CN110048658B - Voice coil motor control algorithm with short stabilization time, large damping coefficient, large period and high fault tolerance - Google Patents
Voice coil motor control algorithm with short stabilization time, large damping coefficient, large period and high fault tolerance Download PDFInfo
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- CN110048658B CN110048658B CN201910334496.9A CN201910334496A CN110048658B CN 110048658 B CN110048658 B CN 110048658B CN 201910334496 A CN201910334496 A CN 201910334496A CN 110048658 B CN110048658 B CN 110048658B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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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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Abstract
The invention relates to a voice coil motor control algorithm, which controls a voice coil motor to be stable within a time less than an intrinsic oscillation period T of the voice coil motor, and specifically comprises the following steps: s1, when the time is 0, controlling the voice coil motor to move by step 1; s2, when the time is T/6, controlling the voice coil motor to move by step 2; s3, when the time is 2T/6, controlling the voice coil motor to move by step 3; s4, when the time is 3T/6, controlling the voice coil motor to move by step 4; s5, when the time is 4T/6, controlling the voice coil motor to move by step 5; s6, when the time is 5T/6, controlling the voice coil motor to move by step 6; wherein, the moving distances step 1-step 6 of the voice coil motor in each step are related to the damping coefficient Ks of the voice coil motor. The invention has short stabilization time, large adaptive damping coefficient and high tolerance to the intrinsic oscillation period of the voice coil motor.
Description
Technical Field
The invention relates to a voice coil motor control algorithm which has the characteristics of short stabilization time, large adaptive damping coefficient and high tolerance to the intrinsic cycle of a motor, and belongs to the field of voice coil motor control and integrated circuit design.
Background
With the development of the mobile phone industry, the mobile phone photographing function needs to be more and more powerful. The photographing speed of the camera is an important index of mobile phone photographing. In the last years, the speed of mobile phone photographing is generally about 30 frames per second, and the speed is now developing to 60 frames per second or even higher. With the increase of the photographing speed of the mobile phone, the focusing speed of the camera of the mobile phone needs to be correspondingly increased. How to realize the quick stability of cell-phone camera is the problem that voice coil motor drive design needs to be solved.
In recent years, due to the optimized design and material selection of the voice coil motor, the damping coefficient of the voice coil motor is gradually increased. When the damping coefficient of the voice coil motor is increased to be non-negligible, the control algorithm needs to consider the influence generated by the damping coefficient, otherwise, the focusing effect of the control algorithm is influenced.
In the production of the vcm, in order to save the testing time, the parameters of the vcm in the same batch are generally obtained by counting a certain amount of samples, which includes the eigen-oscillation period of the vcm. The voice coil motor control algorithm is closely related to the intrinsic oscillation period of the voice coil motor, and when the intrinsic oscillation period of the voice coil motor deviates, the control effect of the control algorithm is gradually weakened. Therefore, the control algorithm needs to have a certain tolerance for the deviation of the eigen-oscillation period of the voice coil motor, thereby increasing the yield of the batch of voice coil motors. In addition, the eigen oscillation period of the voice coil motor is also deviated along with the time in the use process of the voice coil motor, and the high-tolerance control algorithm can enable the voice coil motor to be used for a longer time.
The three problems are compatible and considered, and the voice coil motor control algorithm provided by the invention has the advantages of short stabilization time, wide applicable damping coefficient range and high intrinsic oscillation period error tolerance, so that the defects and the limitations in the prior art are overcome.
Disclosure of Invention
The invention aims to provide a voice coil motor control algorithm which is short in stabilization time, large in adaptive damping coefficient and high in tolerance to the eigen-oscillation period of a voice coil motor.
In order to achieve the above object, the present invention provides a voice coil motor control algorithm for controlling a voice coil motor to be stable within a time period less than an eigen-oscillation period T of the voice coil motor, which specifically includes the following steps:
s1, when the time is 0, controlling the voice coil motor to move by step 1;
s2, when the time is T/6, controlling the voice coil motor to move by step 2;
s3, when the time is 2T/6, controlling the voice coil motor to move by step 3;
s4, when the time is 3T/6, controlling the voice coil motor to move by step 4;
s5, when the time is 4T/6, controlling the voice coil motor to move by step 5;
s6, when the time is 5T/6, controlling the voice coil motor to move by step 6;
wherein, the moving distances step 1-step 6 of the voice coil motor in each step are related to the damping coefficient Ks of the voice coil motor.
In S1, the optimal approximate calculation method for the voice coil motor moving distance step1 is:
where S denotes a target distance of the voice coil motor, and delta denotes a parameter related to the damping coefficient Ks.
In S2, the optimal approximate calculation method for the voice coil motor moving distance step2 is:
where S denotes a target distance of the voice coil motor, and delta denotes a parameter related to the damping coefficient Ks.
In S3, the optimal approximate calculation method for the voice coil motor moving distance step3 is:
where S denotes a target distance of the voice coil motor, and delta denotes a parameter related to the damping coefficient Ks.
In S4, the optimal approximate calculation method for the voice coil motor moving distance step4 is:
where S denotes a target distance of the voice coil motor, and delta denotes a parameter related to the damping coefficient Ks.
In S5, the optimal approximate calculation method for the voice coil motor moving distance step5 is:
where S denotes a target distance of the voice coil motor, and delta denotes a parameter related to the damping coefficient Ks.
In S6, the optimal approximate calculation method for the voice coil motor moving distance step6 is:
where S denotes a target distance of the voice coil motor, and delta denotes a parameter related to the damping coefficient Ks.
In summary, the voice coil motor control algorithm of the present invention has the advantages of short stabilization time, large adaptive damping coefficient, and high tolerance to the eigen-oscillation period of the voice coil motor, and the calculation process and the circuit design are simple.
Drawings
FIG. 1 is a waveform diagram of a voice coil motor control algorithm with short settling time, large damping coefficient, large period, and high fault tolerance in the present invention;
FIG. 2 is a schematic diagram showing the comparison of the effect of the voice coil motor control algorithm without considering the damping coefficient factor and the effect of the voice coil motor control algorithm with considering the damping coefficient factor in the present invention;
FIG. 3 is a diagram illustrating the tolerance of the voice coil motor control algorithm to the eigen-oscillation frequency of the voice coil motor according to the present invention;
FIG. 4 is a schematic diagram illustrating the effect of the voice coil motor control algorithm after optimizing the approximation.
Detailed Description
The technical contents, construction features, achieved objects and effects of the present invention will be described in detail by preferred embodiments with reference to fig. 1 to 4.
As shown in fig. 1, the voice coil motor control algorithm with short stabilization time, large damping coefficient, large period, high fault tolerance and high fault tolerance provided by the present invention comprises the following steps:
s1, when the time is 0, controlling the voice coil motor to move by step 1;
s2, when the time is T/6, controlling the voice coil motor to move by step 2; wherein T is the eigen-oscillation period of the voice coil motor;
s3, when the time is 2T/6, controlling the voice coil motor to move by step 3;
s4, when the time is 3T/6, controlling the voice coil motor to move by step 4;
s5, when the time is 4T/6, controlling the voice coil motor to move by step 5;
s6, when the time is 5T/6, controlling the voice coil motor to move by step 6; and controlling the voice coil motor to be stable in a time less than the intrinsic oscillation period T of the voice coil motor.
According to the waveform diagram shown in fig. 1, the abscissa represents time, and the ordinate represents the moving distance of the voice coil motor. As is apparent from FIG. 1, the control algorithm of the present invention controls the voice coil motor to stabilize at a time of 5T/6, wherein the stabilization time of 5T/6 is less than 1 eigen-oscillation period T of the voice coil motor.
However, the moving distances step1 to step6 of the voice coil motor in each step shown in fig. 1 are related to the damping coefficient Ks of the voice coil motor. If the target distance of the vcm is set to S, the moving distance of each step of the vcm having different damping coefficients Ks needs to be multiplied by a certain coefficient based on the target distance S.
As shown in table 1 below, the magnitude of the moving distance of the voice coil motor per step in the control algorithm of the present invention is shown. The 1 st column in table 1 is the magnitude of the damping coefficient Ks, which shows the specific value of the damping coefficient Ks within the range of 0 to 0.5; the 2 nd to 7 th rows are the coefficients based on the target distance S of the vcm with different damping coefficients Ks for each step, i.e. the ratio of each step of the vcm to the target distance S.
TABLE 1
The damping coefficient Ks listed in table 1 substantially covers the damping coefficient of most of the currently available voice coil motors. Of course, the range of the damping coefficient in table 1 can be further expanded according to actual requirements.
The results shown in fig. 2 can be obtained by controlling the voice coil motor having a damping coefficient Ks of 0.25 and an eigen oscillation period of 10ms, for example, based on the control algorithm shown by the waveform in fig. 1 and the coefficients of the target distance S for each step of the voice coil motor having different damping coefficients Ks given in table 1. Where the abscissa represents time, the ordinate represents displacement of the voice coil motor, and the upper graph in fig. 2 represents displacement of the voice coil motor when the damping coefficient factor is not considered, while the lower graph in fig. 2 represents actual displacement of the voice coil motor after considering coefficients based on the target distance S when the voice coil motor having different damping coefficients moves at every step. As can be seen by comparison, when the damping coefficient factor is not considered, the time for stabilizing the voice coil motor to the target value within +/-2% is 15.6 ms; and after the damping coefficient factor is considered, the time for stabilizing the voice coil motor to the range of +/-2% of the target value is 8ms, and the stabilizing time is reduced by half compared with the former.
Since the coefficients to be multiplied for each step of the moving distance after considering the damping coefficient Ks are given in table 1. However, considering further that the entire vcm algorithm has 6 steps, 6 sets of coefficients are needed, which correspond to columns 2 to 7 in table 1. The storage of these 6 coefficients requires a certain amount of memory resources. In addition, since the calculation of the moving distance in each step requires multiplication by a coefficient corresponding to the step, a multiplier is also required. For the multiplication processes in the 6 steps, the multiplication processes can be obtained by respectively using 6 multipliers to operate synchronously, and can also be obtained by time division multiplexing 6 times through 1 multiplier.
However, in the digital circuit, the area occupied by the multiplier is large, and therefore the total area occupied by using 6 multipliers respectively is basically unacceptable in the voice coil motor driving circuit. If 1 multiplier is selected to obtain the calculation result by time division multiplexing, the calculation speed of the multiplier is inherently slow, and the time required by 6 times of multiplication calculation is relatively long. Therefore, the control algorithm implemented by the multiplier has a very large limitation in the actual circuit implementation.
In order to further simplify the control algorithm of the invention, an optimized approximate calculation method of each step of the moving distance of the voice coil motor is given by the following method, specifically:
where S denotes a target distance and delta denotes a parameter related to the damping coefficient Ks.
Specifically, the correspondence relationship between delta and the damping coefficient Ks is shown in table 2 below, where the 1 st column indicates the magnitude of the damping coefficient Ks, and the 2 nd column indicates the magnitude of delta corresponding to different damping coefficients Ks.
TABLE 2
By the above-described optimized approximate calculation method, the voice coil motor having the damping coefficient Ks of 0.25 and the eigen-oscillation period of 10ms is controlled, for example, and the result shown in fig. 4 can be obtained. Where the abscissa represents time and the ordinate represents the displacement of the voice coil motor. As can be seen from fig. 4, the time for the voice coil motor to settle within ± 2% of the target value is 8ms, which is very close to the results before the optimization in fig. 2.
The correspondence between the time required to control the voice coil motor to stabilize within ± 2% of the target value and the damping coefficient Ks of different voice coil motors by the above-described optimized approximation calculation method is shown in table 3 below. Wherein, the 1 st column represents the magnitude of the damping coefficient Ks, and the 2 nd column represents the time required for the voice coil motor to stabilize to the target value ± 2% corresponding to different damping coefficients Ks. As can be seen from table 3, the present invention has good control effect after optimization and approximation.
Further, as shown in fig. 3, the jitter residual wave after the voice coil motor is controlled by the control algorithm when the frequency of the voice coil motor is deviated is shown. Wherein, the abscissa represents the proportion of the frequency of the motor deviating from an ideal value, and the ordinate represents the residual wave left after the motor is controlled by the algorithm. As can be seen from FIG. 3, when the residual wave of the VCM is less than 10%, the corresponding VCM frequency offset is 0.8-1.185, and the error tolerance of the VCM frequency deviation from the ideal value is-20% to + 18.5%, thereby indicating that the control algorithm of the present invention has a large tolerance to the VCM frequency deviation.
In summary, the voice coil motor control algorithm of the present invention has the advantages of short stabilization time, large adaptive damping coefficient, and high tolerance to the eigen-oscillation period of the voice coil motor, and the calculation process and the circuit design are simple.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (1)
1. A voice coil motor control algorithm is characterized in that the voice coil motor is controlled to be stable in a time less than the intrinsic oscillation period T of the voice coil motor, and the method comprises the following steps:
s1, when the time is 0, controlling the voice coil motor to move by step 1;
s2, when the time is T/6, controlling the voice coil motor to move by step 2;
s3, when the time is 2T/6, controlling the voice coil motor to move by step 3;
s4, when the time is 3T/6, controlling the voice coil motor to move by step 4;
s5, when the time is 4T/6, controlling the voice coil motor to move by step 5;
s6, when the time is 5T/6, controlling the voice coil motor to move by step 6;
wherein, the moving distances step 1-step 6 of the voice coil motor in each step are all related to the damping coefficient Ks of the voice coil motor;
in S1, the optimal calculation method for the voice coil motor moving distance step1 is as follows:
in S2, the optimal calculation method for the voice coil motor moving distance step2 is as follows:
in S3, the optimal calculation method for the voice coil motor moving distance step3 is as follows:
in S4, the optimal calculation method for the voice coil motor moving distance step4 is as follows:
in S5, the optimal calculation method for the voice coil motor moving distance step5 is as follows:
in S6, the optimal calculation method for the voice coil motor moving distance step6 is as follows:
where S denotes a target distance of the voice coil motor, and delta denotes a parameter related to the damping coefficient Ks.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH1031883A (en) * | 1996-07-18 | 1998-02-03 | Nitto Denko Corp | Damping material |
| US20150188476A1 (en) * | 2013-12-30 | 2015-07-02 | Samsung Electro-Mechanics Co., Ltd, | Motor driving apparatus and method, and voice coil motor system using the same |
| KR101548828B1 (en) * | 2013-12-30 | 2015-08-31 | 삼성전기주식회사 | Apparatus and method for motor driving control, and voice coil motor system using the same |
| CN104467612B (en) * | 2014-11-27 | 2017-08-25 | 矽力杰半导体技术(杭州)有限公司 | A kind of voice coil motor control method and lens focusing system |
| CN104880964B (en) * | 2015-01-27 | 2017-07-28 | 聚辰半导体(上海)有限公司 | The reshaping signal control method of high clock cycle serious forgiveness |
| CN105785820B (en) * | 2016-03-28 | 2018-07-13 | 聚辰半导体(上海)有限公司 | The reshaping signal control method of camera voice coil motor actuator |
| CN105824097A (en) * | 2016-03-28 | 2016-08-03 | 聚辰半导体(上海)有限公司 | Linear control method of actuator in voice coil motor driver |
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