal to total time T；
t1+t2……+ts=T；
The rising value p of current signal amplitude in each changes phasesSummation equal to target current value P；
p1+p2……+ps=P；
Wherein, s is natural number.
In each changes phase, current signal is through m lifting；
Electric current lifts required time t ' every timekSummation equal to this changes phase required time ts；
t’1+t’2……t’k=ts；
Amplitude p that electric current lifts every time 'kIt is equal to the rising value p of current signal amplitude in this changes phases；
p’1=p '2=... p 'k=ps；
Wherein, m is odd number, k=1,2,3 ... m, s are natural number.
In each changes phase, the accumulation interval time Δ t that electric current lifts every time is that electric current lifts required time t ' every timekThe accumulative frequency n every time lifted divided by electric currentk:
Δ t=t 'k/nk；
Wherein, k=1,2,3 ... m, m are odd number.
In each changes phase, the accumulative frequency n that electric current lifts every timekEqual, be equivalent to the accumulative frequency n of each changes phases:
n1=n2=... nk=ns；
Wherein, k=1,2,3 ... m, m are odd number, s is natural number.
The accumulative frequency n of each changes phasesSummation equal to current signal initial value and desired value between minimum current value number N:
n1+n2+……+ns=N；
Wherein, s is natural number.
Input signal is changed from directly becoming linear change by the present invention, extend the transformation period of signal, bigger energy variation is had in avoiding the unit interval, reduce high-frequency noise, reduce signal and peripheral circuits is produced noise, the deviation between clock cycle of control algolithm and motor cycle of oscillation is also had higher fault-tolerance simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of three kinds of control signals.
Fig. 2 is the spectrum curve of three kinds of control signals in Fig. 1.
Fig. 3 is the linear control method of the first pattern.
Fig. 4 is the linear control method of the second pattern.
Fig. 5 is the example that input signal carries out under the second pattern Linear Control.
Fig. 6 is the linear control method of the third pattern.
Fig. 7 is the example that input signal carries out under the third pattern Linear Control.
Fig. 8 is the different control signal fault-tolerance to clock cycle with motor concussion cycle.
Detailed description of the invention
Below according to Fig. 1～Fig. 8, illustrate presently preferred embodiments of the present invention.
As shown in Figure 1, show three kinds of control signals, abscissa represents the time that curve rises, vertical coordinate represents that the amplitude that curve rises, step signal are step signal, and this signal arrives desired value in the same time, ramp1 is a kind of linear rise curve, the rise time of this curve is a natural cycle of oscillation of motor, ramp2 another kind linear rise curve, and the rise time of this curve is two concussion cycles of motor.
Fig. 2 is the spectrum curve of three kinds of curves in Fig. 1, and wherein abscissa represents that frequency, vertical coordinate represent the signal amplitude size that each frequency is corresponding, is given by the form of dB.Giving the noise density that three kinds of signals are corresponding at 20KHz in Fig. 2, step signal is-150dB, and ramp1 signal is-156dB, and ramp2 signal is-159dB.
In conjunction with Fig. 1 and Fig. 2 it can be seen that during signal rises, signal elevating time is the longest, and at this signal medium-high frequency, energy is the least, i.e. high-frequency noise is the least.For step signal, owing to its high-frequency noise is relatively big, so this noise can be easy to be coupled in other circuit, and for ramp1 and ramp2 signal, the noise of its coupling can be relatively small.
The present invention provides the linear control method of executor in a kind of voice coil motor driver, utilizes minimum current progressively cumulative or reduces the Linear Control realizing signal.
The amplitude that rises or falls that each small area analysis realizes is referred to as a small stair, and the continuous raising and lowering of multiple small stairs constitutes a big step.The changes phase that one big step correspondence is above said, in one big step, electric current varies continuously to once rise the corresponding previously described changes phase of maximum from minima, in one big step, electric current varies continuously to once decline the corresponding previously described changes phase of minima from maximum, the electric current lifting number of times that the number of times of continuous raising and lowering is referred to as in a changes phase in a step.
Embodiment 1
As it is shown on figure 3, be the linear control method of the first pattern, in this first mode, comprise a changes phase, in this changes phase, electric current is through three liftings, and the electric current of lifting every time number of times that is cumulative and that reduce is P/I, and the amplitude of current signal reaches target current amplitude from zero.
The target current assuming motor coil is P, and the minimum current in circuit is I, then the small stair number that electric current arrives final goal and needs is P/I, is designated as N.In this mode, signal has walked a big step, but has walked three times, and the amplitude size of change is identical every time, and the small stair number the most often walked away is N, and as shown in phantom in FIG., small stair is as shown by the solid line in the drawings for big step.
In figure 3, the small stair number in each big step is N, and the time completing each big step is Td/6, then the time interval between small stair is (Td/6)/N, i.e. Td/ (6*N), and wherein, Td is motor cycle of oscillation.
So, being achieved in that of this signal: from zero moment, every the time span of Td/ (6*N), signal rises a small stair, and the height of small stair is I, and after N number of time interval, the time arrives Td/6, and signal height arrives N*I, i.e. P；From the beginning of Td/6, every the time span of Td/ (6*N), signal declines a small stair, and the height of small stair is I, and after N number of time interval, the time arrives 2*Td/6, and signal returns to 0；From the beginning of 2*Td/6, time span every Td/ (6*N), signal rises a small stair, the height of small stair is I, and after N number of time interval, the time arrives 3*Td/6, signal height arrives N*I, i.e. P, the most whole input signal set up, and under this pattern, the time of setting up of motor output is 3*Td/6.
Embodiment 2
As shown in Figure 4, it it is the linear control method of the second pattern, in this second pattern, comprising two changes phases, the amplitude of current signal reaches target current amplitude from zero in two stages, in first changes phase, electric current is through three liftings, and amplitude reaches the 1/2 of target current amplitude, in second changes phase, electric current is through three liftings, and amplitude reaches target current amplitude.
The target current assuming motor coil is P, and the minimum current in circuit is I, then the small stair number that electric current arrives final goal and needs is P/I, is designated as N.Signal in Fig. 4 can regard two big steps as, each one of above or below, and big step below is the first stage, and big step above is second stage, and three steps walked by each big step.If N is even number, remembering N=2k, in the most upper and lower two big steps, the number of small stair is all k；If N is odd number, then remember N=2k+1, then below the number of small stair is k+1 in a big step, above in a big step number of small stair be k (the small stair number in two big steps can be exchanged, and face step is that k+1 small stair is illustrated herein below).
In Fig. 4, the time interval between the big step of each of signal is Td/6, then realizing time of big step with small stair is Td/6.When N is even number, the time that each small stair uses is (Td/6)/k, i.e. Td/ (6*k)；When N is odd number, below then, the biggest step in a step is than many 1 small stairs of every step greatly in above step, identical in order to ensure the time that every major step uses, do not use multiple clock control signal to produce simultaneously, below then in a step, a unnecessary small step needs to be put in the step in other k step, complete together, i.e. in some small stair, complete the amplitude of variation of two minimum currents I, the most now, in upper and lower two big steps, every major step is all completed by k small step, so the time interval between each small step is (Td/6)/(k), i.e. Td/ (6*k).
So, when N is even number, being achieved in that of this pattern: from zero moment, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, after k time interval, time arrives Td/6, and signal height arrives k*I, i.e. P/2；From the beginning of Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is I, and after k time interval, the time arrives 2*Td/6, and signal returns to 0；From the beginning of 2*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 3*Td/6, and signal height arrives k*I, i.e. P/2；From the beginning of 3*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 4*Td/6, and signal height arrives 2*k*I, i.e. P；From the beginning of 4*Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is I, and after k time interval, the time arrives 5*Td/6, and signal height drops to k*I；From the beginning of 5*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 6*Td/6, and signal height arrives 2*k*I, and the most whole input signal has been set up.
nullWhen N is odd number，Being achieved in that of this pattern: from the beginning of zero moment，Signal begins to ramp up，The height that the first step rises is 2*I，The height that k-1 step subsequently rises is I，During to Td/6，Signal rises to the position of (k+1) * I，And signal begins to decline，The height that the first step declines is 2*I，The height that k-1 step subsequently declines is I，During to 2*Td/6，Signal drops to the position of zero，And subsequent time signal begins to ramp up，The height that the first step rises is 2*I，The height that k-1 step subsequently rises is I，During to 3*Td/6，Signal rises to the position of (k+1) * I，From the beginning of 3*Td/6，Time span every Td/ (6*k)，Signal rises a small stair，The height of step is I，After k time interval，Time arrives 4*Td/6，Signal height arrives (2*k+1) * I，I.e. P；From the beginning of 4*Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is I, and after k time interval, the time arrives 5*Td/6, and signal height drops to (k+1) * I；From the beginning of 5*Td/6, every the time span of Td/ (6*k), signal rises a small stair, the height of step is I, and after k time interval, the time arrives 6*Td/6, signal height arrives (2*k+1) * I, and the most whole input signal has been set up.
Fig. 5 is N when being 5, and input signal carries out under this second pattern an example of Linear Control, and under this pattern, the time of setting up of motor output is Td.
Embodiment 3
As shown in Figure 6, it is the linear control method of the third pattern, in this third pattern, comprising three changes phases, the amplitude of current signal divides three phases to reach target current amplitude from zero, in first changes phase, electric current is through three liftings, amplitude reaches the 1/4 of target current amplitude, and in second changes phase, electric current is through three liftings, amplitude reaches the 3/4 of target current amplitude, in 3rd changes phase, electric current is through three liftings, and amplitude reaches target current amplitude.
The target current assuming motor coil is P, and the minimum current in circuit is I, then the small stair number that electric current arrives final goal and needs is P/I, is designated as N.In Fig. 6, signal can regard three big steps as, and the big step of minimal face is first stage, and middle big step is second stage, and big step above is three phases, and three steps walked by each step.
When N can be divided exactly by 4, note N=4k, the small stair number that then a bottom big step comprises is k, the size of each small stair is I, the small stair number comprised in a middle big step is k, the size of each small stair is 2*I, above the small stair number that comprises of big step be k, the size of each small stair is I.
If N can not be divided exactly by 4, then remember N=4k+r, wherein r=1,2,3.Wherein the part of aliquot is 4k, and its method of salary distribution is with as before.For aliquant part r, when r is 1, a unnecessary small stair is placed in a bottom big step；When r is 2, unnecessary small stair is respectively put one in bottom and middle two big steps；When r is 3, unnecessary small stair is respectively put one in three steps of upper, middle and lower.
Identical in order to ensure the time used by each big step, do not use multiple clock, then the time completing each big step is Td/6, it is achieved the step number of each big step is k simultaneously, so the cycle controlling clock is (Td/6)/k, i.e. Td/ (6*k).
Implementation in this mode as follows:
1, during r=0:
From zero moment, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives Td/6, and signal height arrives k*I；From the beginning of Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is I, and after k time interval, the time arrives 2*Td/6, and signal returns to 0；From the beginning of 2*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 3*Td/6, and signal height arrives k*I；From the beginning of 3*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is 2*I, and after k time interval, the time arrives 4*Td/6, and signal height arrives 3*k*I；From the beginning of 4*Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is 2*I, and after k time interval, the time arrives 5*Td/6, and signal height drops to k*I；From the beginning of 5*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is 2*I, and after k time interval, the time arrives 6*Td/6, and signal height arrives 3*k*I；From the beginning of 6*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 7*Td/6, and signal height arrives 4*k*I；From the beginning of 7*Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is I, and after k time interval, the time arrives 8*Td/6, and signal height drops to 3*k*I；From the beginning of 8*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 9*Td/6, and signal height arrives 4*k*I, and so far, the foundation of input signal completes.
2, during r=1:
From zero moment, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to Td/6, signal rises to the position of (k+1) * I；From Td/6, signal begins to decline, and the height that the first step declines is 2*I, and the height that k-1 step subsequently declines is I, and during to 2*Td/6, signal drops to the position of zero；From 2*Td/6, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to 3*Td/6, signal rises to the position of (k+1) * I；From the beginning of 3*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is 2*I, and after k time interval, the time arrives 4*Td/6, and signal height arrives (3*k+1) * I；From the beginning of 4*Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is 2*I, and after k time interval, the time arrives 5*Td/6, and signal height drops to (k+1) * I；From the beginning of 5*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is 2*I, and after k time interval, the time arrives 6*Td/6, and signal height arrives (3*k+1) * I；From the beginning of 6*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 7*Td/6, and signal height arrives (4*k+1) * I；From the beginning of 7*Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is I, and after k time interval, the time arrives 8*Td/6, and signal height drops to (3*k+1) * I；From the beginning of 8*Td/6, every the time span of Td/ (6*k), signal rises a small stair, the height of step is I, and after k time interval, the time arrives 9*Td/6, signal height arrives (4*k+1) * I, and so far, the foundation of input signal completes.
3, during r=2:
From zero moment, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to Td/6, signal rises to the position of (k+1) * I；From Td/6, signal begins to decline, and the height that the first step declines is 2*I, and the height that k-1 step subsequently declines is I, and during to 2*Td/6, signal drops to the position of zero；From 2*Td/6, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to 3*Td/6, signal rises to the position of (k+1) * I；From 3*Td/6, signal begins to ramp up, and the height that the first step rises is 3*I, and the height that k-1 step subsequently rises is 2*I, and during to 4*Td/6, signal rises to the position of (3*k+2) * I；From 4*Td/6, signal begins to decline, and the height that the first step declines is 3*I, and the height that k-1 step subsequently declines is 2*I, and during to 5*Td/6, signal drops to (k+1) * I；From 5*Td/6, signal begins to ramp up, and the height that the first step rises is 3*I, and the height that k-1 step subsequently rises is 2*I, and during to 6*Td/6, signal rises to the position of (3*k+2) * I；From the beginning of 6*Td/6, every the time span of Td/ (6*k), signal rises a small stair, and the height of step is I, and after k time interval, the time arrives 7*Td/6, and signal height arrives (4*k+2) * I；From the beginning of 7*Td/6, every the time span of Td/ (6*k), signal declines a small stair, and the height of step is I, and after k time interval, the time arrives 8*Td/6, and signal height drops to (3*k+2) * I；From the beginning of 8*Td/6, every the time span of Td/ (6*k), signal rises a small stair, the height of step is I, and after k time interval, the time arrives 9*Td/6, signal height arrives (4*k+2) * I, and so far, the foundation of input signal completes.
4, during r=3:
From zero moment, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to Td/6, signal rises to the position of (k+1) * I；From Td/6, signal begins to decline, and the height that the first step declines is 2*I, and the height that k-1 step subsequently declines is I, and during to 2*Td/6, signal drops to the position of zero；From 2*Td/6, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to 3*Td/6, signal rises to the position of (k+1) * I；From 3*Td/6, signal begins to ramp up, and the height that the first step rises is 3*I, and the height that k-1 step subsequently rises is 2*I, and during to 4*Td/6, signal rises to the position of (3*k+2) * I；From 4*Td/6, signal begins to decline, and the height that the first step declines is 3*I, and the height that k-1 step subsequently declines is 2*I, and during to 5*Td/6, signal drops to (k+1) * I；From 5*Td/6, signal begins to ramp up, and the height that the first step rises is 3*I, and the height that k-1 step subsequently rises is 2*I, and during to 6*Td/6, signal rises to the position of (3*k+2) * I；From 6*Td/6, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to 7*Td/6, signal rises to the position of (4*k+3) * I；From 7*Td/6, signal begins to decline, and the height that the first step declines is 2*I, and the height that k-1 step subsequently declines is I, and during to 8*Td/6, signal drops to (3*k+2) * I；From 8*Td/6, signal begins to ramp up, and the height that the first step rises is 2*I, and the height that k-1 step subsequently rises is I, and during to 6*Td/6, signal rises to the position of (4*k+3) * I, and so far, the foundation of input signal completes.
Fig. 7 is N when being 11, and input signal carries out under this third pattern an example of Linear Control.
It is described above the linear control method of Three models.Utilize linear implementation, in the unit interval can be avoided, have bigger energy variation, reduce high-frequency noise, and reduction signal produces noise to peripheral circuits.
In circuit control, the time that each step rises is all by clock control, therefore clock accuracy there are certain requirements, additionally, in the case of clock accuracy ensures, need the natural cycle of oscillation of motor to keep consistent with the clock cycle, if there is deviation between the two, the result then controlled can make motor output have vibration, when there is deviation with the clock cycle in the motor concussion cycle, control mode still can preferably control motor output, control mode is the most now claimed to have fault-tolerance to there is deviation between motor free period and clock cycle, fault-tolerance is also the important indicator that control mode is good and bad.
Giving the fault-tolerance of several different control method in Fig. 8, wherein abscissa represents deviation Tclk between clock cycle and motor concussion cycle, and vertical coordinate represents the relative ratio vibration with total ascensional range of shock range of motor.The wherein fault-tolerance of ramp1 in control1 corresponding diagram 1, the fault-tolerance of ramp2 in control2 corresponding diagram 1, the fault-tolerance of control mode in control3 corresponding diagram 3, the fault-tolerance of control mode in control4 corresponding diagram 4, the fault-tolerance of control mode in control5 corresponding diagram 6.
As can be seen from Figure 8, in the case of 10% is less than for motor aftershock, the control mode fault-tolerance (tolerable deviation between clock cycle and motor concussion cycle) that in the present invention, Fig. 3 proposes is ± 5%, the control mode fault-tolerance (tolerable deviation between clock cycle and motor concussion cycle) that Fig. 4 proposes is about ± 19%, and the control mode fault-tolerance (tolerable deviation between clock cycle and motor concussion cycle) that Fig. 6 proposes is ± 29%.The control mode be given in Fig. 4 and Fig. 6 in the present invention, has higher fault-tolerance to the deviation between clock cycle and motor concussion cycle.
Input signal is changed from directly becoming linear change by the present invention, amplitude of variation is constant, transformation period is before this signal starts to arrive to next signal, so extend the transformation period of signal, reduce the changing value of unit interval self-energy, thus reduce high-frequency noise, deviation between clock cycle of control algolithm and motor cycle of oscillation also had higher fault-tolerance simultaneously, can be widely applied to, in other large scale integrated circuit, be particularly applied in second-order under damped system control chip.
Although present disclosure has been made to be discussed in detail 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 linear control method of executor in a voice coil motor driver, it is characterized in that, in current signal amplitude within total time T being raised to needed for target current value above freezing, using minimum current value I as step value, it is stepped up or reduces, it is finally reached target current value P, it is achieved the linear change of electric current, minimum current value number N=P/I between initial value and the desired value of current signal.
2. the linear control method of executor in voice coil motor driver as claimed in claim 1, it is characterised in that described current signal amplitude is equal to the interval time between two current signals from total time T being raised to needed for target current value above freezing.
3. the linear control method of executor in voice coil motor driver as claimed in claim 2, it is characterised in that current signal amplitude comprises s changes phase from the zero linear process changing to target current value；
Each changes phase required time tsSummation equal to total time T；
t1+t2……+ts=T；
The rising value p of current signal amplitude in each changes phasesSummation equal to target current value P；
p1+p2……+ps=P；
Wherein, s is natural number.
4. the linear control method of executor in voice coil motor driver as claimed in claim 3, it is characterised in that in each changes phase, current signal is through m lifting；
Electric current lifts required time t ' every timekSummation equal to this changes phase required time ts；
t’1+t’2……t’k=ts；
Amplitude p that electric current lifts every time 'kIt is equal to the rising value p of current signal amplitude in this changes phases；
p’1=p '2=... p 'k=ps；
Wherein, m is odd number, k=1,2,3 ... m, s are natural number.
5. the linear control method of executor in voice coil motor driver as claimed in claim 4, it is characterised in that in each changes phase, the accumulation interval time Δ t that electric current lifts every time is that electric current lifts required time t ' every timekThe accumulative frequency n every time lifted divided by electric currentk:
Δ t=t 'k/nk；
Wherein, k=1,2,3 ... m, m are odd number.
6. the linear control method of executor in voice coil motor driver as claimed in claim 5, it is characterised in that in each changes phase, the accumulative frequency n that electric current lifts every timekEqual, be equivalent to the accumulative frequency n of each changes phases:
n1=n2=... nk=ns；
Wherein, k=1,2,3 ... m, m are odd number, s is natural number.
7. the linear control method of executor in voice coil motor driver as claimed in claim 6, it is characterised in that the accumulative frequency n of each changes phasesSummation equal to current signal initial value and desired value between minimum current value number N:
n1+n2+……+ns=N；
Wherein, s is natural number.
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