CN113285636A - Voice coil motor control method and control system - Google Patents
Voice coil motor control method and control system Download PDFInfo
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- CN113285636A CN113285636A CN202110532170.4A CN202110532170A CN113285636A CN 113285636 A CN113285636 A CN 113285636A CN 202110532170 A CN202110532170 A CN 202110532170A CN 113285636 A CN113285636 A CN 113285636A
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- 101100464779 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) CNA1 gene Proteins 0.000 claims description 16
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- 238000010586 diagram Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000017525 heat dissipation Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/02—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type
- H02P7/025—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type the DC motors being of the moving coil type, e.g. voice coil motors
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Abstract
The invention discloses a voice coil motor control method and a voice coil motor control system, wherein the voice coil motor control system comprises a controller, a driving circuit, an H-bridge circuit, a current detection unit and a position detection unit, wherein the controller generates control pulses to control the driving circuit, the driving circuit controls the H-bridge circuit, the H-bridge circuit controls a voice coil motor, the current detection unit realizes current detection on the H-bridge circuit, and the position detection unit realizes position detection on the voice coil motor; the method comprises the steps of outputting control pulses with different widths by combining digital triangular waves according to the current of the H-bridge circuit and the position of the voice coil motor, and further controlling the voice coil motor. The invention utilizes the pulse control mode of controlling the zero current reduction of the pulse in the controller, reduces the zero current loss of the voice coil motor controller and the power loss in the control process, and reduces the heat generated by the voice coil motor.
Description
Technical Field
The invention belongs to the technical field of electric control, and particularly relates to a voice coil motor control method and a voice coil motor control system.
Background
The voice coil motor is a direct drive motor in a special form, directly converts electric energy into mechanical energy of linear motion, has the characteristics of small volume, light relative weight of a mover and the like, is easy to realize control of high-frequency response, high precision, high acceleration and the like, and is commonly used for small space applications such as lens focusing in mobile electronic equipment.
The control method of the voice coil motor is the same as that of a common brush direct current motor, an H-bridge pulse drive control mode is generally adopted, the pulse drive control mode generally adopts the control pulse polarities of an upper pipe and a lower pipe of the same bridge arm, and the conduction time of the upper power pipe and the lower power pipe of the same bridge arm respectively accounts for half at zero position.
For a small voice coil motor driving system, the mechanical friction dead zone is relatively small, the heat dissipation condition is often poor, the voice coil motor driving system has relatively high requirements due to the requirements of heat productivity and heat dissipation, and the driving mode has the defects of large heat productivity and energy consumption.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the problems in the prior art, the invention discloses a voice coil motor control method and a voice coil motor control system, which are used for solving the influence of nonlinear factors such as static friction force, dead zones and the like of a voice coil motor on control performance.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme: a voice coil motor control method is characterized by comprising the following steps:
acquiring the position setting of a voice coil motor, acquiring the current position of the voice coil motor, and acquiring the current of the voice coil motor;
subtracting the current position of the voice coil motor from the position setting of the voice coil motor to obtain the position error of the voice coil motor;
the position error is output as given current after being corrected by the position controller;
after the current is given and the current of the voice coil motor is subtracted, the current is corrected by a current controller and then output as the input of pulse width adjustment;
and according to the output of the current controller, combining the given digital triangular wave to obtain a control pulse for controlling the voice coil motor.
Preferably, obtaining a control pulse for controlling the voice coil motor comprises the following steps:
giving a digital triangular wave with a TBTRS value and a TBPRD period, and setting the output of a current controller as Curout, wherein-TBPRD is less than or equal to Curout and is less than or equal to TBPRD;
calculating a first control pulse comparison value CMP1 and a second control pulse comparison value CMP 2:
wherein, CMP _ Zero is the initial Zero value of CMP1 and CMP 2;
when TBCTR is more than or equal to CMP1, the first control pulse is at high level, and when TBCTR < CMP1, the first control pulse is at low level;
the second control pulse is at a high level when TBCTR ≦ CMP2, and at a low level when TBCTR > CMP 2.
Preferably, the value range of the period TBPRD is 2000-10000.
Preferably, the Zero initial value CMP _ Zero takes 10% of the period TBPRD.
The utility model provides a voice coil motor control system, its characterized in that, includes controller, drive circuit, H bridge circuit, current detection unit and position detecting element, and drive circuit is connected to the controller, and drive circuit connects H bridge circuit, and H bridge circuit connects voice coil motor, and current detection unit connects H bridge circuit and controller, and voice coil motor and controller are connected to the position detecting element, wherein:
the position detection unit is used for acquiring the current position of the voice coil motor and sending the current position to the controller;
the current detection unit is used for acquiring the current of the H-bridge circuit and sending the current to the controller;
the controller is used for finishing position setting of the voice coil motor, obtaining the current position of the voice coil motor, finishing position correction, obtaining the current, finishing current correction, generating digital triangular waves, obtaining control pulses for controlling the voice coil motor and sending the control pulses to the driving circuit;
the driving circuit is used for amplifying the control pulse of the voice coil motor and sending the amplified control pulse to the H-bridge circuit;
the H-bridge circuit is used for controlling the voice coil motor by using the amplified control pulse.
Preferably, the controller is a microprocessor and comprises a position giving unit, a position feedback unit, a position controller, a current feedback unit, a current controller and a pulse width modulation unit, wherein the position giving unit is connected with the position feedback unit, the position feedback unit is connected with the position control unit and the position detection circuit, the position control unit is connected with the current feedback unit, the current feedback unit is connected with the current control unit and the current detection circuit, the current control unit is connected with the pulse width modulation unit, and the pulse width modulation unit is connected with the driving circuit; wherein:
the position feedback unit is connected with the position detection unit to obtain the current position of the voice coil motor, and the current feedback unit is connected with the current detection unit to obtain the current of the voice coil motor;
the position giving unit finishes position giving of the voice coil motor, the output of the position giving unit is connected to the input of the position controller after subtracting the output of the position feedback unit, and the position controller finishes position correction;
the output of the position controller is subtracted by the output of the current feedback unit and then is connected to the input of the current controller, and the current controller finishes current correction;
the output of the current controller is connected to the input of a pulse width modulation unit, the pulse width modulation unit obtains control pulses for controlling the voice coil motor by combining the generated digital triangular wave, and the output of the pulse width modulation unit is connected with the input of the driving circuit.
Preferably, the pulse width modulation unit is implemented by a timer, and includes a period register, a count register, a first comparison register and a second comparison register, wherein:
the counting register is used for generating digital triangular waves;
the period register is used for storing a counting period;
the first comparison register is used for storing a first control pulse comparison value and outputting a first control pulse after comparing the first control pulse comparison value with the digital triangular wave;
the second comparison register is used for storing a second control pulse comparison value and outputting a second control pulse after being compared with the digital triangular wave.
Preferably, the H-bridge circuit comprises 4 power tubes, wherein the power tubes are grouped two by two, and the two groups of power tubes are controlled by the first control pulse and the second control pulse respectively.
Preferably, the position detection unit adopts a linear grating ruler; the current detection unit adopts a current sensor or a general current detection circuit.
Has the advantages that: the invention has the following remarkable beneficial effects:
1. the invention is used for solving the influence of nonlinear factors such as static friction force, dead zone and the like of the voice coil motor on the control performance;
2. according to the invention, the zero pulse conduction time of the voice coil motor is controlled, so that the heating power and the power loss of the voice coil motor are reduced; 3. the invention is controlled by the non-zero pulse power tube, and the direct connection phenomenon of the upper power tube and the lower power tube of the same bridge arm can not be generated.
Drawings
FIG. 1 is a schematic diagram of the components of a voice coil motor control system of the present invention;
FIG. 2 is a schematic diagram of the control principle of the voice coil motor control system of the present invention;
FIG. 3 is a schematic of the H-bridge circuit of the present invention;
fig. 4 is a schematic diagram of the control pulses of the present invention.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
The invention discloses a voice coil motor control method, which comprises the following steps:
acquiring the position setting of a voice coil motor, acquiring the current position of the voice coil motor, and acquiring the current of the voice coil motor;
subtracting the current position of the voice coil motor from the position setting of the voice coil motor to obtain the position error of the voice coil motor;
the output of the position error corrected by the position controller is used as current given, the current of the voice coil motor is subtracted from the current given and is used as the input of the current controller, the output of the current controller corrected is used as the input before pulse width adjustment, and the duty ratio is adjusted;
and according to the output of the current controller, combining the given digital triangular wave to obtain a control pulse for controlling the voice coil motor.
The invention also discloses a voice coil motor control system for executing the voice coil motor control method, as shown in fig. 1, the voice coil motor control system comprises a controller, a driving circuit, an H-bridge circuit, a current detection unit and a position detection unit, wherein the controller is connected with the driving circuit, the driving circuit is connected with the H-bridge circuit, the H-bridge circuit is connected with the voice coil motor, the current detection unit is connected with the H-bridge circuit and the controller, and the position detection unit is connected with the voice coil motor and the controller, wherein:
the position detection unit adopts a linear grating ruler and is used for acquiring the current position of the voice coil motor and sending the current position to the controller;
the current detection unit adopts a current sensor or a universal current detection circuit and is used for acquiring the current of the voice coil motor, namely the current of the H-bridge circuit, and sending the current to the controller;
the controller is used for finishing position setting of the voice coil motor, obtaining the current position of the voice coil motor, finishing position correction, obtaining the current, finishing current correction, generating digital triangular waves, obtaining control pulses for controlling the voice coil motor and sending the control pulses to the driving circuit;
the driving circuit is used for amplifying the control pulse of the voice coil motor and sending the amplified control pulse to the H-bridge circuit;
the H-bridge circuit is used for controlling the voice coil motor by using the amplified control pulse.
The controller adopts a microprocessor, and the present embodiment adopts an STM32F1 microprocessor, which comprises a position setting unit, a position feedback unit, a position controller, a current feedback unit, a current controller and a pulse width modulation unit, as shown in fig. 2:
the position feedback unit is connected with the position detection unit to obtain the current position of the voice coil motor, and the current feedback unit is connected with the current detection unit to obtain the current of the voice coil motor;
the position giving unit finishes position giving of the voice coil motor, the output of the position giving unit is connected to the input of the position controller after subtracting the output of the position feedback unit, and the position controller finishes position correction;
the output of the position controller is subtracted by the output of the current feedback unit and then is connected to the input of the current controller, and the current controller finishes current correction;
the output of the current controller is connected to the input of a pulse width modulation unit, the pulse width modulation unit obtains control pulses for controlling the voice coil motor by combining the generated digital triangular wave, and the output of the pulse width modulation unit is connected with the input of the driving circuit.
The pulse width modulation unit is realized by a timer in the microprocessor and comprises a period register, a counting register, a first comparison register and a second comparison register, wherein:
the counting register is used for generating digital triangular waves;
the period register is used for storing a counting period;
the first comparison register is used for storing a first control pulse comparison value and outputting a first control pulse after comparing the first control pulse comparison value with the digital triangular wave;
the second comparison register is used for storing a second control pulse comparison value and outputting a second control pulse after being compared with the digital triangular wave.
As shown in fig. 3, the H-bridge circuit includes 4 power transistors, wherein the power transistors are grouped two by two, and the two groups of power transistors are controlled by the first control pulse and the second control pulse respectively. For example, the 4 power transistors are respectively V1, V2, V3 and V4, wherein the control pulses of V1 and V4 are the same, and the control pulses of V2 and V3 are the same, and the control of V1, V4 and V2 and V3 is realized by the control pulses with different pulse widths output by the first comparison register and the second comparison register.
Specifically, the counting register is given a digital triangular wave with a TBCTR value and a TBPRD value, and the TBPRD value range is determined by the switching frequency of the power tube and the input frequency of the counting register, i.e.
The value range is generally 2000-10000. Setting the output value of the current controller as Curout, wherein the output value meets the condition that-TBPRD is less than or equal to Curout and less than or equal to TBPRD; the first control pulse comparison value CMP1 of the first comparison register and the second control pulse comparison value CMP2 of the second comparison register can be obtained as follows:
CMP1＝CMP_Zero+Curout
CMP2＝CMP_Zero-Curout
wherein, CMP _ Zero is Zero initial value of CMP1 and CMP2, which can be selected according to static friction of actual small voice coil motor, and the value of the invention is selected according to 10% of TBPRD.
And limiting CMP1 and CMP2 within the following value ranges:
0≤CMP1≤TBPRD
0≤CMP2≤TBPRD
in summary, the first control pulse comparison value CMP1 and the second control pulse comparison value CMP2 are:
if the first control pulse, which is the control pulse of the power transistors V1 and V4 in the H-bridge circuit, is Pluse14, the first control pulse is high when TBCTR is greater than or equal to CMP1, and the first control pulse is low when TBCTR < CMP1, that is:
similarly, the second control pulse of the power tubes V2 and V3 is Pluse23, and when TBCTR is less than or equal to CMP2, the second control pulse is at high level, and when TBCTR > CMP2, the second control pulse is at low level, that is:
the control pulse diagram of the H-bridge circuit power tube is shown in FIG. 4. 1 is the digital triangular wave TBCTR generated by the count register, 2 is the plus 14 control pulse waveform, and 3 is the plus 23 control pulse waveform.
When the output value Curout of the current control unit is zero, the power tubes of the H-bridge circuit are respectively conducted with smaller pulses to overcome static friction, the current is smaller, the power loss is smaller, when the output value Curout of the current control unit is gradually increased, the control pulse Pluse14 is gradually closed, and the control pulse Pluse23 is gradually closed; on the contrary, when the output value Curout of the current control unit is gradually reduced, the control pulse Pluse14 is gradually widened, the control pulse Pluse23 is gradually widened, and the pulse width control of the voice coil motor is completed.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A voice coil motor control method is characterized by comprising the following steps:
acquiring the position setting of a voice coil motor, acquiring the current position of the voice coil motor, and acquiring the current of the voice coil motor;
subtracting the current position of the voice coil motor from the position setting of the voice coil motor to obtain the position error of the voice coil motor;
the position error is output as given current after being corrected by the position controller;
after the current is given and the current of the voice coil motor is subtracted, the current is corrected by a current controller and then output as the input of pulse width adjustment;
and according to the output of the current controller, combining the given digital triangular wave to obtain a control pulse for controlling the voice coil motor.
2. The method of claim 1, wherein obtaining control pulses for controlling the voice coil motor comprises:
giving a digital triangular wave with a TBTRS value and a TBPRD period, and setting the output of a current controller as Curout, wherein-TBPRD is less than or equal to Curout and is less than or equal to TBPRD;
calculating a first control pulse comparison value CMP1 and a second control pulse comparison value CMP 2:
wherein, CMP _ Zero is the initial Zero value of CMP1 and CMP 2;
when TBCTR is more than or equal to CMP1, the first control pulse is at high level, and when TBCTR < CMP1, the first control pulse is at low level;
the second control pulse is at a high level when TBCTR ≦ CMP2, and at a low level when TBCTR > CMP 2.
3. The voice coil motor control method according to claim 2, wherein the period TBPRD is in a range of 2000 to 10000.
4. The voice coil motor control method of claim 2, wherein the Zero initial value CMP _ Zero is 10% of the period TBPRD.
5. The utility model provides a voice coil motor control system, its characterized in that, includes controller, drive circuit, H bridge circuit, current detection unit and position detecting element, and drive circuit is connected to the controller, and drive circuit connects H bridge circuit, and H bridge circuit connects voice coil motor, and current detection unit connects H bridge circuit and controller, and voice coil motor and controller are connected to the position detecting element, wherein:
the position detection unit is used for acquiring the current position of the voice coil motor and sending the current position to the controller;
the current detection unit is used for acquiring the current of the H-bridge circuit and sending the current to the controller;
the controller is used for finishing position setting of the voice coil motor, obtaining the current position of the voice coil motor, finishing position correction, obtaining the current, finishing current correction, generating digital triangular waves, obtaining control pulses for controlling the voice coil motor and sending the control pulses to the driving circuit;
the driving circuit is used for amplifying the control pulse of the voice coil motor and sending the amplified control pulse to the H-bridge circuit;
the H-bridge circuit is used for controlling the voice coil motor by using the amplified control pulse.
6. The voice coil motor control system according to claim 5, wherein the controller is a microprocessor and comprises a position setting unit, a position feedback unit, a position controller, a current feedback unit, a current controller and a pulse width modulation unit, the position setting unit is connected with the position feedback unit, the position feedback unit is connected with the position control unit and the position detection circuit, the position control unit is connected with the current feedback unit, the current feedback unit is connected with the current control unit and the current detection circuit, the current control unit is connected with the pulse width modulation unit, and the pulse width modulation unit is connected with the drive circuit; wherein:
the position feedback unit is connected with the position detection unit to obtain the current position of the voice coil motor, and the current feedback unit is connected with the current detection unit to obtain the current of the voice coil motor;
the position giving unit finishes position giving of the voice coil motor, the output of the position giving unit is connected to the input of the position controller after subtracting the output of the position feedback unit, and the position controller finishes position correction;
the output of the position controller is subtracted by the output of the current feedback unit and then is connected to the input of the current controller, and the current controller finishes current correction;
the output of the current controller is connected to the input of a pulse width modulation unit, the pulse width modulation unit obtains control pulses for controlling the voice coil motor by combining the generated digital triangular wave, and the output of the pulse width modulation unit is connected with the input of the driving circuit.
7. A voice coil motor control system according to claim 6, characterized in that the pulse width modulation unit is implemented by a timer, and comprises a period register, a count register, a first comparison register and a second comparison register, wherein:
the counting register is used for generating digital triangular waves;
the period register is used for storing a counting period;
the first comparison register is used for storing a first control pulse comparison value and outputting a first control pulse after comparing the first control pulse comparison value with the digital triangular wave;
the second comparison register is used for storing a second control pulse comparison value and outputting a second control pulse after being compared with the digital triangular wave.
8. A voice coil motor control system as claimed in claim 7, wherein the H-bridge circuit comprises 4 power transistors, wherein the power transistors are grouped two by two, the two groups of power transistors being controlled by the first control pulse and the second control pulse respectively.
9. A voice coil motor control system according to claim 5, characterized in that the position detection unit employs a linear grating ruler; the current detection unit adopts a current sensor or a general current detection circuit.
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| CN202110532170.4A CN113285636B (en) | 2021-05-17 | 2021-05-17 | Voice coil motor control method and control system |
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Application publication date: 20210820 Assignee: Nanjing Dingbo controller Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980002011 Denomination of invention: A Voice Coil Motor Control Method and Control System Granted publication date: 20220830 License type: Common License Record date: 20240206 |
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