CN106887990A - A kind of voice coil motor position motion control device - Google Patents
A kind of voice coil motor position motion control device Download PDFInfo
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- CN106887990A CN106887990A CN201710250592.6A CN201710250592A CN106887990A CN 106887990 A CN106887990 A CN 106887990A CN 201710250592 A CN201710250592 A CN 201710250592A CN 106887990 A CN106887990 A CN 106887990A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
- H02P25/034—Voice coil motors
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- Control Of Linear Motors (AREA)
Abstract
The invention discloses a kind of voice coil motor position motion control device.Motor position information, motor speed information and current of electric information are obtained by the position for detecting voice coil motor；Then site error is calculated according to target location and motor position information；If the absolute value of site error is more than position adjustment threshold values, actuating motor aligning step；The motor calibration step includes：According to positional information calculation current of electric direction DrWith motor speed set-point Vn；According to motor speed set-point VnCalculate current of electric set-point Ipn；According to current of electric set-point IpnCalculate output current In；According to current of electric direction DrWith output current InVoice coil motor is driven, it is achieved thereby that the high-speed, high precision control of voice coil motor.
Description
Technical field
The present invention relates to voice coil motor field, more particularly to voice coil motor position motion control device.
Background technology
At present, as Industry Control develops, to high speed, high-accuracy position system requirement more and more higher, so that voice coil motor
Utilization it is also more and more.Such as the positioning of lens in optical system；The multi-coordinate locating platform of machine tool；Essence in medical apparatus
Close electron tube, vacuum tube control；In flexible robot, to make that end effector is quick, being accurately positioned, voice coil loudspeaker voice coil electricity can also be used
Machine effectively to suppress vibration.In a word, voice coil motor is on the high speed of many multi-forms, high precision position, high frequency pumping
It is widely used.
The control device of current voice coil motor, the main bridge circuit being made up of MOSFET, by changing accounting for for pulse
Than changing driving current, this mode is relatively adapted to that voltage is high, electric current is big, is not occasion very high to status requirement sky, with
And motor does simple coming and going and acts.In the control strategy of some voice coil motors, position ring is utilized in some improvement strategies
Electric current loop is controlled with speed ring parallel connection, the quick response to position can be reached, but for positional precision, range ability
Short, in the fast occasion of the speed of service, positional precision will be reduced, and the phenomenon of toning often occur, therefore this scheme is suitable for
In the environment that some are not high to position accuracy demand, voice coil motor is quickly round.
The content of the invention
The present invention is short to solve existing, range ability high to voice coil motor requirement positional precision, and the speed of service waits environment soon,
It is particularly suitable for dynamic Laser and focuses on occasion, it is proposed that a kind of voice coil motor position motion control device, it includes：Station acquisition mould
Block, the position for detecting voice coil motor obtains initial time to the motor position information E at current time00~En0, wherein En0For
Current motor positions；Speed acquisition module, the speed for detecting voice coil motor obtains initial time to the motor at current time
Velocity information V00~Vn0, wherein Vn0It is current motor speed；Current acquisition module, the electric current for detecting voice coil motor is obtained
Current of electric information I of the initial time to current time00~In0, wherein In0It is current motor electric current；Control unit, is configured to
Perform following steps：
According to positional information calculation current of electric direction DrWith motor speed set-point Vn；
According to motor speed VnCalculate current of electric set-point Ipn；
According to current of electric set-point IpnCalculate output current In；
According to current of electric direction DrWith output current InDrive voice coil motor；
According to current of electric direction DrWith output current InProduce the control parameter of voice coil motor and be transferred to analog-to-digital conversion mould
Block.
Further, according to positional information calculation motor speed set-point VnWith current of electric direction DrFormula be：
Vn=Kp1*ΔEn+Ki1*∑E；
Wherein Δ En=En-En0；∑ E=Δs E0+ΔE1+……+ΔEn；Kp1It is speed proportional gain, Ki1It is rate integrating
Gain；
Also, according to site error Δ EnCalculate current of electric direction DrFormula be：
Further, described current of electric set-point IpnComputing formula be：
Ipn=Kp2*ΔVn+Ki2*∑V；
Wherein Δ VnIt is present speed deviation, ∑ V is velocity deviation aggregate-value, and Δ Vn=Vn-Vn0；∑ V=Δs V0+Δ
V1+……+ΔVn；Kp2It is speed proportional gain, Ki2It is rate integrating gain.
Further, according to current of electric IpnCalculate output current InComputing formula be：
In=Kp3*ΔIpn+Ki3*∑I；
Wherein Δ InIt is current flow deviation, ∑ I is current deviation aggregate-value, and Δ Ipn=Ipn-In0, ∑ I=Δs I0+Δ
I1+……+ΔIn, Kp3It is current ratio gain, Ki2It is current integration gain.
Preferably, the station acquisition module includes grating scale or one-dimensional position sensor.
Preferably, described D/A converter module includes first switching device for producing the first driving voltage and one
Produce the second switching device of the second driving voltage.
Preferably, the constant-current driven module include one first with phase operational amplification circuit and one second with phase computing
Amplifying circuit, the voice coil motor is connected to described first with phase operational amplification circuit and described second with phase operational amplification circuit
Output end between.
Preferably, described current acquisition module includes sampling resistor or Hall sensor.
Preferably, described device also includes data communication module, the target location parameter for receiving voice coil motor.
The beneficial effects of the invention are as follows：The present invention controls the electric current of voice coil motor using analog circuit control mode, changes
Pulse mode is become and has disturbed big shortcoming, greatly improved the control accuracy of whole system, valve has been increased on traditional algorithm
The strategies such as control, control range restriction, enable whole system Fast Convergent.
Brief description of the drawings
Fig. 1 embodiment of the present invention voice coil motors position motion control device structure chart；
Fig. 2 embodiment of the present invention constant-current driven module circuit theory diagrams；
Fig. 3 embodiment of the present invention voice coil motors position motion control method flow chart；
The timing diagram of aligning step in the motion control method of Fig. 4 embodiment of the present invention voice coil motors position.
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of selected embodiment of the invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
Fig. 1 shows a kind of voice coil motor position motion control device structure chart of the invention.With reference to Fig. 1, voice coil motor
Position motion control device includes：Station acquisition module 12, speed acquisition module 13, current acquisition module 14, digital-to-analogue conversion mould
Block 16, constant-current driven module 18 and control unit 10.Wherein, station acquisition module 12 is used to detect that the position of voice coil motor to obtain
Motor position information, it is preferable that the station acquisition module can include grating scale or one-dimensional position sensor；Speed acquisition mould
Block 13 is used to detect that the speed of voice coil motor to obtain motor speed information；Current acquisition module 14 is used to detect the electricity of voice coil motor
Stream obtains current of electric information, and described current acquisition module 14 can include sampling resistor or Hall sensor；
D/A converter module 16 is used to for the control parameter of voice coil motor to be converted into analog voltage control signal.Described number
Mould modular converter 16 can include first switching device and second driving voltage of generation of the first driving voltage of generation
The second switching device.First and second switching devices can be by High Speed Analog digital quantizer (AD) and orthogonal encoder arteries and veins
Rush device realization.
In combination with Fig. 2, Fig. 2 shows the circuit theory diagrams of constant-current driven module of the present invention.Constant-current driven module 18
The driving current for driving voice coil motor is produced according to analog voltage control signal.As shown in Fig. 2 the constant-current driven module can be wrapped
One first is included with phase operational amplification circuit A1 and one second with phase operational amplification circuit B1 and resistance R1, R2, R3, R4.
Voice coil motor Motor is serially connected with described first with phase operational amplification circuit A1 and described second with the defeated of phase operational amplification circuit B1
Go out between end.Can by the first driving voltage A_BUF access first with phase operational amplification circuit A1 in-phase input end, second drive
Move in-phase input end of the voltage B_BUF accesses second with phase operational amplification circuit B1.Resistance R1 is the first same mutually fortune with R2 ratios
Magnification ratio coefficients of the amplifying circuit A1 with respect to A_BUF input signals is calculated, resistance R3 and R4 ratio are that operational amplifier B1 is relative
The magnification ratio coefficient of B_BUF input signals.Work as A_BUF>0, B_BUF=0, be at this moment added in voice coil motor Motor two ends is
Forward voltage, voice coil motor Motor positive movements.By the speed of the size control voice coil motor Motor of A_BUF；When working as B_BUF
>0, A_BUF=0, be at this moment added in voice coil motor Motor two ends is backward voltage, during voice coil motor Motor counter motions, by
The speed of the size control voice coil motor Motor of B_BUF.
Preferably, described device also includes data communication module 19, the target location parameter for receiving voice coil motor.Number
Can be the communication mould such as SPI communication module, CAN, serial communication modular or bluetooth communication according to communication module 19
Block, the information such as target location parameter are received by wired or wireless connection from outside upper calculating main frame.
Control unit 10 is configured to perform following steps：According to positional information calculation current of electric direction DrAnd motor speed
Set-point Vn；According to motor speed VnCalculate current of electric set-point Ipn；According to current of electric set-point IpnCalculate output current
In；According to current of electric direction DrWith output current InDrive voice coil motor；According to current of electric direction DrWith output current InProduce
The control parameter of raw voice coil motor is simultaneously transferred to analog-to-digital conversion module.Specific computational methods will be explained in detail below.
Fig. 3 shows a kind of voice coil motor position motion control method flow chart of the invention.With reference to Fig. 3, the method bag
Include following steps：
Step S301 receives target location parameter E using data communication modulen。
Step S302 obtains motor position information using the position of station acquisition module detection voice coil motor；Specifically, can
With the position of time multi collect voice coil motor, to obtain initial time to the motor position sequence at the n-th moment (current time)
E00~En0, wherein En0It is the current motor position of motor；
Step S303 obtains motor speed information using the speed of speed acquisition module detection voice coil motor；Specifically, may be used
With time multi collect motor speed at regular intervals, to obtain motor speed sequence V00~Vn0, wherein Vn0It is current motor speed
Degree；It should be noted that the process of collection motor speed can be：Using the time interval and adjacent moment that detect motor position
The difference of motor position calculates motor speed.
The electric current of step S304 current acquisitions module detection voice coil motor obtains current of electric information；Specifically, can be with
Time multi collect current of electric at regular intervals, obtains current of electric sequence I00~In0, wherein In0It is current motor electric current.
Step S305 is using control unit according to target location parameter EnWith current motor positions En0Current location is calculated to miss
Difference Δ En；Wherein Δ En=En-En0
Step S306 judges the absolute value of current location error | Δ En| whether more than position adjustment threshold values Emax, if it is,
Then actuating motor aligning step S307；If it is not, then step S308 can be entered and being terminated flow or being continued to detect subsequent time
Site error.
In combination with Fig. 4, the motor calibration step S307 can include：
Step S3071, according to positional information calculation current of electric direction DrWith motor speed set-point Vn；
Step S3072, according to motor speed VnCalculate current of electric set-point Ipn；
Step S3073, according to current of electric set-point IpnCalculate output current In；
Step S3074, according to current of electric direction DrWith output current InVoice coil motor is driven by constant-current driven module.
Further, according to positional information calculation motor speed set-point VnWith current of electric direction DrFormula be：
Vn=Kp1*ΔEn+Ki1*∑E；
Wherein Δ En=En-En0；∑ E=Δs E0+ΔE1+……+ΔEn；Kp1It is speed proportional gain, Ki1It is rate integrating
Gain；
Also, according to site error Δ EnCalculate current of electric direction DrFormula be：
Further, described current of electric set-point IpnComputing formula be：
Ipn=Kp2*ΔVn+Ki2*∑V；
Wherein Δ VnIt is present speed deviation, ∑ V is velocity deviation aggregate-value, and Δ Vn=Vn-Vn0；∑ V=Δs V0+Δ
V1+……+ΔVn；Kp2It is speed proportional gain, Ki2It is rate integrating gain.
Further, according to current of electric IpnCalculate output current InComputing formula be：
In=Kp3*ΔIpn+Ki3*∑I；
Wherein Δ InIt is current flow deviation, ∑ I is current deviation aggregate-value, and Δ Ipn=Ipn-In0, ∑ I=Δs I0+Δ
I1+……+ΔIn, Kp3It is current ratio gain, Ki2It is current integration gain.
Further, methods described is also included according to control accuracy setting adjustment threshold values EmaxThe step of；Can be as needed
To adjustment threshold value EmaxSet.Specifically, user can pass through data communication module to control using outside upper computing device
Unit processed sends new adjustment threshold value.
Further, as the motor speed set-point VnMore than motor maximum speed VmaxWhen, V can be takenn=Vmax。
Further, as described current of electric set-point IpnMore than the maximum current I of motormaxWhen, I can be takenpn=
Imax.Motor maximal rate VmaxCan be set according to motor characteristic, motor maximum current ImaxCan also be set according to motor characteristic
It is fixed.
The present invention controls the electric current of voice coil motor using analog circuit control mode, changes pulse mode interference big
Shortcoming, greatly improves the control accuracy of whole system, and the plans such as Valve controlling, control range restriction are increased on traditional algorithm
Slightly, whole system Fast Convergent is enable.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each several part of embodiments of the present invention can be with hardware, software, firmware or combinations thereof come real
It is existing.In the above-described embodiment, multiple steps or method can be with storages in memory and by suitable instruction execution system
The software or firmware of execution is realized.If for example, being realized with hardware, with another embodiment, ability can be used
Any one of following technology known to domain or their combination are realized：With for realizing logic function to data-signal
The discrete logic of logic gates, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array
(PGA), field programmable gate array (FPGA) etc..Those skilled in the art are appreciated that to realize above-described embodiment
The hardware that all or part of step that method is carried can be by program to instruct correlation is completed, and described program can be stored
In a kind of computer-readable recording medium, the program upon execution, including one or a combination set of the step of embodiment of the method.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
Can these embodiments be carried out with various changes, modification, replacement and modification in the case of departing from principle of the invention and objective, this
The scope of invention is limited by claim and its equivalent.
Claims (9)
1. a kind of voice coil motor position motion control device, it is characterised in that including：
Station acquisition module, the position for detecting voice coil motor obtains initial time to the motor position information E at current time00
~En0, wherein En0It is current motor positions；
Speed acquisition module, the speed for detecting voice coil motor obtains initial time to the motor speed information V at current time00
~Vn0, wherein Vn0It is current motor speed；
Current acquisition module, the electric current for detecting voice coil motor obtains initial time to the current of electric information I at current time00
~In0, wherein In0It is current motor electric current；
D/A converter module, for the control parameter of voice coil motor to be converted into analog voltage control signal；
Constant-current driven module, the driving current for driving voice coil motor is produced according to analog voltage control signal；
Control unit, is configured to perform following steps：
According to positional information calculation current of electric direction DrWith motor speed set-point Vn；
According to motor speed set-point VnCalculate current of electric set-point Ipn；
According to current of electric set-point IpnCalculate output current In；
According to current of electric direction DrWith output current InDrive voice coil motor；
According to current of electric direction DrWith output current InProduce the control parameter of voice coil motor and be transferred to analog-to-digital conversion module.
2. voice coil motor position as claimed in claim 1 motion control device, it is characterised in that according to positional information calculation electricity
Machine speed preset value VnWith current of electric direction DrFormula be：
Vn=Kp1*ΔEn+Ki1*∑E；
Wherein Δ En=En-En0；∑ E=Δs E0+ΔE1+……+ΔEn；Kp1It is speed proportional gain, Ki1For rate integrating increases
Benefit；
Also, according to site error Δ EnCalculate current of electric direction DrFormula be：
3. voice coil motor position as claimed in claim 2 motion control device, it is characterised in that described current of electric gives
Value IpnComputing formula be：
Ipn=Kp2*ΔVn+Ki2*∑V；
Wherein Δ VnIt is present speed deviation, ∑ V is velocity deviation aggregate-value, and Δ Vn=Vn-Vn0；∑ V=Δs V0+ΔV1
+……+ΔVn；Kp2It is speed proportional gain, Ki2It is rate integrating gain.
4. voice coil motor position as claimed in claim 3 motion control device, it is characterised in that according to current of electric set-point
IpnCalculate output current InComputing formula be：
In=Kp3*ΔIpn+Ki3*∑I；
Wherein Δ InIt is current flow deviation, ∑ I is current deviation aggregate-value, and Δ Ipn=Ipn-In0, ∑ I=Δs I0+ΔI1
+……+ΔIn, Kp3It is current ratio gain, Ki2It is current integration gain.
5. voice coil motor position as claimed in claim 1 motion control device, it is characterised in that the station acquisition module bag
Include grating scale or one-dimensional position sensor.
6. voice coil motor position as claimed in claim 1 motion control device, it is characterised in that described D/A converter module
Including first switching device and second switching device of the second driving voltage of generation of the first driving voltage of generation.
7. voice coil motor position as claimed in claim 1 motion control device, it is characterised in that the constant-current driven module bag
One first is included with phase operational amplification circuit and one second with phase operational amplification circuit, the voice coil motor is connected to described
Together between phase operational amplification circuit and the described second output end with phase operational amplification circuit.
8. voice coil motor position as claimed in claim 1 motion control device, it is characterised in that described current acquisition module
Including sampling resistor or Hall sensor.
9. voice coil motor position as claimed in claim 1 motion control device, it is characterised in that described device also includes data
Communication module, the target location parameter for receiving voice coil motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250592.6A CN106887990B (en) | 2017-04-17 | 2017-04-17 | A kind of voice coil motor position motion control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250592.6A CN106887990B (en) | 2017-04-17 | 2017-04-17 | A kind of voice coil motor position motion control device |
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| Publication Number | Publication Date |
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| CN106887990A true CN106887990A (en) | 2017-06-23 |
| CN106887990B CN106887990B (en) | 2019-04-23 |
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ID=59183393
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| CN201710250592.6A Active CN106887990B (en) | 2017-04-17 | 2017-04-17 | A kind of voice coil motor position motion control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111083347A (en) * | 2018-10-22 | 2020-04-28 | 杭州海康威视数字技术股份有限公司 | Lens drive control device, lens drive device and camera |
| CN112468024A (en) * | 2020-10-28 | 2021-03-09 | 深圳市兆威机电股份有限公司 | Motor jitter control method, control device, terminal equipment and storage medium |
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| CN105305912A (en) * | 2015-09-29 | 2016-02-03 | 芯荣半导体有限公司 | Input signal shaping method of voice coil motor, driving circuit and driving method thereof |
| CN105958898A (en) * | 2016-06-01 | 2016-09-21 | 深圳德康威尔科技有限公司 | Voice coil motor driver and control method thereof |
| CN106533318A (en) * | 2016-10-31 | 2017-03-22 | 深圳市太赫兹系统设备有限公司 | Voice coil motor control method and system and controller |
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| EP2216899A2 (en) * | 2009-02-09 | 2010-08-11 | Analog Devices, Inc. | Control techniques for motor driven systems |
| CN105305912A (en) * | 2015-09-29 | 2016-02-03 | 芯荣半导体有限公司 | Input signal shaping method of voice coil motor, driving circuit and driving method thereof |
| CN105958898A (en) * | 2016-06-01 | 2016-09-21 | 深圳德康威尔科技有限公司 | Voice coil motor driver and control method thereof |
| CN106533318A (en) * | 2016-10-31 | 2017-03-22 | 深圳市太赫兹系统设备有限公司 | Voice coil motor control method and system and controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111083347A (en) * | 2018-10-22 | 2020-04-28 | 杭州海康威视数字技术股份有限公司 | Lens drive control device, lens drive device and camera |
| CN111083347B (en) * | 2018-10-22 | 2021-04-20 | 杭州海康威视数字技术股份有限公司 | Lens drive control device, lens drive device and camera |
| CN112468024A (en) * | 2020-10-28 | 2021-03-09 | 深圳市兆威机电股份有限公司 | Motor jitter control method, control device, terminal equipment and storage medium |
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| CN106887990B (en) | 2019-04-23 |
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