CN114755785A - Drive control method and drive control system for linear motion device - Google Patents

Drive control method and drive control system for linear motion device Download PDF

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CN114755785A
CN114755785A CN202011579918.8A CN202011579918A CN114755785A CN 114755785 A CN114755785 A CN 114755785A CN 202011579918 A CN202011579918 A CN 202011579918A CN 114755785 A CN114755785 A CN 114755785A
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drive
sequence
linear motion
driving
target
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CN114755785B (en
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王卫
袁骁霖
关志强
李娅
唐莹
孙腾达
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Smic Ningbo Co ltd Shanghai Branch
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Smic Ningbo Co ltd Shanghai Branch
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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
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
    • 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
    • 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
    • H02P25/06—Linear motors
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Feedback Control In General (AREA)
  • Adjustment Of Camera Lenses (AREA)

Abstract

A drive control method and a drive control system for a linear motion device, wherein the drive control method comprises the following steps: selecting a target driving sequence from a plurality of preset driving sequences according to a request of an application system, wherein each preset driving sequence is composed of a plurality of amplitude-time pairs, the target stable time of each preset driving sequence is smaller than the resonance period of a driven object in the linear motion device, and the resonance period of the driven object is stored on the basis of preset before the plurality of preset driving sequences are executed; and converting the target driving sequence into a corresponding target driving signal so as to drive the driven object in the linear motion device to move to a target position. According to the scheme, the stabilization time of the linear motion device can be shortened, and the user experience of the linear motion device is improved.

Description

Drive control method and drive control system for linear motion device
Technical Field
The embodiment of the invention relates to the technical field of electromechanical control, in particular to a linear motion device drive control method and a drive control system.
Background
A Voice Coil Motor (VCM) is a linear micro-power device, generally used as an actuator for generating a propelling force, and widely applied to servo control, for example, an image pickup apparatus (such as a camera, a video camera, and an electronic device including a lens module) can achieve an auto-focus or zoom function thereof. In industrial practice, the VCM often forms an electronic control lens module with the optical lens, and the electronic control lens module is used as a linear motion device and linearly moves under the linear driving of the VCM to achieve the purpose of focusing.
One core issue of concern to developers of host products that use electrically controlled lenses is: how to shorten the required stabilization time of automatically controlled camera lens when moving each time to improve the shooting quality, promote user experience.
At present, an open-loop driving control method is adopted to drive and control a linear motion device, such as an electronic control lens, so that the stability and the stabilization time of the linear motion device are inevitably influenced by the actual natural resonance period (hereinafter referred to as the resonance period) of the linear motion device, and for the electronic control lens, the focusing speed and the definition of a shot image are influenced, and the user experience needs to be improved.
Disclosure of Invention
In view of this, embodiments of the present invention provide a driving control method and a driving control system for a linear motion device, which can shorten the stabilization time of the linear motion device during motion and improve user experience.
First, an embodiment of the present invention provides a method for driving and controlling a linear motion device, including:
selecting a target driving sequence from a plurality of preset driving sequences according to a request of an application system, wherein each preset driving sequence consists of a plurality of amplitude-time pairs, the target stable time of each preset driving sequence is smaller than the resonance period of a driven object in the linear motion device, and the resonance period of the driven object is stored on the basis of preset setting before the plurality of preset driving sequences are executed;
and converting the target driving sequence into a corresponding target driving signal so as to drive the driven object in the linear motion device to move to a target position.
Optionally, the preset driving sequence is obtained by numerically solving according to the mass of the driven object in the linear motion device, the elastic coefficient related to the position of the driven object, and the friction damping coefficient related to the motion speed of the driven object based on a dynamic analysis of the driven object in the linear motion device.
Optionally, the preset driving sequences have different and fixed target settling times, and each preset driving sequence is adapted to a different target stroke.
Optionally, the plurality of preset driving sequences are represented in a normalized manner by pairs of amplitude values of a plurality of driving signals and corresponding driving times, wherein the amplitude value 1 is equivalent to the actual driving current corresponding to the target stroke requested by the application system.
Optionally, the preset drive sequence comprises a first drive sequence, the target stabilization time of which is 0.35Tr, where Tr is a resonance period of a driven object in the linear motion control apparatus, the first drive sequence is composed of four change points, and the normalized amplitude value Am1 of the drive signal thereof is given by the following formula with respect to time:
Figure BDA0002864147480000021
optionally, the preset drive sequence comprises a second drive sequence, the target stabilization time of the second drive sequence is 0.5 × Tr, where Tr is a resonance period of a driven object in the linear motion control apparatus, the second drive sequence is composed of four change points, and the normalized amplitude value Am2 of the drive signal thereof is given by the following formula with respect to time:
Figure BDA0002864147480000022
optionally, the preset drive sequence comprises a third drive sequence with a settling time of 0.85Tr, where Tr is a resonance period of the driven object in the linear motion control apparatus, the third drive sequence consists of seven change points, and the normalized amplitude value Am3 of the drive signal thereof is given by the following formula with respect to time:
Figure BDA0002864147480000031
optionally, the preset drive sequence comprises a fourth drive sequence, a target stabilization time of the fourth drive sequence is 0.85Tr in a schedule, where Tr is a resonance period of a driven object in the linear motion control apparatus, the fourth drive sequence is composed of seven change points, and a normalized amplitude value Am4 of a drive signal thereof is given by the following formula with respect to time:
Figure BDA0002864147480000032
optionally, the preset drive sequence includes a fifth drive sequence, a target stabilization time of the fifth drive sequence is 0.82 × Tr, where Tr is a resonance period of a driven object in the linear motion control device, the fifth drive sequence is composed of eight change points, and a normalized amplitude value Am5 of a drive signal thereof is given by the following equation with respect to time:
Figure BDA0002864147480000041
the embodiment of the present invention further provides a linear motion device driving control system, which is suitable for performing driving control on the linear motion device, and the driving control system includes:
the driving control device is used for selecting a target driving sequence from a plurality of preset driving sequences according to the request of an application system, wherein each preset driving sequence is composed of a plurality of amplitude-time pairs, the target stable time of each preset driving sequence is smaller than the resonance period of a driven object in the linear motion device, and the resonance period of the driven object is stored in the driving control device on the basis of preset settings before the plurality of preset driving sequences are executed;
and the digital-to-analog conversion device is used for converting the target driving sequence into a corresponding target driving signal so as to drive the driven object in the linear motion device to move to a target position.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following advantages:
according to the request of an application system, a target driving sequence is selected from the preset driving sequences and is converted into a corresponding target driving signal, a driven object in the linear motion device can be driven to move to a target position, and each preset driving sequence is composed of a plurality of amplitude-time pairs, and the target stabilization time of each preset driving sequence is smaller than the resonance period of the driven object in the linear motion device.
Drawings
Fig. 1 is a flowchart showing a drive control method of a linear motion device in an embodiment of the present invention;
FIGS. 2-6 are graphs illustrating a plurality of preset sequences and corresponding target convergence processes in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a linear motion device drive control system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram showing a detailed structure of a linear motion device driving control system according to an embodiment of the present invention;
fig. 9 is a schematic diagram showing a detailed configuration of another linear motion device drive control system according to an embodiment of the present invention.
Detailed Description
The electric control lens module is used as a linear motion device and comprises a VCM and an optical lens, wherein the optical lens can do linear motion under the linear driving of the VCM so as to finish the focusing or zooming function. The VCM, which usually includes a permanent magnet and an electromagnetic winding, i.e., a coil, works by applying a driving current to a coil placed in a magnetic field space, and the coil drives the optical lens to move under the action of the electromagnetic force until the optical lens moves to a specified position and stabilizes, so that focusing is completed, and a picture can be taken. The stable time refers to the time required for the optical lens in the electrically controlled lens module to overcome the inevitable natural resonance thereof and finally to be at rest or slightly vibrate at the target position from the moment when the VCM driving current is applied to the optical lens.
At present, an open-loop driving control method is usually adopted to drive and control a linear motion device such as an electronic control lens, however, due to the problem of mechanical resonance, the linear motion device is difficult to rapidly stop at a target position, and the motion stability and the stability time of the linear motion device are problems to be improved.
In view of the above problems, an embodiment of the present invention provides an open-loop driving control scheme for a linear motion device, which can select a target driving sequence from a plurality of preset driving sequences and convert the target driving sequence into a corresponding target driving signal according to a request of an application system, so as to drive a driven object in the linear motion device to move to a target position within a planned target stabilization time, where each preset driving sequence is formed by a plurality of amplitude-time pairs, and the target stabilization time of each preset driving sequence is smaller than a resonance period of the driven object in the linear motion device, so that the driven object in the linear motion device can be rapidly stabilized, and user experience is improved.
In order to make the aforementioned objects, features and advantages of the embodiments of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below.
First, embodiments of the present invention provide a corresponding driving control method for a linear motion device, by which the linear motion device can be driven to move. Referring to the flowchart of the linear motion device driving control method shown in fig. 1, the driving control of the driven object in the linear motion device may be specifically executed by a driving control system electrically connected to the linear motion device, and the specific driving control steps are as follows:
and S11, selecting a target driving sequence from a plurality of preset driving sequences according to the request of an application system, wherein each preset driving sequence is composed of a plurality of amplitude-time pairs, the target stable time of each preset driving sequence is smaller than the resonance period of the driven object in the linear motion device, and the resonance period of the driven object is stored based on the preset before the plurality of preset driving sequences are executed.
Wherein, for any preset driving sequence in the plurality of preset driving sequences, the preset driving sequence can be obtained by numerical solution according to the mass of the driven object in the linear motion device, the elastic coefficient related to the position of the driven object and the friction damping coefficient related to the motion speed of the driven object based on the dynamic analysis of the driven object in the linear motion device.
In a specific implementation, a corresponding target stabilization time can be obtained by planning in advance according to the target requirement, and a corresponding preset driving sequence is obtained by numerical solution according to the mass of a driven object in the linear motion device, the elastic coefficient related to the position of the driven object, and the friction damping coefficient related to the motion speed of the driven object.
In a specific implementation, a plurality of driving sequences may be preset according to different requirements, the plurality of driving sequences may have different and fixed target stabilization times, and each preset driving sequence is adapted to a different target stroke.
As an alternative example, the preset drive sequence may be obtained as follows: obtaining an electromagnetic force application curve according to a preset dynamic model and a relationship between the displacement of the planned linear motion device and time; converting the electromagnetic force application curve according to a conversion coefficient between the applied driving signal and the generated electromagnetic force to obtain an amplitude variation curve of the driving signal; discretizing the amplitude variation curve of the driving signal based on the corresponding target stabilization time to obtain a plurality of amplitude-time pairs in the driving sequence.
In specific implementation, based on the actual application scenario of the linear motion device, the corresponding physical parameters can be obtained through measurement, and a dynamic model capable of reflecting the mechanical motion characteristics of the linear motion device can be obtained through experimental verification or through computer simulation and verification of the actual linear motion device.
It should be noted that, in the embodiments of the present specification, there is no limitation on the specific manner of obtaining the dynamic model, nor on the specific manner of obtaining the electromagnetic force application curve, as long as the planned target settling time can be met.
In some alternative examples, the plurality of preset drive sequences are represented in a normalized manner by pairs of amplitude values and corresponding drive times of a plurality of drive signals, where an amplitude value of 1 is equivalent to the actual drive current corresponding to the target stroke requested by the application system.
In a specific implementation, the request of the application system may specifically be, for example, an instruction corresponding to a camera focusing operation, or a request signal generated during an operation or running process of another specific application system for triggering selection of a target driving sequence. The request may include an identifier of a requested target driving sequence, or a requested target stabilization time, or the like as a request parameter, or may use a target trip as a parameter, and further may select one preset driving sequence from the plurality of preset driving sequences as the target driving sequence according to the target trip.
And S12, converting the target driving sequence into a corresponding target driving signal to drive the driven object in the linear motion device to move to the target position.
In a specific implementation, the corresponding target drive signal may be generated from the target drive sequence. For example, the relationship between the target drive signal and the target drive sequence may be determined according to the following formula:
Figure BDA0002864147480000071
here, Aout represents the amplitude of the drive signal, Dn is 0 or 1, N, the number of Dn, is generally within 10 depending on the accuracy of the required drive signal amplitude, and Va is a normalized current value corresponding to the target stroke.
In particular industrial practice, the target drive signal may specifically be a current signal or a voltage signal. Through the target driving sequence described in the embodiments of the present specification, the planned target settling time may reach less than the resonant period of the driven object in the linear motion device, or even less than half of the resonant period of the driven object.
The relation between the amplitude and the time of the driving signal in the obtained preset driving sequence can be represented by a piecewise function, and in specific implementation, the driving signal value corresponding to the corresponding amplitude value can be output at the corresponding driving time by running a program code or by digital logic operation and the like.
For better understanding and implementation by those skilled in the art, some optional preset driving sequences are shown, and in the following, taking an electronically controlled lens as an example, graphs of each preset driving sequence and its verified target convergence process can be seen in fig. 2 to 6, which correspond to the first driving sequence to the fifth driving sequence, respectively.
In the preset drive sequence, a target stabilization time of a first drive sequence is specified to be 0.35Tr, where Tr is a resonance period of a driven object in the linear motion control apparatus, the first drive sequence is composed of four change points, and a normalized amplitude value Am1 of a drive signal thereof is given by the following equation with respect to time:
Figure BDA0002864147480000081
referring to fig. 2, a preset driving sequence P1 and a corresponding target convergence process curve L1 are shown, where Tr is 10.2 ms. After simulation and actual verification of the electric control lens, the first driving sequence P1 is used as a driving sequence, and the electric control lens can realize a moving process corresponding to a target convergence process curve L1, so as to realize rapid stabilization to a target position.
As can be seen from fig. 2, the first drive sequence P1 is used to perform drive control from the start of application of the drive signal
Figure BDA0002864147480000082
In a time period, the corresponding normalized sequence value of the driving signal is 1, and the corresponding 10 times value of the electromagnetic force is 80 mN; in that
Figure BDA0002864147480000083
In a time period, the corresponding normalized sequence value of the driving signal is 0.5, and the corresponding 10-time value of the electromagnetic force is 40 mN; in that
Figure BDA0002864147480000084
In a time period, the corresponding normalized sequence value of the driving signal is 0, and the corresponding 10 times value of the electromagnetic force is 0 mN; in that
Figure BDA0002864147480000085
In the later period, the corresponding normalized sequence value of the driving signal is 1The corresponding 10 times value of the electromagnetic force is 80mN, i.e. the amplitude is kept constant all the time to balance the spring force of the spring.
As shown in fig. 2, the relationship between the displacement and the time in the target convergence process curve L1 shows that, as the target convergence process curve L1 obtained by simulation is subjected to drive control by using the first drive sequence P1, the target displacement of 200 μm is reached and continuously stabilizes within the preset amplitude tolerance interval starting at a time t1 which is close to 3.5ms (approximately equal to 0.35 Tr), and therefore, a rapid stabilization process with a target stabilization time of 0.35Tr can be realized by using the first drive sequence P1. In the process, the driving signal only needs 3 changes, and the complexity of the sinusoidal change of the resonant period is not considered, so that the driving control is easy to realize.
In the preset drive sequence, a target stabilization time of a second drive sequence is defined as 0.5 × Tr, where Tr is a resonance period of a driven object in the linear motion control apparatus, the second drive sequence is composed of four change points, and a normalized amplitude value Am2 of a drive signal thereof is given by the following equation:
Figure BDA0002864147480000091
as can be seen from fig. 3, the driving control is performed by the second driving sequence P2, starting from the start of the application of the target driving signal
Figure BDA0002864147480000092
In a time interval, the corresponding normalized amplitude value of the driving signal is 0.5, and the corresponding 10-time value of the driving electromagnetic force is 40 mN; in that
Figure BDA0002864147480000093
In a time period, the corresponding normalized sequence value of the driving signal is 0.615, and the corresponding 10-time value of the electromagnetic force is about 50 mN; in that
Figure BDA0002864147480000094
In time interval, the corresponding normalized sequence value of the driving signal is 0.5, and the corresponding electromagnetic force is 10The doubling value is 40 mN; in that
Figure BDA0002864147480000095
In the later time period, the corresponding normalized sequence value of the driving signal is 1, and the corresponding 10 times value of the electromagnetic force is 80mN, namely, the amplitude is always kept unchanged to balance the elastic force of the spring. In the process, the driving signal only needs 3 changes, and the complexity of the sinusoidal change of the resonant period is not considered, so that the driving control is easy to realize.
As shown in fig. 3, the target convergence process curve L2 obtained by simulation is based on the relationship between displacement and time in the target convergence process curve L2, and as can be seen from the relationship between displacement and time in the target convergence process curve L2, the target displacement is 200 μm and continuously stabilizes within the preset amplitude tolerance interval at the time t2 which is close to 5ms (approximately equal to 0.5 Tr), and therefore, a rapid stabilization process with the target stabilization time of 0.5 Tr can be realized by using the second drive sequence P2.
In the preset drive sequence, the settling time of the third drive sequence is planned to be 0.85Tr, where Tr is the resonance period of the driven object in the linear motion control apparatus, the third drive sequence is composed of seven change points, and the normalized amplitude value Am3 of the drive signal thereof is given by the following equation with respect to time:
Figure BDA0002864147480000101
after simulation and actual verification of the electronic control lens, the electronic control lens can realize a moving process corresponding to the target convergence process curve L3 by adopting the third driving sequence P3 as a driving sequence.
As can be seen from fig. 4, the driving control is performed by the third driving sequence P3, starting from the start of the application of the driving signal
Figure BDA0002864147480000102
In a time period, the corresponding normalized sequence value of the driving signal is 0.5, and the corresponding 10-time value of the electromagnetic force is 40 mN; in that
Figure BDA0002864147480000103
In a time period, the corresponding normalized sequence value of the driving signal is 0.25, and the corresponding 10-time value of the electromagnetic force is 20 mN; in that
Figure BDA0002864147480000104
In a time period, the corresponding normalized sequence value of the driving signal is 0, and the 10-time value of the corresponding electromagnetic force is 0 mN; in that
Figure BDA0002864147480000105
In a time period, the corresponding normalized sequence value of the driving signal is 0.75, and the corresponding 10-time value of the electromagnetic force is about 60 mN; in that
Figure BDA0002864147480000106
In a time period, the corresponding normalized sequence value of the driving signal is 0.8125, and the corresponding 10-time value of the electromagnetic force is 65 mN; in that
Figure BDA0002864147480000107
Figure BDA0002864147480000108
In a time period, the corresponding normalized sequence value of the driving signal is 0.75, and the corresponding 10 times value of the electromagnetic force is about 60; in that
Figure BDA0002864147480000109
In the following period, the amplitude of the driving signal is 1, and the corresponding 10 times value of the electromagnetic force is 80mN, namely, the amplitude is always kept constant to balance the elastic force of the spring. In the process, the driving signal only needs 6 changes, and the complexity of the sinusoidal change of the resonant period is not considered, so that the driving control is easy to realize.
As shown in fig. 4, a target convergence process curve L3 obtained by simulation is driven and controlled by using the third drive sequence P3, and as can be seen from a relationship between displacement and time in the target convergence process curve L3, the target displacement reaches 200 μm and is continuously stabilized within a preset amplitude tolerance interval starting at a time t3 between 8.5 and 9ms (approximately equal to 0.85 Tr), so that a rapid stabilization process with a target stabilization time of 0.85Tr can be realized by using the third drive sequence P3.
Fourth example, in the preset drive sequence, a target stabilization time of a fourth drive sequence is planned to be 0.85Tr, where Tr is a resonance period of a driven object in the linear motion control apparatus, the fourth drive sequence is composed of seven change points, and a normalized amplitude value Am4 of a drive signal thereof is given with respect to time by the following equation:
Figure BDA0002864147480000111
referring to fig. 5, a preset driving sequence P4 and a corresponding target convergence process curve L4 are shown, where Tr is 10.2 ms. After simulation and actual verification of the electronic control lens, the electronic control lens can realize a moving process corresponding to the target convergence process curve L4 by adopting the fifth driving sequence P5 as a driving sequence.
As can be seen from fig. 5, the fourth drive sequence P4 is used to perform drive control from the start of application of the drive signal
Figure BDA0002864147480000112
In a time period, the corresponding normalized sequence value of the driving signal is 0.25, and the corresponding 10-time value of the electromagnetic force is 20 mN; in that
Figure BDA0002864147480000113
In a time period, the corresponding normalized sequence value of the driving signal is 0.3075, and the corresponding 10 times value of the electromagnetic force is about 24 mN; in that
Figure BDA0002864147480000114
In a time period, the corresponding normalized sequence value of the driving signal is 0.25, and the corresponding 10-time value of the electromagnetic force is 20 mN; in that
Figure BDA0002864147480000115
In a time period, the corresponding normalized sequence value of the driving signal is 1, and the corresponding 10 times value of the electromagnetic force is about 80 mN; in that
Figure BDA0002864147480000116
In a time period, the corresponding normalized sequence value of the driving signal is 0.75, and the corresponding 10-time value of the electromagnetic force is 60 mN; in that
Figure BDA0002864147480000117
Figure BDA0002864147480000118
In a time period, the corresponding normalized sequence value of the driving signal is 0.5, and the corresponding 10-time value of the electromagnetic force is about 40 mN; in that
Figure BDA0002864147480000119
In the following period, the amplitude of the driving signal is 1, and the corresponding 10 times value of the electromagnetic force is 80mN, namely, the amplitude is always kept constant to balance the elastic force of the spring. In the process, the driving signal only needs 6 changes, and the complexity of the sinusoidal change of the resonant period is not considered, so that the driving control is easy to realize.
The fourth driving sequence P4 is used for driving control, and as shown in fig. 5, as can be seen from a relationship between displacement and time in the target convergence process curve L4, the target convergence process curve L4 obtained through simulation reaches the target displacement of 200 μm and is continuously stabilized within a preset amplitude tolerance interval starting at a time t4 between 8.5 and 9ms (approximately equal to 0.85 Tr), so that a rapid stabilization process with the target convergence time of 0.85Tr can be realized by using the fourth driving sequence P4.
Example five, the preset drive sequence includes a fifth drive sequence whose target stabilization time is specified to be 0.82 × Tr, where Tr is a resonance period of the driven object in the linear motion control apparatus, the fifth drive sequence being composed of eight change points, whose normalized amplitude value Am5 of the drive signal is given in relation to time by the following equation:
Figure BDA0002864147480000121
refer to the preset drive sequence P5 shown in fig. 6 and its corresponding target convergence process curve L54.
As can be seen from fig. 6, the drive control is performed by the fifth drive sequence P5 from the start of the application of the drive signal
Figure BDA0002864147480000122
In a time period, the corresponding normalized sequence value of the driving signal is 0.5, and the corresponding 10-time value of the electromagnetic force is 40 mN; in that
Figure BDA0002864147480000123
In a time period, the corresponding normalized sequence value of the driving signal is 0.25, and the corresponding 10-time value of the electromagnetic force is about 20 mN; in that
Figure BDA0002864147480000124
In a time period, the corresponding normalized sequence value of the driving signal is 0, and the 10-time value of the corresponding electromagnetic force is 0 mN; in that
Figure BDA0002864147480000125
In a time period, the corresponding normalized sequence value of the driving signal is 0.5, and the corresponding 10-time value of the electromagnetic force is about 40 mN; in that
Figure BDA0002864147480000126
In a time period, the corresponding normalized sequence value of the driving signal is 1, and the corresponding 10 times value of the electromagnetic force is about 80 mN; in that
Figure BDA0002864147480000127
In a time period, the corresponding normalized sequence value of the driving signal is 0.75, and the corresponding 10-time value of the electromagnetic force is about 60 mN; in that
Figure BDA0002864147480000128
In a time period, the corresponding normalized sequence value of the driving signal is 0.5, and the corresponding 10-time value of the electromagnetic force is about 40 mN; in that
Figure BDA0002864147480000129
At a later time, the amplitude of the drive signal is 1, corresponding to the electromagnetic forceThe 10-fold value is 80mN, namely the amplitude is kept constant all the time so as to balance the elastic force of the spring. In the process, the driving signal only needs 7 changes, and the complexity of the sinusoidal change of the resonant period is not considered, so that the driving control is easy to realize.
As shown in fig. 6, the relationship between the displacement and the time of the target convergence process curve L54 shows that, as the drive control is performed by using the fifth drive sequence P5, the simulated target convergence process curve L54 reaches the target displacement of 200 μm and continuously stabilizes within the preset amplitude tolerance interval starting at the time t5 between 8.5 and 9ms (which is approximately equal to 0.82 Tr), and therefore, a rapid stabilization process with the target stabilization time of 0.85Tr can be realized by using the fifth drive sequence P5.
In the above-mentioned piecewise functions of each example, the end point value of the adjacent time interval is the sequence value of the previous interval, and it can be understood that the end point value of the adjacent interval may also be the sequence value of the next interval, and the end point value is within the protection range of the piecewise function of the present invention regardless of how the end point values are divided.
Continuing to refer to FIG. 6, in addition to the target convergence process curve L54, there are convergence process curves L51-L53 and L55, which are displacement curves assuming deviation of the electro-controlled lens from the resonance period of + -3% and + -6%, respectively. The practical significance of doing this calculation and simulation prediction is: any electro-mechanical product, including electro-controlled lenses, has inevitable differences in mechanical properties due to process variations (of the same batch of products, or of different batches of products). Whether a drive sequence described in this specification can have the same or approximately the same drive result for a product with a deviation in mechanical properties is an important aspect in evaluating the drive sequence. It can be seen from the above simulation curves that the lens with different resonant cycle times can still be brought within the set amplitude tolerance at the preset target settling time (t5) despite the significant difference in mechanical performance of the lens. It can be seen that, using the preset driving sequence in the embodiments of the present specification as the target driving sequence, on the premise of ensuring the design target settling time, there is also a tolerance of the resonant period of ± 6%, that is: the driving sequence has a high degree of stability.
In the above fig. 2 to 6, the resonance period Tr of the electronically controlled lens assembly takes 10.2 ms. In practical use, the real resonant period depends on the quality of the electronically controlled lens assembly, and the quality deviation causes deviation of an ideal convergence curve, which is also related to the target stroke size. The smaller the target stroke, the greater the tolerance to mass deviation; the larger the target stroke, the less tolerance for mass deviation. It will be clear to those skilled in the art that 200 μm falls within a very large stroke, and that with the target drive sequence, as can be seen from the simulation curves of the plurality of electronically controlled lenses shown in fig. 6, the stability is very high and there is a very reasonable range for the tolerance of the deviation from the resonance period.
It should be noted that the preset driving sequence used in the specific implementation is not limited to the driving sequence shown above, and the relationship between the amplitude of the preset driving sequence and the time is not unique as long as the obtained driving sequence can meet the planned target settling time, and the endpoint value of the piecewise function corresponding to the driving sequence may also be finely adjusted according to actual measurement or according to a preset amplitude tolerance. It is within the scope of the present invention to slightly modify the individual values of the above-mentioned driving sequences, or to use other expressions, such as decimal expression, binary expression, octal expression, hexadecimal expression, ratio expression, etc.
It can be seen from the above embodiments that, by using the preset driving sequences in the embodiments of the present specification as the target driving sequences and converting the target driving sequences into corresponding target driving signals for driving the driven object in the linear motion device, since each preset driving sequence can reach the planned corresponding target stable time, and the target stable time is less than the resonant period of the driven object in the linear motion device, the purpose of fast stabilization can be achieved, and as can be seen from the above embodiments, each preset driving sequence can adapt to different strokes, and has a relatively large tolerance to the deviation of the resonant frequency of the driven object, and the tolerance is completely within the deviation range of the quality control of the industrial product. Therefore, the application purpose of being fast, stable and suitable for large-scale production can be completely met.
Wherein the resonance period of the driven object may be pre-stored through a pre-configuration operation. A target drive sequence may then be selected from the plurality of preset drive sequences as requested by the application system.
In a specific implementation, the target driving sequence may be selected according to a specific application scenario. More specifically, the target driving sequence may be selected according to a range in which the target course is located. For example, at the start of framing, since the optical lens is in the original position, the request issued by the camera system is generally a series suitable for a large stroke, such as the fifth drive sequence; thereafter, the camera enters a fine focus adjustment phase, where the stroke of each movement is typically small, and the camera system may request a drive sequence with a shorter settling time, suitable for a small stroke, such as the first, or second drive sequence.
In order to make those skilled in the art better understand and implement the present invention, the present specification further provides product embodiments suitable for implementing the above-mentioned driving control method, including specific embodiments of a driving control system and a specific driving control device, which are described in detail below with reference to the accompanying drawings.
Referring to a schematic structural diagram of a linear motion device driving control system shown in fig. 7, the linear motion device may be driven and controlled by using a driving control system in an embodiment of the present specification, as shown in fig. 7, in the embodiment of the present specification, the driving control system 70 is electrically connected to the linear motion device 7A, and the driving control system 70 may include a driving control device 71 and a digital-to-analog conversion device 72, where:
the drive control device 71 is configured to select a target drive sequence from a plurality of preset drive sequences according to a request of an application system, where each of the preset drive sequences is composed of a plurality of amplitude-time pairs, a target stable time of each of the preset drive sequences is smaller than a resonance period of a driven object a1 in the linear motion device 7A, and the resonance period of the driven object is stored in the drive control device 71 based on a preset setting before the plurality of preset drive sequences are executed;
the digital-to-analog conversion device 72 is configured to convert the target driving sequence into a corresponding target driving signal, so as to drive the driven object a1 in the linear motion device 7A to move to a target position.
In a specific implementation, the target settling time may be planned to be less than the resonant period of the driven object a1 in the linear motion device 7A. As a preferable example, the target stabilization time may be within a half of the resonance period of the driven object a1 in the linear motion device 7A.
In a specific implementation, the analog-to-digital conversion device 72 may convert the target driving sequence into a corresponding target driving current, and by applying the target driving current to the linear motion device 7A, the driven object a1 is driven to move to a target position.
Specific examples and specific manners of obtaining the preset driving sequence in the driving control apparatus may refer to specific embodiments of the aforementioned driving control method, which are not described in detail herein.
In a specific implementation, the linear motion device driving Control system 70 may be an analog-to-digital hybrid system, and specifically, the driving Control device 71 may be implemented by a driving controller suitable for running a computer program, such as a Micro-programmed Control Unit (MCU), a Field-Programmable Gate Array (FPGA), or a digital logic-based driving Control circuit.
For better understanding and implementation by those skilled in the art, the following detailed description is made by two specific exemplary structures, and it should be noted that the system for driving and controlling the linear motion device adopted in the embodiment of the present specification is not limited to the following two specific modifications.
Referring to a specific structural schematic diagram of a linear motion device driving control system shown in fig. 8, the driving control system 80 includes a driving control device 81 and a digital-to-analog converter 82, where the driving control device 81 may include: a drive sequence storage unit 811, a control unit 812, and an output unit 813, wherein:
the driving sequence storage unit 811 is adapted to store a plurality of preset driving sequences, wherein each preset driving sequence is composed of a plurality of amplitude-time pairs, a target stabilization time of each preset driving sequence is smaller than a resonance period of a driven object in the linear motion device, and the resonance period of the driven object is stored based on a preset before the plurality of preset driving sequences are executed;
a control unit 812 adapted to select a target driving sequence from the driving sequence storage unit 811 according to a request of an application system;
an output unit 813 adapted to output the target driving sequence. In a specific implementation, the control unit 812 selects a target driver sequence from the driver sequence storage unit 811 according to a request of an application system by running a program code, and outputs the target driver sequence through the output unit 813.
In an implementation, the request of the application system may be directly received by the control device, or may be obtained through the input unit 814.
In a specific implementation, the resonant period data of the driven object may be stored in the driving sequence storage unit 811 together with the plurality of preset driving sequences, or may be stored in a specially-opened resonant period storage unit (not shown in the figure).
In some embodiments of the present description, with continued reference to FIG. 8, the input unit 814 may pass through I2The C bus receiving requests from the application, e.g. via I2The C bus receives a lens focusing instruction, and can obtain corresponding electronic control lens motion parameters including a target position, a target stabilization time, and the like from the lens focusing instruction, so that the driving control device 81 can select to operate a target operation program corresponding to the electronic control lens motion parameters based on the lens focusing instruction, and select a corresponding driving sequence. In a specific implementation, as shown in fig. 8, the amplitude value of the target driving sequence can be converted into a corresponding driving voltage signal by the digital-to-analog converter 82, and then a corresponding driving current signal is generated by the output device 8B according to the voltage signal to driveThe driven object in the linear motion device 8A moves to the target position.
In specific implementation, linear motion device can be automatically controlled camera lens assembly, automatically controlled camera lens assembly can include voice coil motor and automatically controlled camera lens, the drive current signal can drive voice coil motor and drive optical lens removes to the target location, realizes quick accurate focusing, can compromise image capture speed and image quality, consequently can promote user experience.
In specific implementations, except that it may be via I2The C bus may also obtain the request of the application system through other communication interfaces, and the embodiment of the present specification does not limit how or through what way the mode selection signal is obtained.
Specific examples of the preset driving sequence stored in the driving sequence storage unit 811 can be found in the specific embodiments of the aforementioned driving method, and will not be described in detail here.
The drive control device 81 may be implemented by an MCU, an FPGA, or a fully-customized logic circuit.
Referring to fig. 9, the present embodiment further provides another driving control system 90, adapted to drive the linear motion device 9A, including a driving control device 91 and a digital-to-analog converter 92, as shown in fig. 9, where the driving control device 91 includes: a first memory 911, a second memory 912, a buffer 913, a comparator 914, and a controller 915, wherein:
the first memory 911 is adapted to store preset driving sequences, wherein each preset driving sequence is composed of a plurality of amplitude-time pairs, a target settling time of each preset driving sequence is smaller than a resonance period of a driven object in the linear motion device, and the resonance period of the driven object is stored based on preset before the plurality of preset driving sequences are executed;
the second memory 912 adapted to store a time series;
the buffer 913 is adapted to buffer the target driving sequence;
the controller 915 is adapted to select a target driving sequence from the first memory 911 and store the target driving sequence in the buffer 913 according to a request of an application system, and control the target driving sequence in the buffer 913 and the time sequence in the second memory 912 to output to the comparator 914 according to a timing sequence;
the comparator 914, which includes a first input terminal and a second input terminal, is adapted to obtain the target driving sequence in the buffer 913 through the first input terminal, obtain the time sequence in the second memory through the second input terminal, compare the sequence value in the target driving sequence with the time value in the time sequence, and output the amplitude value in the target driving sequence to drive the linear motion device 9A to the target position when the sequence value in the target driving sequence matches the time value in the time sequence.
In a specific implementation, the resonant period data of the driven object may be stored in the first memory 911 or the second memory 912 together with the plurality of preset driving sequences, or may be stored in a specially configured resonant period memory (not shown).
More specifically, with continued reference to fig. 9, the drive control system 90 further includes: a digital-to-analog converter 92 and an output device 9B, wherein: the digital-to-analog converter 92 can convert the amplitude value of the target driving sequence into a corresponding driving voltage signal, and further generate a corresponding driving current signal according to the voltage signal through the output device 9B, so as to drive the driven object in the linear motion device 9A to move to the target position.
In a specific implementation, the controller 915, the comparator 914 and the like can be implemented by digital logic circuits or digital logic devices capable of implementing corresponding functions.
Similar to the previous embodiment of the driving control device, the specific example of the preset driving sequence stored in the first memory 911 can be referred to the previous specific embodiment of the driving method, and will not be described in detail here.
In specific implementations, the compound can be represented by formula I2The request of the application system is input by the communication interfaces such as the C bus and the like based on the driverSpecific embodiments of controlling the motion of the linear motion device by the amplitude value of the target drive sequence output by the control device 91 can be seen in the foregoing embodiments and will not be described herein.
In a specific implementation, the linear motion device driving control system may be disposed in electronic equipment such as a computer device, a tablet computer, and a mobile terminal. The mobile terminal may be a mobile phone, a digital camera, and the like.
In the embodiments of the present specification, for example, "first" and "second" in "the first driving sequence", "the second driving sequence", "the first settling time", "the first memory", "the first input terminal", "the second input terminal", and the like do not have special meanings such as size, sequence, priority, and the like, and are used merely as labels for distinguishing from each other.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected by one skilled in the art without departing from the spirit and scope of the invention, as defined in the appended claims.

Claims (10)

1. A linear motion device drive control method, comprising:
selecting a target driving sequence from a plurality of preset driving sequences according to a request of an application system, wherein each preset driving sequence is composed of a plurality of amplitude-time pairs, the target stable time of each preset driving sequence is smaller than the resonance period of a driven object in the linear motion device, and the resonance period of the driven object is stored on the basis of preset before the plurality of preset driving sequences are executed;
and converting the target driving sequence into a corresponding target driving signal so as to drive the driven object in the linear motion device to move to a target position.
2. The linear motion device drive control method according to claim 1, wherein the preset drive sequence is numerically solved based on a dynamic analysis of a driven object in the linear motion device from a mass of the driven object in the linear motion device, an elastic coefficient relating to a position of the driven object, and a frictional damping coefficient relating to a moving speed of the driven object.
3. The linear motion device drive control method according to claim 1, wherein the plurality of preset drive sequences have respective different and fixed target stabilization times, and each preset drive sequence is respectively adapted to a different target stroke.
4. The linear motion device drive control method according to any one of claims 1 to 3, wherein the plurality of preset drive sequences are represented in a normalized manner by amplitude values of a plurality of drive signals and corresponding pairs of drive times, wherein an amplitude value of 1 is equivalent to an actual drive current corresponding to a target stroke requested by an application system.
5. The linear motion device drive control method according to claim 4, wherein the preset drive sequence includes a first drive sequence whose target stabilization time is specified to be 0.35Tr, where Tr is a resonance period of a driven object in the linear motion control device, the first drive sequence being composed of four change points whose normalized amplitude value Am1 of the drive signal is given with respect to time by the following equation:
Figure FDA0002864147470000021
6. the linear motion device drive control method according to claim 4, wherein the preset drive sequence includes a second drive sequence whose target stabilization time is prescribed to be 0.5 Tr, where Tr is a resonance period of a driven object in the linear motion control device, the second drive sequence being composed of four change points whose normalized amplitude value Am2 of a drive signal is given with respect to time by the following equation:
Figure FDA0002864147470000022
7. the linear motion device drive control method according to claim 4, wherein the preset drive sequence includes a third drive sequence having a settling time of 0.85Tr, where Tr is a resonance period of a driven object in the linear motion control device, the third drive sequence being composed of seven change points whose normalized amplitude value Am3 of the drive signal is given with respect to time by the following equation:
Figure FDA0002864147470000023
8. the linear motion device drive control method according to claim 4, wherein the preset drive sequence includes a fourth drive sequence whose target stabilization time is prescribed to be 0.85Tr, where Tr is a resonance period of a driven object in the linear motion control device, the fourth drive sequence being composed of seven change points whose normalized amplitude value Am4 of a drive signal is given with respect to time by the following equation:
Figure FDA0002864147470000031
9. the linear motion device drive control method according to claim 4, wherein the preset drive sequence includes a fifth drive sequence whose target stabilization time is specified to be 0.82 Tr, where Tr is a resonance period of a driven object in the linear motion control device, the fifth drive sequence being composed of eight change points whose normalized amplitude value Am5 of the drive signal is given in relation to time by the following equation:
Figure FDA0002864147470000032
10. a linear motion device drive control system adapted to drive-control a linear motion device, comprising:
the driving control device is used for selecting a target driving sequence from a plurality of preset driving sequences according to the request of an application system, wherein each preset driving sequence is composed of a plurality of amplitude-time pairs, the target stable time of each preset driving sequence is smaller than the resonance period of a driven object in the linear motion device, and the resonance period of the driven object is stored in the driving control device on the basis of preset settings before the plurality of preset driving sequences are executed;
and the digital-to-analog conversion device is used for converting the target driving sequence into a corresponding target driving signal so as to drive the driven object in the linear motion device to move to a target position.
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