CN107994836A - The control method and system of a kind of voice coil motor - Google Patents
The control method and system of a kind of voice coil motor Download PDFInfo
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- CN107994836A CN107994836A CN201711423561.2A CN201711423561A CN107994836A CN 107994836 A CN107994836 A CN 107994836A CN 201711423561 A CN201711423561 A CN 201711423561A CN 107994836 A CN107994836 A CN 107994836A
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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 Electric Motors In General (AREA)
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Abstract
The invention discloses the control method and system of a kind of voice coil motor, including receive preset position information and the predetermined current information determined according to default effect force information；According to preset position information by position closed loop and the driving voice coil motor of the current closed-loop based on high current gain reaches given position, wherein, high current gain is the gain in the range of the first preset gain value to the second preset gain value；The electric current of voice coil motor is obtained, and judges whether electric current is more than predetermined current threshold；If, specified active force is then reached by the active force that the current closed-loop based on low current gain drives voice coil motor to be formed according to predetermined current information, wherein, low current gain is the gain in the range of the first preset gain value to the 3rd preset gain value, and the second preset gain value is less than the 3rd preset gain value.The present invention can meet the different requirements in position control stage and power control stage at the same time, voice coil motor is completed the technique of complexity, widened the application range of voice coil motor significantly.
Description
Technical field
The present invention relates to automatic control technology field, more particularly to the control method and system of a kind of voice coil motor.
Background technology
With the continuous progress and development of scientific and technological industry, the iteration speed of new product is getting faster, to the high speed of production equipment
High-precision requirement is more and more harsh, and voice coil motor has simple in structure, small, light-weight, high speed, high acceleration, high-precision
The excellent properties such as (directly driving) and fast response time are spent, while the advantages that with long lifespan and high motion frequency, therefore
Application in high speed and super precision equipment is more and more extensive.
Due to being required for that voice coil motor is controlled into row position control and power in many operating modes, will be related in these operating modes
Position control and the switching of power control, power of ascending the throne switching, when most voice coil motor power in place switches now, driver is all
Using identical gain mode, this control strategy can be used in the case where not requiring the operating mode of contact generally, but if requiring tight
Under the tactile working condition of contiguity, this mode can not take into account quick location following ability and the control of fine power, thus can not
The competent operating mode being in close contact, which greatly limits the application field of voice coil motor.
Therefore, how a kind of scheme that can solve above-mentioned technical problem is provided, is that those skilled in the art needs at present
Solve the problems, such as.
The content of the invention
The object of the present invention is to provide a kind of control method of voice coil motor, can meet position control stage and power at the same time
The different requirements in control stage, allow voice coil motor to complete the technique of complexity, have widened the application range of voice coil motor significantly.
It is a further object of the present invention to provide a kind of control system of voice coil motor, has above-mentioned beneficial effect.
In order to solve the above technical problems, the present invention provides a kind of control method of voice coil motor, including：
Receive preset position information and the predetermined current information determined according to default effect force information；
According to the preset position information by position closed loop and the current closed-loop based on high current gain drives the sound
Enclose motor and reach given position, wherein, the high current gain is in the range of the first preset gain value to the second preset gain value
Gain；
The electric current of the voice coil motor is obtained, and judges whether the electric current is more than predetermined current threshold；
If so, the voice coil loudspeaker voice coil electricity is then driven by the current closed-loop based on low current gain according to the predetermined current information
The active force that machine is formed reaches specified active force, wherein, the low current gain is pre- to the 3rd for the first preset gain value
If the gain in the range of yield value, the second preset gain value is less than the 3rd preset gain value.
Preferably, driven described according to the preset position information by position closed loop and the current closed-loop of high current gain
Before the dynamic voice coil motor reaches given position, which further includes：
The pre-set velocity information determined according to the preset position information, passes through voice coil motor described in velocity close-loop control
Speed reaches command speed, so that the voice coil motor reaches the given position with the command speed.
Preferably, it is described to judge the electric current whether more than default after the electric current for obtaining the voice coil motor
Before current threshold, which further includes：
Processing is filtered to the electric current.
Preferably, it is described processing is filtered to the electric current process be specially：
Least square method filtering process is carried out to the electric current.
Preferably, when the voice coil motor does not reach given position, in the position closed loop, according to the default position
Confidence breath carries out position-force control using dynamic proportion-Integrated Derivative pid parameter to the voice coil motor；
When the voice coil motor reaches given position, in the position closed loop, adopted according to the preset position information
Position-force control is carried out to the voice coil motor with static pid parameter.
Preferably, which further includes：
Subsequent closed loop is carried out again after the position that the voice coil motor in the position closed loop is fed back is filtered processing
Control.
Preferably, which further includes：
Subsequent closed loop is carried out again after the speed that the voice coil motor in the speed closed loop is fed back is filtered processing
Control.
In order to solve the above technical problems, present invention also offers a kind of control system of voice coil motor, including：
Receiving module, for the predetermined current information for receiving preset position information and being determined according to default effect force information；
Position control module, for according to the preset position information by position closed loop and the electricity based on high current gain
Flow voice coil motor described in close-loop driven and reach given position, wherein, the high current gain is the first preset gain value to second
Gain in the range of preset gain value；
Current detection module, for obtaining the electric current of the voice coil motor and being sent to a power switching judging module；
Institute's rheme power switching judging module, for judging whether the electric current is more than predetermined current threshold, if so, then triggering
Power control module；
The power control module, for being driven according to the predetermined current information by the current closed-loop based on low current gain
The active force that the dynamic voice coil motor is formed reaches specified active force, wherein, the low current gain is the described first default increasing
Benefit value is less than the 3rd preset gain value to the gain in the range of the 3rd preset gain value, the second preset gain value.
Preferably, which further includes speed ring controller module；
The speed ring controller module is used for the pre-set velocity information determined according to preset position information, is closed by speed
Ring controls the speed of the voice coil motor to reach command speed, so as to the voice coil motor with the command speed reach described in give
Positioning is put；
Then the receiving module is additionally operable to receive the pre-set velocity information determined according to the preset position information.
Preferably, which further includes current feedback filter module；
The current feedback filter module is used to the electric current being filtered processing, so as to institute's rheme power switching judging mould
Root tuber judges whether to a power according to the electric current and switches.
The present invention provides a kind of control method of voice coil motor, control method provided by the invention controls the stage in position
Given position is reached using position closed loop and the current closed-loop of high current gain driving voice coil motor, then according to voice coil motor
Electric current judges whether to a power switching, when being switched to power control, using the current closed-loop driving voice coil loudspeaker voice coil electricity of low current gain
The active force that machine is formed reaches specified active force, so that power control is completed, since the second preset gain value is pre- less than the described 3rd
If yield value, illustrate high current gain gain ranging be less than low current gain gain ranging, and position control the stage and
The power control stage uses same voice coil motor, the maximum current of voice coil motor be it is equal, the gain ranging of electric current equivalent to
The minimum current of voice coil motor and the scope of maximum current, the gain ranging of electric current is bigger, drives the curent change of voice coil motor
Slower, more accurate, the gain ranging of electric current is smaller, drives the curent change of voice coil motor faster, it is seen then that the position control stage adopts
It can ensure that voice coil motor rapidly reaches given position with high current gain, and the power control stage uses low current gain can be with
Ensure the fine and accurate requirement that different technique controls power, this control mode can meet that position controls the stage at the same time
It is different with the power control stage to require, voice coil motor is completed the technique of complexity, widen the application of voice coil motor significantly
Scope.
Present invention also offers a kind of control system of voice coil motor, has with the control method of above-mentioned voice coil motor identical
Beneficial effect.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow diagram of the control method of voice coil motor provided by the present invention；
Fig. 2 is a kind of structure diagram of the control system of voice coil motor provided by the present invention.
Embodiment
The core of the present invention is to provide a kind of control method of voice coil motor, can meet position control stage and power at the same time
The different requirements in control stage, allow voice coil motor to complete the technique of complexity, have widened the application range of voice coil motor significantly.
Another core of the present invention is to provide a kind of control system of voice coil motor, has above-mentioned beneficial effect.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work, belong to the scope of protection of the invention.
Please refer to Fig.1, Fig. 1 is a kind of flow diagram of the control method of voice coil motor provided by the present invention, the party
Method includes：
Step S11：Receive preset position information and the predetermined current information determined according to default effect force information；
Specifically, voice coil motor has two kinds of operating modes in practical work process, and one kind is position control mode, in addition
One kind is force control mode, corresponds to different process requirements respectively.Two nested serials control rings are included at least in the control of position
Road, i.e. position closed loop and current closed-loop, force control mode include a control loop, i.e. current closed-loop.That is, position is controlled
Stage processed is to realize that voice coil motor reaches given position by position closed loop and current closed-loop, and the power control stage only passes through electric current
Closed loop come realize voice coil motor produce active force reach specified active force.Preferable position is cooked up according to default positional information
Curve is put, realizes that the securing position of voice coil motor gives, acts on the electric current of force information and voice coil motor there are one-to-one relationship,
Complicated force curve can be completed previously according to effect force information to plan, with ensure power contact phase, power control stage multistage,
The power release stage can smoothly transition, the power size in its each power control stage, power duration can adjust, and can meet power
The complex processing requirements in control stage, then correspond to obtain predetermined current information according to force curve, it is possible to achieve power controls the stage
Electric current loop it is given.
Step S12：According to preset position information by position closed loop and the current closed-loop based on high current gain driving sound
Enclose motor and reach given position, wherein, high current gain is the increasing in the range of the first preset gain value to the second preset gain value
Benefit；
Specifically, the stage is controlled for position, current closed-loop selects high current gain, i.e. the scale parameter of current closed-loop is adopted
With high current gain, high current gain here is the amplification factor to analog signal, and the gain ranging of high current gain is smaller,
The current range that namely voice coil motor can be born is corresponded with gain ranging, when gain ranging is smaller, same
The corresponding curent change of change in gain is larger, and the velocity variations that this results in position control stage voice coil motor are very fast, and response is fast,
Realize quick location following ability and good dynamic characteristic.
It should be noted that the first preset gain value and the second preset gain value here is pre-set, it is root
What the current range and desired gain ranging that can be born according to voice coil motor obtained, it need to only set once, unless needed for modification
Gain ranging, otherwise need not reset.
Step S13：Obtain the electric current of voice coil motor；
Specifically, when voice coil motor reaches given position, due to touching the body surface in technique, voice coil motor is just
Situations such as stall can occur, causes the electric current of voice coil motor quickly to raise, and the present invention passes through the reality of the voice coil motor fed back
The condition that electric current switches as position power, and be that the active force detected by force snesor is used as what position power switched in the prior art
Condition, the present invention are switched by detecting the electric current of voice coil motor to complete a power, and position power switching has also been reached without force snesor
Purpose, it is more reliable by way of the electric current of voice coil motor realizes the switching of position power, also simplify the hardware configuration of control system.
Furthermore, it is possible to the electric current of voice coil motor is obtained by Hall current sensor, and can also by other means, the present invention is herein not
Limit.
Step S14：Judge whether electric current is more than predetermined current threshold；If so, then enter step S15；
Step S15：Voice coil motor is driven to be formed by the current closed-loop based on low current gain according to predetermined current information
Active force reach specified active force, wherein, low current gain is in the range of the first preset gain value to the 3rd preset gain value
Gain, the second preset gain value is less than the 3rd preset gain value.
Specifically, when voice coil motor reaches given position, situations such as stall will occur for voice coil motor, causes voice coil motor
Electric current quickly raise, when the electric current of voice coil motor is higher than predetermined current threshold, illustrate voice coil motor entrance power control rank
Section into line position power, it is necessary to switch, and when voice coil motor is in the power control stage, current closed-loop selects low current gain, i.e. electric current
The scale parameter of closed loop uses low current gain, and low current gain here is the amplification factor to analog signal, and low current increases
The gain ranging of benefit is larger, and the corresponding curent change of same change in gain is smaller, this results in power control stage voice coil motor
Velocity variations it is relatively slow, can so realize the more precise controlling in power control stage, make voice coil motor can be with the power control stage
Complete complicated technological requirement.As it can be seen that the present invention is to employ two kinds of gain modes, i.e. high current gain and low current gain,
Voice coil motor is driven, using this novel driving strategy, two kinds of control stages different performance requirement can be strengthened respectively, it is not necessary to
In order to yield to each other, and the compromise of compromise is made, two kinds of control stages can reach on the whole optimal.
The present invention provides a kind of control method of voice coil motor, control method provided by the invention controls the stage in position
Given position is reached using position closed loop and the current closed-loop of high current gain driving voice coil motor, then according to voice coil motor
Electric current judges whether to a power switching, when being switched to power control, using the current closed-loop driving voice coil loudspeaker voice coil electricity of low current gain
The active force that machine is formed reaches specified active force, so that power control is completed, since the second preset gain value is less than the 3rd default increasing
Benefit value, illustrates that the gain ranging of high current gain is less than the gain ranging of low current gain, and controls stage and power control in position
Stage processed uses same voice coil motor, and the maximum current of voice coil motor is equal, and the gain ranging of electric current is equivalent to voice coil loudspeaker voice coil
The minimum current of motor and the scope of maximum current, the gain ranging of electric current is bigger, drive the curent change of voice coil motor it is slower,
More accurate, the gain ranging of electric current is smaller, drives the curent change of voice coil motor faster, it is seen then that the position control stage is using high
Current gain can ensure that voice coil motor rapidly reaches given position, and the power control stage can be ensured using low current gain
The fine and accurate requirement that different technique controls power, this control mode can meet position control stage and power at the same time
The different requirements in control stage, allow voice coil motor to complete the technique of complexity, have widened the application range of voice coil motor significantly.
On the basis of above-described embodiment：
As a kind of preferred embodiment, position closed loop and the electric current of high current gain are being passed through according to preset position information
Before close-loop driven voice coil motor reaches given position, which further includes：
The pre-set velocity information determined according to preset position information, is reached by the speed of velocity close-loop control voice coil motor
Command speed, so that voice coil motor reaches given position with command speed.
Specifically, it is contemplated that the change of position control stage current is bigger, it is likely that causes voice coil motor velocity to fluctuate
Larger, in order to make voice coil motor smoothly reach given position, can gather way closed loop in the position control stage, ensure speed
Accurate follow-up capability.By the position curve that preset position information obtains to can be obtained by pre-set velocity letter after time diffusion
Breath, then steadily reaches given position, certain speed closed loop by the speed of velocity close-loop control voice coil motor with command speed
Control can be controlled using proportional-integral-differential pid parameter, can also use proportional, integral PI state modulators, this hair
It is bright not limit herein.
As a kind of preferred embodiment, after the electric current of voice coil motor is obtained, judge whether electric current is more than default electricity
Before flowing threshold value, which further includes：
Processing is filtered to electric current.
Specifically, the electric current of the voice coil motor to feeding back is filtered processing, can eliminate current noise, make detection
Current information more accurately and reliably, by filtering process, can anti-stop bit power switching erroneous judgement, make the switching of voice coil motor
It is more reliable, enhance the antijamming capability of voice coil motor position power switching.
As a kind of preferred embodiment, the process that processing is filtered to electric current is specially：
Least square method filtering process is carried out to electric current.
Specifically, processing is filtered to the voice coil motor electric current fed back using least square method filtering algorithm, can
To eliminate current noise, make the current information of feedback more reliable and more stable, the erroneous judgement of anti-stop bit power switching, and least square method
The calculation amount of filtering algorithm is small, it is ensured that controls the real-time of process.It should be noted that calculated except least square method filters
Outside method, other filtering methods can also be used, the present invention is not particularly limited herein.
As a kind of preferred embodiment, when voice coil motor does not reach given position, in position closed loop, according to default
Positional information carries out position-force control using dynamic proportion-Integrated Derivative pid parameter to voice coil motor；
When voice coil motor reaches given position, in position closed loop, according to preset position information using static pid parameter
Position-force control is carried out to voice coil motor.
Specifically, the stage is controlled in position, in addition to the gain of current closed-loop uses high current gain, position closed loop can be with
Error free position tracking is carried out using dynamic PID parameter and two groups of parameters of static pid parameter, that is to say, that in voice coil loudspeaker voice coil electricity
When machine does not reach given position, the speed of voice coil motor is not 0, and the control to voice coil motor is dynamic control process, is at this moment adopted
With dynamic PID parameter, when voice coil motor reaches given position, the speed for controlling voice coil motor is 0, at this moment controls voice coil motor
It is static cost control process in the control process that given position stops, it is different by setting at this moment using static pid parameter
Pid parameter, can meet the performance requirement of different phase so that control is more targeted, also more accurate, improves controlling
Energy.
It should be noted that except two groups of pid parameters can be used to be controlled, other closed-loop control sides can also be used
Formula, the present invention do not limit herein.
As a kind of preferred embodiment, which further includes：
Subsequent closed loop control is carried out again after the position that voice coil motor in position closed loop is fed back is filtered processing.
Specifically, the real-time position signal that voice coil motor actual feedback is returned is filtered processing, feedback can be eliminated
During some nonlinear waves, such as vibrations of the encoder of detection voice coil motor position, to whole kinetic control system
Influence, ensure the stability of whole control loop, enhance the stationarity and accuracy of control process.Certainly, specifically using assorted
Mode, which is filtered, to be selected according to actual conditions, and the present invention does not limit herein.
As a kind of preferred embodiment, which further includes：
Subsequent closed loop control is carried out again after the speed that voice coil motor in speed closed loop is fed back is filtered processing.
Specifically, the speed signal that voice coil motor actual feedback is returned is filtered processing, feedback procedure can be eliminated
In some nonlinear waves, such as detection voice coil motor velocity encoder vibrations, the influence to whole kinetic control system,
Enhance the stationarity and accuracy of control process.Certainly, being specifically filtered using what mode can be according to actual conditions
To select, the present invention does not limit herein.
Please referring to Fig.2, Fig. 2 is a kind of structure diagram of the control system of voice coil motor provided by the present invention, including：
Receiving module 1, for the predetermined current information for receiving preset position information and being determined according to default effect force information；
Position control module 2, for according to preset position information by position closed loop and the electric current based on high current gain
Close-loop driven voice coil motor reaches given position, wherein, high current gain is the first preset gain value to the second preset gain value
In the range of gain；
Current detection module 3, for obtaining the electric current of voice coil motor and being sent to a power switching judging module 4；
Position power switching judging module 4, for judging whether electric current is more than predetermined current threshold, if so, then trigger force controls
Module 5；
Power control module 5, for driving voice coil loudspeaker voice coil by the current closed-loop based on low current gain according to predetermined current information
The active force that motor is formed reaches specified active force, wherein, low current gain is the first preset gain value to the 3rd preset gain
Gain in the range of value, the second preset gain value are less than the 3rd preset gain value.
As a kind of preferred embodiment, which further includes speed ring controller module；
Speed ring controller module is used for the pre-set velocity information determined according to preset position information, passes through speed closed loop control
The speed of voice coil motor processed reaches command speed, so that voice coil motor reaches given position with command speed；
Then receiving module 1 is additionally operable to receive the pre-set velocity information determined according to preset position information.
As a kind of preferred embodiment, which further includes current feedback filter module；
Current feedback filter module is used to electric current being filtered processing, so that position power switching judging module 4 is according to electric current
Judge whether to a power switching.
Introduction for the control system of voice coil motor provided by the invention refer to above method embodiment, and the present invention exists
This is repeated no more.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, wanted by what sentence " including one " limited
Element, it is not excluded that also there are other identical element in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (10)
- A kind of 1. control method of voice coil motor, it is characterised in that including：Receive preset position information and the predetermined current information determined according to default effect force information；According to the preset position information by position closed loop and the current closed-loop based on high current gain drives voice coil loudspeaker voice coil electricity Machine reaches given position, wherein, the high current gain is the increasing in the range of the first preset gain value to the second preset gain value Benefit；The electric current of the voice coil motor is obtained, and judges whether the electric current is more than predetermined current threshold；If so, the voice coil motor shape is then driven by the current closed-loop based on low current gain according to the predetermined current information Into active force reach specified active force, wherein, the low current gain default increases for the first preset gain value to the 3rd Gain in the range of benefit value, the second preset gain value are less than the 3rd preset gain value.
- 2. control method according to claim 1, it is characterised in that position is passed through according to the preset position information described Before putting the current closed-loop driving voice coil motor arrival given position of closed loop and high current gain, which also wraps Include：The pre-set velocity information determined according to the preset position information, passes through the speed of voice coil motor described in velocity close-loop control Reach command speed, so that the voice coil motor reaches the given position with the command speed.
- 3. according to claim 1-2 any one of them control methods, it is characterised in that in the acquisition voice coil motor After electric current, described to judge whether the electric current is more than before predetermined current threshold, which further includes：Processing is filtered to the electric current.
- 4. control method according to claim 3, it is characterised in that the process that processing is filtered to the electric current Specially：Least square method filtering process is carried out to the electric current.
- 5. control method according to claim 4, it is characterised in that when the voice coil motor does not reach given position, In the position closed loop, according to the preset position information using dynamic proportion-Integrated Derivative pid parameter to the voice coil loudspeaker voice coil Motor carries out position-force control；When the voice coil motor reaches given position, in the position closed loop, according to the preset position information using quiet State pid parameter carries out position-force control to the voice coil motor.
- 6. control method according to claim 5, it is characterised in that further include：Subsequent closed loop control is carried out again after the position that the voice coil motor in the position closed loop is fed back is filtered processing.
- 7. control method according to claim 2, it is characterised in that further include：Subsequent closed loop control is carried out again after the speed that the voice coil motor in the speed closed loop is fed back is filtered processing.
- A kind of 8. control system of voice coil motor, it is characterised in that including：Receiving module, for the predetermined current information for receiving preset position information and being determined according to default effect force information；Position control module, for being closed according to the preset position information by position closed loop with the electric current based on high current gain Ring drives the voice coil motor to reach given position, wherein, the high current gain is default to second for the first preset gain value Gain in the range of yield value；Current detection module, for obtaining the electric current of the voice coil motor and being sent to a power switching judging module；Institute's rheme power switching judging module, for judging whether the electric current is more than predetermined current threshold, if so, then trigger force control Molding block；The power control module, for driving institute by the current closed-loop based on low current gain according to the predetermined current information The active force for stating voice coil motor formation reaches specified active force, wherein, the low current gain is the first preset gain value Gain in the range of the 3rd preset gain value, the second preset gain value are less than the 3rd preset gain value.
- 9. control system according to claim 8, it is characterised in that the control system further includes speed ring controller mould Block；The speed ring controller module is used for the pre-set velocity information determined according to preset position information, passes through speed closed loop control The speed for making the voice coil motor reaches command speed, so that the voice coil motor is described to positioning with command speed arrival Put；Then the receiving module is additionally operable to receive the pre-set velocity information determined according to the preset position information.
- 10. control system according to claim 9, it is characterised in that the control system further includes current feedback filtering mould Block；The current feedback filter module is used to the electric current being filtered processing, so as to institute's rheme power switching judging module root A power switching is judged whether to according to the electric current.
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| CN201711423561.2A CN107994836B (en) | 2017-12-25 | 2017-12-25 | Control method and system of voice coil motor |
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| CN201711423561.2A CN107994836B (en) | 2017-12-25 | 2017-12-25 | Control method and system of voice coil motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111478631A (en) * | 2020-05-25 | 2020-07-31 | 南京工程学院 | Voice coil motor control system and control method for chip mounter |
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| CN107994836B (en) | 2020-11-10 |
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