CN114755785B - Linear motion device drive control method and drive control system - Google Patents

Linear motion device drive control method and drive control system Download PDF

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Publication number
CN114755785B
CN114755785B CN202011579918.8A CN202011579918A CN114755785B CN 114755785 B CN114755785 B CN 114755785B CN 202011579918 A CN202011579918 A CN 202011579918A CN 114755785 B CN114755785 B CN 114755785B
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driving
target
sequence
linear motion
preset
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CN114755785A (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

Abstract

The linear motion device driving control method and the driving control system, wherein the driving 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 consists of a plurality of amplitude-time pairs, the target stabilizing 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 based on preset before the 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. The scheme can shorten the stabilization time of the linear motion device and improve the user experience of the linear motion device.

Description

Linear motion device drive control method and drive control system
Technical Field
The embodiment of the invention relates to the technical field of electromechanical control, in particular to a driving control method and a driving control system of a linear motion device.
Background
Voice Coil Motor (VCM) is a linear micro-power device, generally used as an actuator for generating a propulsion force, and is widely used in servo control, for example, in an image pickup device (such as a camera, a video camera, and an electronic device including a lens module) to realize an auto-focus or zoom function. In industrial practice, the VCM and the optical lens often form an electronic control lens module, and the electronic control lens module is used as a linear motion device to perform linear motion under the linear driving of the VCM so as to fulfill the focusing purpose.
One of the key issues of interest to host product developers using electronically controlled lenses is: how to shorten the stabilization time required by each movement of the electronic control lens, so as to improve the shooting quality and improve the user experience.
At present, an open loop driving control method is adopted to drive and control a linear motion device, such as an electric control lens, the stability and the stability time of the linear motion device are inevitably influenced by an actual natural resonance period (hereinafter referred to as a resonance period) of the linear motion device, and focusing speed and definition of a shot image are influenced for the electric control lens, so that user experience is required to be improved.
Disclosure of Invention
In view of the above, 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 the user experience.
First, an embodiment of the present invention provides a method for controlling driving of 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 stabilizing 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 based on preset before the 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 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.
Optionally, the plurality of preset drive sequences have respective different and fixed target settling times, each preset drive sequence being adapted to a different target trip.
Optionally, the plurality of preset driving sequences are represented in a normalized manner by amplitude values of a plurality of driving signals and corresponding driving time pairs, wherein the amplitude value 1 is equivalent to an actual driving current corresponding to a target stroke requested by the application system.
Optionally, the preset driving sequence includes a first driving sequence, a target stability time of the first driving sequence is planned to be 0.35Tr, where Tr is a resonance period of the driven object in the linear motion control device, the first driving sequence is composed of four change points, and a relation between a normalized amplitude value Am1 of the driving signal and time is given by the following formula:
optionally, the preset driving sequence includes a second driving sequence, a target settling time of the second driving sequence is planned to be 0.5×tr, where Tr is a resonance period of the driven object in the linear motion control device, the second driving sequence is composed of four change points, and a relation between a normalized amplitude value Am2 of the driving signal and time is given by the following formula:
optionally, the preset driving sequence includes a third driving sequence, a settling time of the third driving sequence is planned to be 0.85Tr, where Tr is a resonance period of the driven object in the linear motion control device, the third driving sequence is composed of seven change points, and a relation between a normalized amplitude value Am3 of the driving signal and time is given by the following formula:
optionally, the preset driving sequence includes a fourth driving sequence, a target settling time of the fourth driving sequence is planned to be 0.85Tr, where Tr is a resonance period of the driven object in the linear motion control device, the fourth driving sequence is composed of seven change points, and a relation between a normalized amplitude value Am4 of the driving signal and time is given by the following formula:
optionally, the preset driving sequence includes a fifth driving sequence, a target settling time of the fifth driving sequence is planned to be 0.82×tr, where Tr is a resonance period of the driven object in the linear motion control device, the fifth driving sequence is composed of eight change points, and a relation between a normalized amplitude value Am5 of the driving signal and time is given by the following formula:
the embodiment of the invention also provides a driving control system of the linear motion device, which is suitable for driving and controlling the linear motion device, and comprises:
a driving control device, configured to select a target driving sequence from a plurality of preset driving sequences according to a request of an application system, where each preset driving sequence is formed by 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 in the driving control device based on a preset 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 the 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 the application system, a target driving sequence is selected from the preset driving sequences, the target driving sequence is converted into a corresponding target driving signal, and a driven object in the linear motion device can be driven to move to a target position.
Drawings
FIG. 1 is a flow chart showing a method for controlling the driving of a linear motion device according to an embodiment of the present invention;
FIGS. 2-6 are graphs showing a plurality of preset sequences and corresponding target convergence procedures in accordance with embodiments of the present invention;
FIG. 7 is a schematic diagram showing a driving control system of a linear motion device according to an embodiment of the present invention;
FIG. 8 is a schematic diagram showing a specific configuration of a driving control system of a linear motion device according to an embodiment of the present invention;
fig. 9 is a schematic diagram showing a specific construction of a driving control system of another linear motion device according to an embodiment of the present invention.
Detailed Description
The electronic control lens module is used as a linear motion device and comprises a VCM and an optical lens, wherein the optical lens can perform linear motion under the linear drive of the VCM so as to complete the focusing or zooming function. The VCM, which generally includes a permanent magnet and an electromagnetic winding, i.e., a coil, operates on the principle that a driving current is applied to a coil disposed in a magnetic field space, and the coil drives the optical lens to displace under the action of electromagnetic force until the optical lens moves to a designated position and is stabilized, and then focusing is completed, so that photographing can be completed. The stabilization time refers to the time required for the optical lens to overcome the unavoidable natural resonance thereof and finally to be stationary or slightly vibrated at the target position from the instant when the VCM driving current is applied to the optical lens in the electronic control lens module.
At present, an open loop type driving control method is generally adopted to drive and control a linear motion device such as an electronic control lens, however, the linear motion device is difficult to rapidly stand at a target position due to the problem of mechanical resonance, 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 a driving control scheme for an open-loop linear motion device, where the driving control scheme may select a target driving sequence from a plurality of preset driving sequences according to a request of an application system, and convert the target driving sequence into a corresponding target driving signal, so as to drive a driven object in the linear motion device to move to a target position within a planned target stability time, where each preset driving sequence is formed by a plurality of amplitude-time pairs, and the target stability time of each preset driving sequence is smaller than a resonance period of the driven object in the linear motion device, so that rapid stability of the driven object in the linear motion device can be achieved, and user experience is improved.
In order that the above objects, features and advantages of embodiments of the invention may be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Firstly, the embodiment of the invention provides a corresponding driving control method for the linear motion device, and the linear motion device can be driven to move by the driving control method. Referring to the flowchart of the method for controlling the driving of the linear motion device shown in fig. 1, the method may be executed by a driving control system electrically connected to the linear motion device, and the driving control method may specifically include the following steps of:
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 consists of a plurality of amplitude-time pairs, the target stabilizing 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 based on preset before the preset driving sequences are executed.
Wherein, for any preset driving sequence of the preset driving sequences, the dynamic analysis of the driven object in the linear motion device can be based on 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, and the dynamic analysis can be obtained through numerical solution.
In a specific implementation, a corresponding target stabilization time can be planned in advance according to the target requirement, and a corresponding preset driving sequence is obtained through 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.
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 settling times, and each preset driving sequence is adapted to a different target stroke.
As an alternative example, the preset driving sequence may be obtained as follows: according to a preset dynamics model, an electromagnetic force application curve is obtained through the planned relation between the displacement of the 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; and discretizing the amplitude change curve of the driving signal based on the corresponding target stable time to obtain a plurality of amplitude-time pairs in the driving sequence.
In specific implementation, based on the actual application scene of the linear motion device, the corresponding physical parameters can be obtained through measurement, and through experimental verification, or through computer simulation and verification of the actual linear motion device, the dynamic model capable of reflecting the mechanical motion characteristics of the linear motion device can be obtained.
In the embodiment of the present disclosure, the specific manner of obtaining the kinetic model is not limited, and the specific manner of obtaining the electromagnetic force application curve is not limited, as long as the planned target stabilization time can be satisfied.
In some alternative examples, the plurality of preset driving sequences are represented in a normalized manner by pairs of amplitude values and corresponding driving times of the plurality of driving signals, wherein an amplitude value of 1 is equivalent to an actual driving current corresponding to a target trip requested by the application system.
In a specific implementation, the request of the application system may be, for example, an instruction corresponding to the camera focusing operation, or a request signal generated during operation or running of other specific application systems and used for triggering selection of the target driving sequence. The request may include an identifier of a target driving sequence of the request, or a target stabilization time of the request, or may use a target trip as a parameter, and then may select one preset driving sequence from the plurality of preset driving sequences as the target driving sequence according to the target trip.
S12, 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.
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:
wherein Aout represents the amplitude of the drive signal, dn is 0 or 1, the number of Dn is N, and Va is a normalized current value corresponding to the target stroke, which is generally within 10 depending on the accuracy of the required drive signal amplitude.
In a specific industrial practice, the target drive signal may specifically be a current signal or a voltage signal. By the target driving sequence described in the embodiments of the present disclosure, the planned target settling time may be less than a resonance period of the driven object in the linear motion device, and even less than half of the resonance period of the driven object.
The obtained relation between the preset driving sequence and the amplitude and time of the driving signal 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 program codes 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, each preset driving sequence and its verified target convergence process graph may refer to fig. 2 to 6, corresponding to the first driving sequence to the fifth driving sequence, respectively.
In an example one, in the preset driving sequence, the target stability time of the first driving sequence is planned to be 0.35Tr, where Tr is a resonance period of the driven object in the linear motion control device, the first driving sequence is composed of four change points, and the relation between the normalized amplitude value Am1 of the driving signal and time is given by the following formula:
reference is made to the preset driving sequence P1 and the corresponding target convergence process curve L1 shown in fig. 2, where tr=10.2 ms. Through simulation and verification of an actual electronic control lens, the electronic control lens can realize a moving process corresponding to a target convergence process curve L1 by adopting the first driving sequence P1 as a driving sequence, and can realize rapid stabilization to a target position.
As can be seen from fig. 2, the first driving sequence P1 is used for driving control, and the driving signal is applied from the beginningIn the period, the normalized sequence value corresponding to the driving signal is 1, and the 10 times value of the corresponding electromagnetic force is 80mN; at->In the period, the normalized sequence value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding electromagnetic force is 40mN; at->In the period, the normalized sequence value corresponding to the driving signal is 0, and the 10 times value of the corresponding electromagnetic force is 0mN; at->In the subsequent period, the normalized sequence value corresponding to the driving signal is 1, and the 10 times value of the corresponding electromagnetic force is 80mN, namely, the amplitude is kept unchanged all the time to balance the elastic force of the spring.
The first driving sequence P1 is adopted to perform driving control, and the relation between displacement and time in the target convergence process curve L1 obtained by simulation is known as shown in fig. 2, and the target displacement is 200 μm and continuously stabilized within a preset amplitude tolerance range starting at a time t1 close to 3.5ms (approximately equal to 0.35×tr), so that the first driving sequence P1 can realize a rapid stabilizing process with a target stabilizing time of 0.35×tr. In this process, the driving signal only needs to be changed for 3 times, and the complexity of the sine change of the resonance period is not considered, so that the driving control is easy to realize.
In a second example, in the preset driving sequence, the target settling time of the second driving sequence is planned to be 0.5×tr, where Tr is a resonance period of the driven object in the linear motion control device, the second driving sequence is composed of four change points, and the relation between the normalized amplitude value Am2 of the driving signal and time is given by the following formula:
as can be seen from fig. 3, the second driving sequence P2 is used for driving control, and the target driving signal is applied from the beginningIn the period, the normalized amplitude value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding driving electromagnetic force is 40mN; at->In the time period, the normalized sequence value corresponding to the driving signal is 0.615, and the 10 times value of the corresponding electromagnetic force is about 50mN; at->In the period, the normalized sequence value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding electromagnetic force is 40mN; at->In the subsequent period, the normalized sequence value corresponding to the driving signal is 1, and the 10 times value of the corresponding electromagnetic force is 80mN, namely, the amplitude is kept unchanged all the time to balance the elastic force of the spring. In this process, the driving signal only needs to be changed for 3 times, and the complexity of the sine change of the resonance period is not considered, so that the driving control is easy to realize.
The second driving sequence P2 is adopted to perform driving control, and the relationship between the displacement and time in the target convergence process curve L2 obtained by simulation is known as shown in fig. 3, and the target displacement is 200 μm and continuously stabilized within the preset amplitude tolerance interval starting at the time t2 close to 5ms (approximately equal to 0.5 tr), so that the second driving sequence P2 can realize the rapid stabilization process with the target stabilization time of 0.5 tr.
In an example three, in the preset driving sequence, the settling time of the third driving sequence is planned to be 0.85Tr, where Tr is the resonance period of the driven object in the linear motion control device, the third driving sequence is composed of seven change points, and the relation between the normalized amplitude value Am3 of the driving signal and time is given by the following formula:
through simulation and verification of an actual 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 third driving sequence P3 is used for driving control, and the driving signal is applied from the beginningIn the period, the normalized sequence value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding electromagnetic force is 40mN; at->In the period, the normalized sequence value corresponding to the driving signal is 0.25, and the 10 times value of the corresponding electromagnetic force is 20mN; at->In the period, the corresponding normalized sequence value of the driving signal is 0, and the corresponding 10 times value of the electromagnetic force is 0mN; at->In the time period, the normalized sequence value corresponding to the driving signal is 0.75, and the 10 times value of the corresponding electromagnetic force is about 60mN; at->During the period of time, driveThe normalized sequence value corresponding to the dynamic signal is 0.8125, and the 10 times value of the corresponding electromagnetic force is 65mN; at-> In the period, the normalized sequence value corresponding to the driving signal is 0.75, and the 10 times value of the corresponding electromagnetic force is about 60; at the position ofIn the latter period, the amplitude of the drive signal is 1 and the corresponding 10 times the electromagnetic force is 80mN, i.e. this amplitude is kept constant for balancing the spring force of the spring. In this process, the driving signal only needs to be changed for 6 times, and the complexity of the sine change of the resonance period is not considered, so that the driving control is easy to realize.
The third driving sequence P3 is adopted to perform driving control, and the relation between displacement and time in the target convergence process curve L3 obtained by simulation is known as shown in fig. 4, and the target displacement is 200 μm and continuously stabilized within a preset amplitude tolerance interval starting at time t3 between 8.5 ms and 9ms (which is approximately equal to 0.85×tr), so that the rapid stabilizing process with the target stabilizing time of 0.85×tr can be realized by adopting the third driving sequence P3.
In an example four, in the preset driving sequence, the target settling time of the fourth driving sequence is planned to be 0.85Tr, where Tr is a resonance period of the driven object in the linear motion control device, the fourth driving sequence is composed of seven change points, and the relation between the normalized amplitude value Am4 of the driving signal and time is given by the following formula:
reference is made to a preset driving sequence P4 and a corresponding target convergence process curve L4 shown in fig. 5, where tr=10.2 ms. Through simulation and verification of an actual 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 driving sequence P4 is used for driving control, and the driving signal is applied from the beginningIn the period, the normalized sequence value corresponding to the driving signal is 0.25, and the 10 times value of the corresponding electromagnetic force is 20mN; at->In the period, the normalized sequence value corresponding to the driving signal is 0.3075, and the 10 times value of the corresponding electromagnetic force is about 24mN; at->In the time period, the corresponding normalized sequence value of the driving signal is 0.25, and the corresponding 10 times value of the electromagnetic force is 20mN; at->In the period, the normalized sequence value corresponding to the driving signal is 1, and the 10 times value of the corresponding electromagnetic force is about 80mN; at->In the period, the normalized sequence value corresponding to the driving signal is 0.75, and the 10 times value of the corresponding electromagnetic force is 60mN; at-> In the time period, the normalized sequence value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding electromagnetic force is about 40mN; at the position ofIn the latter period, the amplitude of the driving signal is 1, and the corresponding electromagnetic force is 8 times of the amplitude of the driving signal0mN, i.e. this amplitude is kept constant all the time to balance the spring force of the spring. In this process, the driving signal only needs to be changed for 6 times, and the complexity of the sine change of the resonance period is not considered, so that the driving control is easy to realize.
The fourth driving sequence P4 is adopted to perform driving control, and the relation between displacement and time in the simulated target convergence process curve L4 is known from the relation between displacement and time in the target convergence process curve L4, and the target displacement is 200 μm and continuously stabilized within a preset amplitude tolerance interval starting at time t4 between 8.5 ms and 9ms (about equal to 0.85×tr), so that the rapid stabilization process with the target convergence time of 0.85×tr can be realized by adopting the fourth driving sequence P4.
Example five, the preset driving sequence includes a fifth driving sequence whose target settling time is planned to be 0.82×tr, where Tr is a resonance period of the driven object in the linear motion control device, and the fifth driving sequence is composed of eight change points, and a relationship between a normalized amplitude value Am5 of the driving signal and time is given by the following formula:
reference is made to the preset driving sequence P5 shown in fig. 6 and its corresponding target convergence process curve L54.
As can be seen from fig. 6, the fifth driving sequence P5 is used for driving control, and the driving signal is applied from the beginningIn the period, the normalized sequence value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding electromagnetic force is 40mN; at->In the time period, the normalized sequence value corresponding to the driving signal is 0.25, and the 10 times value of the corresponding electromagnetic force is about 20mN; at->In the period, the corresponding normalized sequence value of the driving signal is 0, and the corresponding 10 times value of the electromagnetic force is 0mN; at->In the time period, the normalized sequence value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding electromagnetic force is about 40mN; at->In the period, the normalized sequence value corresponding to the driving signal is 1, and the 10 times value of the corresponding electromagnetic force is about 80mN; at->In the time period, the normalized sequence value corresponding to the driving signal is 0.75, and the 10 times value of the corresponding electromagnetic force is about 60mN; at the position ofIn the time period, the normalized sequence value corresponding to the driving signal is 0.5, and the 10 times value of the corresponding electromagnetic force is about 40mN; at->In the latter period, the amplitude of the drive signal is 1 and the corresponding 10 times the electromagnetic force is 80mN, i.e. this amplitude is kept constant for balancing the spring force of the spring. In this process, the driving signal only needs 7 changes without considering the complexity of the sine change of the resonance period, so that the driving control is easy to realize.
As shown in fig. 6, the target convergence process curve L54 obtained by simulation is shown in fig. 6, and it is known from the relationship between the displacement and time of the target convergence process curve L54 that the target displacement is 200 μm and continuously stabilized within the preset amplitude tolerance interval starting at time t5 between 8.5 ms and 9ms (about equal to 0.82 tr), so that the rapid stabilization process with the target stabilization time of 0.85tr can be realized by using the fifth driving sequence P5.
In the piecewise function 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 can also be the sequence value of the next interval, and the piecewise function is within the protection scope of the piecewise function of the invention no matter how the end point value is divided.
With continued reference to fig. 6, in addition to the target convergence process curve L54, there are convergence process curves L51 to L53 and L55, which are displacement curves assuming that the electronically controlled lens has a resonance period deviation of ±3% from ±6%, respectively. The practical significance of doing this calculation and simulation prediction is: any electromechanical product including an electronically controlled lens, which has variations in mechanical properties due to process variations (same lot of product, or different lots of product) is unavoidable. Whether the drive sequences described herein can have identical, or nearly identical, drive results for products with deviations in mechanical properties is an important aspect of evaluating the drive sequences. From the above simulation curves, it can be seen that lenses with different resonant cycle times can still be brought within the set amplitude tolerance at the preset target settling time (t 5) despite significant differences in the mechanical properties of the lenses. It can be seen that, by adopting the preset driving sequence in the embodiment of the present specification as the target driving sequence, the target driving sequence has a resonance period tolerance of ±6% on the premise of ensuring the design target settling time, namely: the driving sequence has a high degree of stability.
In fig. 2 to 6 above, the resonance period Tr of the electronically controlled lens assembly is 10.2ms. In practical use, the actual resonance period depends on the mass of the electronically controlled lens assembly, and the mass deviation leads to the deviation of an ideal convergence curve and also depends on the target stroke size. The smaller the target stroke, the greater the tolerance to mass deviation; the larger the target stroke, the smaller the tolerance to mass deviation. It will be clear to those skilled in the art that 200 μm belongs to a large stroke, and that the target driving sequence is adopted with very high stability and a very reasonable range for the deviation margin from the resonance period, as can be seen from the simulation curves of the plurality of electronically controlled lenses shown in fig. 6.
It should be noted that, the preset driving sequence adopted in the implementation is not limited to the driving sequence shown above, and the relationship between the amplitude and the time of the preset driving sequence is not unique, so long as the obtained driving sequence can meet the planned target settling time, the endpoint value of the piecewise function corresponding to the driving sequence may also be fine-tuned according to the actual measurement, or fine-tuned according to the preset amplitude tolerance. Minor modifications to the individual values in the drive sequences described above, or other expressions such as decimal, binary, octal, hexadecimal, proportional, etc., are within the scope of the present invention.
As can be seen from the foregoing embodiments, the preset driving sequences in the embodiments of the present disclosure are adopted as target driving sequences, and the target driving sequences are converted into corresponding target driving signals for driving the driven objects in the linear motion device, and since each preset driving sequence can reach a planned corresponding target stabilization time, the target stabilization time is smaller than the resonance period of the driven objects in the linear motion device, the purpose of rapid stabilization can be achieved. Therefore, the method can completely meet the application purposes of rapidness, stability and suitability for mass production.
Wherein the resonance period of the driven object may be stored in advance by a pre-configuration operation. The target drive sequence may then be selected from a plurality of preset drive sequences according to the request of the application system.
In a specific implementation, the target drive sequence may be selected according to a specific application scenario. More specifically, the target drive sequence may be selected according to the range in which the target stroke is located. For example, at the start of framing, because the optical lens is in the home position, the request from the camera system is typically a series suitable for a large run, such as a fifth drive sequence; the camera then enters a focus fine-tuning stage, where the stroke of each movement is typically small, at which time the camera system may request a drive sequence, such as a first or second drive sequence, with a shorter settling time, suitable for the small stroke.
In order to better understand and implement the present invention by those skilled in the art, embodiments of products suitable for implementing the above-mentioned driving control method, including specific embodiments of a driving control system and specific driving control devices, are further provided in the present specification, and the detailed description below refers to the accompanying drawings.
Referring to the schematic structural diagram of the driving control system of the linear motion device shown in fig. 7, the driving control system in the embodiment of the present disclosure may be used to perform driving control on the linear motion device, as shown in fig. 7, in the embodiment of the present disclosure, 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 driving control device 71 is configured to select a target driving sequence from a plurality of preset driving sequences according to a request of an application system, where 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 A1 in the linear motion device 7A, and the resonance period of the driven object is stored in the driving control device 71 based on a preset before the plurality of preset driving 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 the target position.
In a specific implementation, the target settling time may be planned to be smaller than the resonance period of the driven object A1 in the linear motion device 7A. As a preferable example, the target settling time may reach within 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 drive the driven object A1 to move to the target position by applying the target driving current to the linear motion device 7A.
Specific examples of preset drive sequences and specific ways of obtaining in the drive control means may be found in the specific embodiments of the drive control method described above and will not be described in detail here.
In a specific implementation, the linear motion device driving control system 70 may be an analog-digital hybrid system, and specifically, the driving control device 71 may be implemented by using a driving controller suitable for running a computer program, such as a Micro-program controller (Micro-programmed Control Unit, MCU), a Field programmable gate array (Field-Programmable Gate Array, FPGA), or a chip, which may also be implemented by using a driving control circuit based on digital logic.
For better understanding and implementation by those skilled in the art, the following detailed description is made with two specific example structures, and it should be noted that the system for driving and controlling the linear motion device according to the embodiment of the present disclosure 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, a driving control system 80 includes a driving control device 81 and a digital-to-analog converter 82, wherein 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 of the preset driving sequences is composed of a plurality of amplitude-time pairs, the target settling time of each of the preset driving sequences 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 a preset before the execution of the plurality of preset driving sequences;
a control unit 812 adapted to select a target drive sequence from the drive sequence storage unit 811 according to a request of an application system;
the output unit 813 is adapted to output the target drive sequence. In a specific implementation, the control unit 812 selects a target driving sequence from the driving sequence storage unit 811 according to a request of an application system by running a program code, and outputs the target driving 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 resonance 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 by a specially opened resonance 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 be configured to 2 The C-bus receiving requests of the application system, e.g. via I 2 The C bus receives a lens focusing command, and obtains corresponding motion parameters of the electronic control lens from the lens focusing command, including a target position, a target stabilization time, and the like, so that the driving control device 81 can select to operate a target operation program corresponding to the motion parameters of the electronic control lens based on the lens focusing command, and select a corresponding driving sequence. As shown in fig. 8, in an implementation, the amplitude value of the target driving sequence may 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, so as to drive the driven object in the linear motion device 8A to move to the target position.
In specific implementation, the linear motion device can be an electric control lens assembly, the electric control lens assembly can comprise a voice coil motor and an electric control lens, and the driving current signal can drive the voice coil motor to drive the optical lens to move to a target position, so that quick and accurate focusing is realized, the image shooting speed and the image quality can be considered, and therefore, the user experience can be improved.
In particular implementation, except through I 2 The request of the C bus to acquire the application system may also be acquired through other communication interfaces, and the embodiment of the present disclosure does not limit how to acquire or what way to acquire the mode selection signal.
Specific examples of the preset driving sequences stored in the driving sequence storage unit 811 may be referred to the specific embodiments of the driving method described above, and will not be described in detail herein.
The drive control device 81 may be implemented by an MCU, an FPGA, or a fully-custom logic circuit.
Referring to fig. 9, the embodiment of the present disclosure further provides another driving control system 90 adapted to drive a linear motion device 9A, including a driving control device 91 and a digital-to-analog converter 92, where, as shown in fig. 9, 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 of the preset driving sequences is composed of a plurality of amplitude-time pairs, a target settling time of each of the preset driving sequences 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;
the second memory 912 is adapted to store a time sequence;
the buffer 913 is adapted to buffer the target drive sequence;
the controller 915 is adapted to select a target driving sequence from the first memory 911 according to a request of an application system, store the target driving sequence in the buffer 913, 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 time sequence;
the comparator 914 comprises a first input terminal and a second input terminal, and 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, and 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 with the time value in the time sequence.
In a specific implementation, the resonance 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 by a specially opened resonance period memory (not shown in the drawing).
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 then 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 particular implementations, the controller 915, the comparator 914, etc. may be implemented by digital logic circuits, or by digital logic devices comprising logic devices capable of performing the 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 specific embodiment of the previous driving method, and will not be described in detail herein.
In a specific implementation, the method can be implemented by I 2 The specific embodiment of controlling the motion of the linear motion device based on the amplitude value of the target driving sequence output by the driving control device 91 by inputting the request of the application system through the communication interface such as the C bus can be seen from 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 devices such as a computer device, a tablet computer, and a mobile terminal. The mobile terminal may be a mobile phone, a digital camera, etc.
In the embodiment of the present specification, for example, "first", "second", and the like of "first drive sequence", "second drive sequence", "first settling time", "first memory", "first input", "second input", and the like do not have special meanings of size, precedence, priority, and the like, and are used only 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 made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.

Claims (10)

1. A linear motion device drive control method, characterized by 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 consists of a plurality of amplitude-time pairs, the target stabilizing 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 based on preset before the 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 driving control method according to claim 1, wherein the preset driving sequence is obtained by numerical solution based on a dynamic analysis of a driven object in the linear motion device, an elastic coefficient related to a position of the driven object, and a friction damping coefficient related to a movement speed of the driven object.
3. The linear motion device driving control method according to claim 1, wherein the plurality of preset driving sequences have respective different and fixed target settling times, and each preset driving sequence is adapted to a different target stroke, respectively.
4. A method according to any one of claims 1-3, wherein the plurality of preset driving sequences are represented by amplitude values of a plurality of driving signals and corresponding driving time pairs in a normalized manner, wherein the amplitude value 1 is equivalent to an actual driving current corresponding to a target stroke requested by an application system.
5. The method according to claim 4, wherein the preset driving sequence includes a first driving sequence whose target settling time is planned to be 0.35Tr, where Tr is a resonance period of the driven object in the linear motion device, and the first driving sequence is composed of four change points, and a relationship between a normalized amplitude value Am1 of the driving signal and time is given by the following formula:
6. the method according to claim 4, wherein the preset driving sequence includes a second driving sequence, and the target settling time of the second driving sequence is planned to be 0.5 x Tr, where Tr is a resonance period of the driven object in the linear motion device, and the second driving sequence is composed of four change points, and the relationship between the normalized amplitude value Am2 of the driving signal and time is given by the following formula:
7. the method according to claim 4, wherein the preset driving sequence includes a third driving sequence whose settling time is planned to be 0.85Tr, wherein Tr is a resonance period of the driven object in the linear motion device, and the third driving sequence is composed of seven changing points, and a relation between a normalized amplitude value Am3 of the driving signal and time is given by the following formula:
8. the method according to claim 4, wherein the preset driving sequence includes a fourth driving sequence whose target settling time is planned to be 0.85Tr, where Tr is a resonance period of the driven object in the linear motion device, and the fourth driving sequence is composed of seven change points, and a relation between a normalized amplitude value Am4 of the driving signal and time is given by the following formula:
9. the method according to claim 4, wherein the preset driving sequence includes a fifth driving sequence, and a target settling time of the fifth driving sequence is planned to be 0.82 x Tr, where Tr is a resonance period of the driven object in the linear motion device, and the fifth driving sequence is composed of eight change points, and a relation between a normalized amplitude value Am5 of the driving signal and time is given by the following formula:
10. a linear motion device drive control system adapted to drive and control the linear motion device, comprising:
a driving control device, configured to select a target driving sequence from a plurality of preset driving sequences according to a request of an application system, where each preset driving sequence is formed by 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 in the driving control device based on a preset 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 the target position.
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