CN111880283A - Control system of zoom optical system - Google Patents
Control system of zoom optical system Download PDFInfo
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- CN111880283A CN111880283A CN202010854814.7A CN202010854814A CN111880283A CN 111880283 A CN111880283 A CN 111880283A CN 202010854814 A CN202010854814 A CN 202010854814A CN 111880283 A CN111880283 A CN 111880283A
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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
- G02B7/28—Systems for automatic generation of focusing signals
- G02B7/282—Autofocusing of zoom lenses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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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
- G02B7/28—Systems for automatic generation of focusing signals
- G02B7/285—Systems for automatic generation of focusing signals including two or more different focus detection devices, e.g. both an active and a passive focus detecting device
Abstract
The invention relates to a control system of a zoom optical system, a focusing cam mechanism and a zoom cam mechanism of the system are arranged in front of and behind a flange on a hollow cylinder of a main lens cone; the focusing reading head sensor and the zooming reading head sensor are fixed on the front side and the rear side of the flange; a focusing encoder tape and a zooming encoder tape are respectively embedded on the focusing cam mechanism and the zooming cam mechanism; the outputs of the two reading head sensors are connected with a control unit; and the control unit performs closed-loop control on the focusing motor and the zooming motor according to the current position value of the focusing motor acquired by the focusing reading head sensor and the current position value of the zooming motor acquired by the zooming reading head sensor, so as to realize focusing and zooming of the optical system. The invention can realize automatic focusing and continuous zooming, ensure the rapidity, stability and accuracy of focusing and zooming and output the focusing position and the zooming position in real time.
Description
Technical Field
The invention belongs to the technical field of visible light zoom lens control, and relates to a control system of a zoom optical system.
Background
With the development of modern optical technology and the continuous expansion and deepening of people in the production practice field, the zoom optical lens is widely concerned and used. The mechanical compensation type zoom optical system generally comprises a front focusing group, a zooming/compensating group, a rear fixing group, a sensor assembly, a driving assembly and the like.
The traditional design is indirect measurement, a precision potentiometer is adopted and rotates along with a cam mechanism under the transmission of a gear, the potentiometer outputs different voltages along with the change of the rotation angle of the cam mechanism, and the corresponding relation between the output voltage value and the output focal length value of the precision potentiometer can be obtained through calculation. The voltage value is converted to obtain the focal length value of the system, so that the purpose of outputting the focal length value of the zoom lens is achieved. However, this method has the drawback that the returned data is affected by the backlash of the structural gear, the error is relatively large and cannot be eliminated, the precision of the focusing and zooming positions of the zoom optical lens is affected, and the output precision of the focal length value reported by zooming is also affected.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a control system of a zoom optical system, which replaces the original indirect measurement mode with a direct measurement mode, thereby improving the focusing and zooming output precision of the zoom optical lens.
In order to solve the above problems, the control system of the zoom optical system of the present invention includes a focusing cam mechanism, a focusing reading head sensor, a focusing motor, a main barrel, a zoom motor, a zoom reading head sensor, a zoom cam mechanism, and a control unit; the main lens barrel is formed by a front end mounting flange and a hollow cylinder which are integrally connected; the focusing cam mechanism and the zooming cam mechanism are arranged on the hollow cylinder of the main lens barrel and are respectively positioned in front of and behind the flange; the focusing reading head sensor and the zooming reading head sensor are fixed on the flange and are respectively positioned on the front side and the rear side of the flange; a focusing encoder tape is embedded in a position, corresponding to the focusing reading head sensor, of the focusing cam mechanism, and a zooming encoder tape is embedded in a position, corresponding to the zooming reading head sensor, of the zooming cam mechanism; the outputs of the focusing reading head sensor and the zooming reading head sensor are connected with the control unit; the focusing motor is fixed on the front side of the flange, a focusing motor gear is fixed on a motor shaft of the focusing motor, and the focusing motor gear is meshed with a gear on the focusing cam mechanism; the zooming motor is fixed at the rear side of the flange, a zooming motor gear is fixed on a motor shaft of the zooming motor, and the zooming motor gear is meshed with a gear on the zooming cam mechanism 7; and the control unit performs closed-loop control on the focusing motor and the zooming motor according to the current position value of the focusing motor acquired by the focusing reading head sensor and the current position value of the zooming motor acquired by the zooming reading head sensor, so as to realize focusing and zooming of the optical system.
The focusing reading head sensor and the zooming reading head sensor adopt reading head sensors of a high-speed tape type encoder; correspondingly, the focusing encoder tape and the zooming encoder tape adopt the tape of a high-speed tape type encoder.
The distance t between the focusing reading head sensor and the focusing encoder tapeRBetween 0.6mm and 0.8mm, and the tangential inclination angle theta between the twoPWithin + -3 DEG, the radial direction is inclined with respect to the center by an angle thetaRWithin + -3 DEG, the relative center inclination angle theta of the vertical radial directionYWithin + -1 DEG, a central deviation tLWithin + -1 mm.
The focusing encoder tape is attached to the surface of the focusing cam mechanism through the fixing pressing sheets with two symmetrical ends.
The distance t between the variable-magnification reading head sensor and the variable-magnification encoder tapeRBetween 0.6mm and 0.8mm, and the tangential inclination angle theta between the twoPWithin + -3 DEG, the radial direction is inclined with respect to the center by an angle thetaRWithin + -3 DEG, the relative center inclination angle theta of the vertical radial directionYWithin + -1 DEG, a central deviation tLWithin + -1 mm.
The variable-magnification encoder tape is attached to the surface of the variable-magnification cam mechanism through the fixed pressing sheets with two symmetrical ends.
The method for realizing the focusing control of the zoom optical system by the control unit comprises the following steps:
when the difference between the target position set value R and the current position value B is more than 2 degrees, the linear region is called, and when the difference is less than 2 degrees, the nonlinear region is called; controlling a focusing motor in a linear region to respond to a target position setting value R at a gradually accelerated speed, and eliminating an error between a current position value B and the target position setting value R by adopting the following closed-loop control method after the focusing motor reaches a nonlinear region:
inputting a difference value between a current position value B of a focusing motor acquired by a focusing reading head sensor and a current target position setting value R into a position controller, and calculating by the position controller to obtain a given speed W1; the encoder data difference unit carries out difference operation on the current position value B and the position value between the previous 10ms to obtain a difference speed W2, the difference value between the given speed W1 and the difference speed W2 passes through the speed ring controller, and the current given quantity V1 is obtained through calculation of the speed ring controller; and the difference value between the current given value V1 and the focusing motor current measured value V2 acquired by the current sensor passes through the current loop controller, and the current loop controller processes the difference value to obtain the focusing motor current control value.
When the current measurement value V2 of the focusing motor acquired by the current sensor is larger than the set current threshold value, the braking of the focusing motor is controlled by setting the given current control value to be 0.
The position controller adopts a first-order lead-lag algorithm, and a lead-lag correction transfer function Ds(S) is:
wherein K1、K2、K3Is the position loop gain factor; s is a Laplace operator;
the speed loop controller adopts PI correction algorithm, and PI corrects transfer function Dv(S) is:
KP、KIis the velocity loop gain factor; s is a Laplace operator;
the current loop controller adopts a PI series correction algorithm, and the PI series correction transfer function is as follows:
k is a current loop gain coefficient, and S is a Laplace operator;
l is the self-inductance coefficient of the armature of the focusing motor, and R is the resistance of the armature of the focusing motor.
The method for realizing the zoom control of the zoom optical system by the control unit is the same as the focusing control method.
The position loop gain coefficient, the speed loop gain coefficient and the current loop gain coefficient are obtained through debugging, and the position loop, the speed loop and the current loop are debugged according to the sequence from inside to outside, namely, the current loop is debugged first, then the speed loop is debugged, finally the position loop is debugged, and the position loop gain coefficient, the speed loop gain coefficient and the current loop gain coefficient are set one by one.
The invention can realize automatic focusing and continuous zooming, ensure the rapidity, stability and accuracy of focusing and zooming and output the focusing position and the zooming position in real time.
The invention adopts a direct measurement mode to directly send the position information of focusing and zooming to the control unit, and the control unit analyzes and feeds back by using the directly collected information, thereby avoiding the influence of the backlash of the structural gear and the backlash of the motor and improving the control and feedback precision. If direct measurement is needed, the sensor is directly designed into a whole with the optical lens cone instead of driving the sensor through a structural gear, so that a high-speed tape type encoder is introduced to replace a traditional potentiometer, a tape type encoder tape is respectively embedded on a focusing cam mechanism and a zooming cam mechanism, the corner data of the cam mechanism is directly read through a sensor reading head fixed on a main lens cone, a gear transmission link is omitted, errors caused by gear backlash to the system are avoided, more accurate corner data can be obtained, and the focusing and zooming precision is improved.
The invention has the beneficial effects that: compared with the existing indirect measuring method based on a potentiometer, the direct measurement is realized by using the high-speed tape type encoder, the tape is tightly attached to the cam mechanism, the structural arrangement is more favorable, the influence of gear backlash is not limited, and the uploading precision and the output precision are higher.
Utilize the speed ring, introduce current loop control in the time of position ring, can solve motor stalling time overlength, lead to the problem that the motor burns out, normally, it is spacing that the electricity on both sides is only gathered to the control camera lens, perhaps the motor just brakes that targets in place, other positions are all through position and speed loop control, and during if the tightening appears, the jamming, do not judge under the condition of electric current, can continue closed-loop control, thereby lead to the phenomenon that the motor burns out because of the electric current is bigger and bigger, and real-time detection electric current can make the camera lens more even, in case the processing that the stalling also can be fine appears.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a diagram showing the basic structure of the present invention.
FIGS. 2a-2e are schematic diagrams of the mounting requirements of a high speed tape encoder.
Fig. 3 is a block diagram of the closed loop control operation of the present invention.
Fig. 4 is a step response of the principle of fig. 3.
Fig. 5 is a comparison of a focus output accuracy curve in the form of a potentiometer with a focus output accuracy curve in the manner provided by the present invention.
In the figure: 1. the system comprises a focusing cam mechanism, 2, a focusing reading head sensor, 21, a focusing encoder tape, 3, a focusing motor, 4, a main lens barrel, 41, a flange, 42, a hollow cylinder, 5, a zooming motor, 6, a zooming reading head sensor, 61, a zooming encoder tape, 7, a zooming cam mechanism and 8, a control unit, wherein the focusing cam mechanism is arranged on the focusing cam mechanism;
the specific implementation mode is as follows:
as shown in fig. 1, the zoom optical system magnification-varying control system of the present invention includes a focusing cam mechanism 1, a focusing reading head sensor 2, a focusing motor 3, a main barrel 4, a magnification-varying motor 5, a magnification-varying reading head sensor 6, a magnification-varying cam mechanism 7, and a control unit 8.
The main lens barrel 4 is composed of a front end mounting flange 41 and a hollow cylinder 42 which are integrally connected; the focusing cam mechanism 1 and the zooming cam mechanism 7 are arranged on the hollow cylinder 42 of the main lens barrel 4 and are respectively positioned in front of and behind the flange 41; the focusing reading head sensor 2 and the zooming reading head sensor 6 are reading head sensors of a high-speed tape type encoder, are fixed on the flange 41 and are respectively positioned at the front side and the rear side of the flange 41.
A focusing encoder tape 21 is embedded in a position, corresponding to the focusing reading head sensor 2, of the focusing cam mechanism 1, and the focusing encoder tape 21 is attached to the surface of the focusing cam mechanism 1 through fixing pressing sheets 22 with two symmetrical ends. As shown in FIGS. 2a-2e, the spacing t of the focus read head sensor 2 from the focus encoder tape 21RBetween 0.6mm and 0.8mm, and the tangential inclination angle theta between the twoPWithin + -3 DEG, the radial direction is inclined with respect to the center by an angle thetaRWithin + -3 DEG, the relative center inclination angle theta of the vertical radial directionYWithin + -1 DEG, a central deviation tLWithin + -1 mm.
A zoom encoder tape 61 is embedded in the position, corresponding to the zoom reading head sensor 6, of the zoom cam mechanism 7, and the zoom encoder tape 61 is attached to the surface of the zoom cam mechanism 7 through fixing pressing sheets 62 with two symmetrical ends. As shown in fig. 2a-2e, the spacing t of the variable magnification readhead sensor 6 from the variable magnification encoder tape 61RBetween 0.6mm and 0.8mm, and the tangential inclination angle theta between the twoPWithin + -3 DEG, the radial direction is inclined with respect to the center by an angle thetaRWithin + -3 DEG, the relative center inclination angle theta of the vertical radial directionYWithin + -1 DEG, a central deviation tLWithin + -1 mm.
Correspondingly, the focusing encoder tape 21 and the variable magnification encoder tape 61 are tapes of a high-speed tape type encoder.
The focusing motor 3 is fixed on the focusing motor frame 32, the focusing motor gear 31 is fixed on a motor shaft of the focusing motor 3, the focusing motor frame 32 is installed on the front side surface of the flange 41, and the focusing motor gear 31 is meshed with a gear on the focusing cam mechanism 1, so that the transmission relation between the focusing cam mechanism 1 and the focusing motor 3 is established.
The zooming motor 5 is fixed on the focusing motor frame 52, the zooming motor gear 51 is fixed on the motor shaft of the zooming motor 5, the zooming motor frame 52 is installed on the rear side surface of the flange 41, and the zooming motor gear 51 is meshed with the gear on the zooming cam mechanism 7, so that the transmission relation between the zooming cam mechanism 7 and the zooming motor 5 is established.
And the control unit 8 performs closed-loop control on the focusing motor 3 and the zooming motor 5 according to the current position value of the focusing motor 3 acquired by the focusing reading head sensor 2 and the current position value of the zooming motor 5 acquired by the zooming reading head sensor 6, so as to realize focusing and zooming of the optical system.
As shown in fig. 3, the method for implementing the focus control of the zoom optical system by the control unit is as follows:
when the difference between the target position set value R and the current position value B is more than 2 degrees, the target position set value R is called a linear area, and when the difference is less than 2 degrees, the target position set value R is called a nonlinear area; controlling the focusing motor 3 in the linear region to respond to the target position setting value R at a gradually accelerated speed, and eliminating the error between the current position value B and the target position setting value R by adopting the following closed-loop control method after the non-linear region is reached:
as shown in fig. 3, the difference between the current position value B of the actuator (i.e., the focus motor) collected by the focus reading head sensor 2 and the target position setting value R is input to the position controller, and a given speed W1 is calculated by the position controller; the encoder data differential unit is used as a speed ring, differential operation is carried out on the current position value B to obtain a differential speed W2, namely the current position value B is collected once every 1ms, the differential operation is carried out once every 10 times, namely the position value collected when the current position value B subtracts the previous 10ms is obtained to obtain a differential speed W2, the time in the middle is 10ms, and therefore the differential speed is obtained. The difference value between the given speed W1 and the differential speed W2 is input into a speed ring controller, and the given current V1 is calculated by the speed ring controller; and the difference value of the current given value V1 and the focusing motor current measured value V2 acquired by the current sensor is input into the current loop controller, and the current loop controller processes the difference value to obtain the focusing motor current control value.
When the focusing motor control current measured value V2 acquired by the current sensor is greater than the set current threshold value, the braking of the focusing motor is controlled by setting the given current control value to 0.
The position controller adopts a first-order lead-lag algorithm, and a lead-lag correction transfer function Ds(S) is:
wherein K1、K2、K3For the position loop gain coefficient, K is obtained according to the principle of high accuracy of the position loop by debugging1、K2、K3The set value of (2); s is a Laplace operator;
the speed loop controller adopts PI correction algorithm, and PI corrects transfer function Dv(S) is:
KP、KIfor the gain coefficient of the speed loop, K is obtained according to the principle of high bandwidth and fast response of the speed loop through debuggingP、KIThe set value of (2); s is a Laplace operator;
in order to accurately control the torque output by the motor and ensure that the current does not have excessive overshoot, the invention introduces current loop control, the current loop controller adopts a PI series correction algorithm, and the PI series correction transfer function is as follows:
k is the gain coefficient of the current loop and is obtained according to the principle that the noise of the current loop is small by debuggingP、KIThe set value of (2); s is a Laplace operator; for the quick response of the system to overcome the electromagnetic characteristic of the motor with larger inertia, the system can be controlled to be in a state of being capable of
L is self-inductance coefficient of armature of focusing motor, and R is adjustmentThe armature resistance of the coke machine.
The invention sets the gain coefficients of each loop one by one based on the principle of debugging from inside to outside, namely debugging a current loop, then debugging a speed loop and then debugging a position loop, ensuring that the current loop has low noise, the bandwidth of the speed loop has high response speed and the accuracy of the position loop is high, and finally enabling the automatic focusing function of the optical system to be fast and accurate.
The method for realizing the zoom control of the zoom optical system by the control unit is the same as the focusing control method.
In the focusing control method and the zooming control method, a bode diagram of unit response is shown in fig. 4.
In the field of original zoom lens design, due to the influence of gear backlash, the final control result is poor, the control precision is not high, and especially, the definition of an automatic focusing image has obvious defects. In the invention, feedback closed-loop control is introduced for focusing and zooming of the lens, and a direct measurement mode is adopted, so that the backlash of the interface gear is completely avoided, and the control precision is greatly improved compared with the prior art. In addition, in the focusing and zooming closed-loop process, in order to ensure quick response, the position ring is divided into a linear region and a nonlinear region by taking 2 degrees as a boundary, when the difference between the target position set value R and the current position B is more than 2 degrees, the linear region is called, and when the difference is less than 2 degrees, the nonlinear region is called, the linear region responds to the target position set value R at a gradually-accelerated speed, and after the nonlinear region is reached, a position ring closed-loop control method is adopted to eliminate the error between the actual position value and the target position set value R. Meanwhile, the encoder data differential unit is used as a speed ring, the encoder value is acquired once every 1ms, differential operation is performed once every 10 times, namely the current encoder value is subtracted from the encoder value acquired in the previous 10ms to obtain an angle, the time in the middle is 10ms, and thus the differential speed is obtained. Compare the condition of the spacing motor brake that makes of simple dependence judgement electricity before, the position measured value through the collection now is as second floor software protection limit measure, when the stifled circumstances of commentaries on classics appears in focusing motor and the zoom motor, the current value through current sensor collection unusual can obtain the unusual judgement of motor operation, can start the condition that emergency treatment such as motor brake avoids the motor to overflow and leads to burning out then.
Fig. 5 shows a curve 1 indicating the accuracy of the focal length value output by the data acquired in the conventional potentiometer format, and a curve 2 indicating the accuracy of the focal length value output by the acquisition format provided by the present invention. By comparison, the method provided by the invention has the advantage that the focal length output precision is far higher than that of the traditional mode.
Claims (8)
1. A control system of a zoom optical system is characterized by comprising a focusing cam mechanism (1), a focusing reading head sensor (2), a focusing motor (3), a main lens barrel (4), a zooming motor (5), a zooming reading head sensor (6), a zooming cam mechanism (7) and a control unit (8); the main lens cone (4) is composed of a front end mounting flange (41) and a hollow cylinder (42) which are integrally connected; the focusing cam mechanism (1) and the zooming cam mechanism (7) are arranged on a hollow cylinder (42) of the main lens cone (4) and are respectively positioned in front of and behind the flange (41); the focusing reading head sensor (2) and the zooming reading head sensor (6) are fixed on the flange (41) and are respectively positioned on the front side and the rear side of the flange (41); a focusing encoder tape (21) is embedded in a position, corresponding to the focusing reading head sensor (2), of the focusing cam mechanism (1), and a zooming encoder tape (61) is embedded in a position, corresponding to the zooming reading head sensor (6), of the zooming cam mechanism (7); the outputs of the focusing reading head sensor (2) and the zooming reading head sensor (6) are connected with a control unit (8); the focusing motor (3) is fixed on the front side of the flange (41), a focusing motor gear (31) is fixed on a motor shaft of the focusing motor (3), and the focusing motor gear (31) is meshed with a gear on the focusing cam mechanism (1); the zooming motor (5) is fixed at the rear side of the flange (41), a zooming motor gear (51) is fixed on a motor shaft of the zooming motor (5), and the zooming motor gear (51) is meshed with a gear on the zooming cam mechanism (7); the control unit (8) performs closed-loop control on the focusing motor (3) and the zooming motor (5) according to the current position value of the focusing motor (3) acquired by the focusing reading head sensor (2) and the current position value of the zooming motor (5) acquired by the zooming reading head sensor (6), so that focusing and zooming of the optical system are realized.
2. The control system of the zoom optical system according to claim 1, wherein the focus reading head sensor (2) and the zoom reading head sensor (6) employ reading head sensors of a high-speed tape encoder; correspondingly, the focusing encoder tape (21) and the zooming encoder tape (61) adopt high-speed tape type encoder tapes.
3. A control system for a zoom optical system according to claim 1, characterized in that the distance t between the focus reading head sensor (2) and the focus encoder tape (21)RBetween 0.6mm and 0.8mm, and the tangential inclination angle theta between the twoPWithin + -3 DEG, the radial direction is inclined with respect to the center by an angle thetaRWithin + -3 DEG, the relative center inclination angle theta of the vertical radial directionYWithin + -1 DEG, a central deviation tLWithin + -1 mm.
4. Control system for a zoom optical system according to claim 1, characterized in that the distance t between the zoom reading head sensor (6) and the zoom encoder tape (61)RBetween 0.6mm and 0.8mm, and the tangential inclination angle theta between the twoPWithin + -3 DEG, the radial direction is inclined with respect to the center by an angle thetaRWithin + -3 DEG, the relative center inclination angle theta of the vertical radial directionYWithin + -1 DEG, a central deviation tLWithin + -1 mm.
5. A control system for a zoom optical system according to claim 1, wherein said control unit implements the focus control of the zoom optical system by:
when the difference between the target position set value R and the current position value B is more than 2 degrees, the linear region is called, and when the difference is less than 2 degrees, the nonlinear region is called; controlling a focusing motor (3) in a linear region to respond to a target position setting value R at a gradually accelerated speed, and eliminating an error between a current position value B and the target position setting value R by adopting the following closed-loop control method after the focusing motor reaches a nonlinear region:
inputting a difference value between a current position value B of a focusing motor acquired by a focusing reading head sensor (2) and a current target position setting value R into a position controller, and calculating by the position controller to obtain a given speed W1; the encoder data difference unit carries out difference operation on the current position value B and the position value between the previous 10ms to obtain a difference speed W2, the difference value between the given speed W1 and the difference speed W2 passes through the speed ring controller, and the current given quantity V1 is obtained through calculation of the speed ring controller; and the difference value between the current given value V1 and the focusing motor current measured value V2 acquired by the current sensor passes through the current loop controller, and the current loop controller processes the difference value to obtain the focusing motor current control value.
6. The control system for a zoom optical system according to claim 5, wherein when the focus motor current measurement value V2 acquired by the current sensor is larger than a set current threshold value, the focus motor is controlled to be braked by setting a given current control value to 0.
7. A control system for a zoom optical system according to claim 5, wherein said position controller employs a first order lead-lag algorithm, and the lead-lag corrects for a transfer function Ds(S) is:
wherein K1、K2、K3Is the position loop gain factor; s is a Laplace operator;
the speed loop controller adopts PI correction algorithm, and PI corrects transfer function Dv(S) is:
KP、KIis the velocity loop gain factor; s is a Laplace operator;
the current loop controller adopts a PI series correction algorithm, and the PI series correction transfer function is as follows:
k is a current loop gain coefficient, and S is a Laplace operator;
l is the self-inductance coefficient of the armature of the focusing motor, and R is the resistance of the armature of the focusing motor;
the method for realizing the zoom control of the zoom optical system by the control unit is the same as the focusing control method.
8. The control system of a zoom optical system according to claim 7, wherein the position loop gain factor, the velocity loop gain factor, and the current loop gain factor are obtained by tuning, and the position loop, the velocity loop, and the current loop are tuned in an order from inside to outside, that is, the current loop, the velocity loop, and the position loop are tuned first, and the position loop gain factor, the velocity loop gain factor, and the current loop gain factor are set one by one.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113726234A (en) * | 2021-07-27 | 2021-11-30 | 山东师范大学 | PID control-based stepping motor double-closed-loop control method and system |
| CN114764179A (en) * | 2021-01-04 | 2022-07-19 | 桂林方天光学仪器有限公司 | Electric control optical zoom system |
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