CN115498918A - Piezoelectric driver control method and device, storage medium and electronic equipment - Google Patents
Piezoelectric driver control method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The disclosure provides a control method and device of a piezoelectric driver, a storage medium and electronic equipment, and relates to the technical field of piezoelectric control. The control method of the piezoelectric actuator comprises the following steps: acquiring a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member; and determining a control signal for inputting the piezoelectric driver according to the control coefficient and the sliding mode surface of the piezoelectric driver. The control method and the control device can realize accurate control of the piezoelectric actuator and improve the precision of piezoelectric drive.
Description
Technical Field
The present disclosure relates to the field of piezoelectric control technologies, and in particular, to a method and an apparatus for controlling a piezoelectric actuator, a storage medium, and an electronic device.
Background
The piezoelectric drive is a drive technique for generating a rotational or linear motion by deformation of a piezoelectric material based on the inverse piezoelectric effect of the piezoelectric material. The deformation of piezoelectric materials is generally only micron-scale or nanometer-scale, so that the displacement control precision is very high, and piezoelectric actuators (such as piezoelectric motors) are often applied to high-precision occasions.
In the related art, when a conventional PID (Proportional, integral, and Derivative) control system is used to control the piezo actuator, the accuracy is usually low, which affects the precision of the piezo actuator.
Disclosure of Invention
The disclosure provides a control method and device of a piezoelectric driver, a storage medium and an electronic device, and further solves the problem that accurate control over the piezoelectric driver is difficult to achieve at least to a certain extent.
According to a first aspect of the present disclosure, there is provided a control method of a piezoelectric driver, including: acquiring a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member; and determining a control signal for inputting the piezoelectric driver according to the control coefficient and the sliding mode surface of the piezoelectric driver.
According to a second aspect of the present disclosure, there is provided a control device of a piezoelectric driver, including: a control coefficient acquisition module configured to acquire a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member; a control signal determination module configured to determine a control signal for input to the piezoelectric driver according to the control coefficient and a sliding mode surface of the piezoelectric driver.
According to a third aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the piezoelectric driver of the first aspect described above and possible implementations thereof.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the control method of the piezoelectric driver of the first aspect described above and possible implementations thereof via execution of the executable instructions.
The technical scheme of the disclosure has the following beneficial effects:
on one hand, the friction driving condition between the piezoelectric driver and the driven part is considered, the control signal for inputting the piezoelectric driver is determined in a sliding mode control mode, the piezoelectric driver can be accurately controlled, and therefore the precision of piezoelectric driving is improved. On the other hand, the scheme is simple in processing process and low in calculation amount, is favorable for realizing real-time control of the piezoelectric driver, and is applied to scenes such as camera driving.
Drawings
Fig. 1 shows a flowchart of a control method of a piezoelectric driver in the present exemplary embodiment;
fig. 2 shows a sub-flowchart of a control method of a piezoelectric driver in the present exemplary embodiment;
fig. 3 shows a schematic structural diagram of a piezoelectric actuator in the present exemplary embodiment;
fig. 4 is a schematic structural view showing another piezoelectric actuator in the present exemplary embodiment;
fig. 5 is a schematic structural diagram of a camera module according to the present exemplary embodiment;
fig. 6 is a schematic view showing a structure of a piezoelectric motor in the present exemplary embodiment;
fig. 7 is a schematic structural diagram showing a control device of a piezoelectric actuator in the present exemplary embodiment;
fig. 8 shows a schematic configuration diagram of an electronic device in the present exemplary embodiment.
Detailed Description
Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings.
The figures are schematic illustrations of the present disclosure and are not necessarily drawn to scale. The technical solutions of the present disclosure can be implemented in various forms and should not be construed as being limited to the examples set forth herein. The described features, structures, or characteristics of the disclosure may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough explanation of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that one or more of the specific details can be omitted, or one or more of the specific details can be replaced with other methods, components, structures, etc., in implementing the embodiments of the disclosure.
The control signal of the piezoelectric driver may be a periodic signal with a regular waveform, such as a sinusoidal signal. In the control process, the voltage value of the control signal cannot be adjusted at will, and if a conventional PID control system is adopted, the voltage value calculated by PID needs to be approximated according to the original waveform of the control signal, thereby affecting the accuracy of control.
In view of the above, exemplary embodiments of the present disclosure provide a control method of a piezoelectric driver. The control method can be applied to a controller of the piezoelectric actuator, and the controller can be a control system matched with the piezoelectric actuator, and also can be an electronic module integrated with the piezoelectric actuator or a processor in electronic equipment. For example, a piezoelectric driver may be integrated in the camera module, and a Controller of the piezoelectric driver may be an MCU (Micro Controller Unit) of the camera module. Alternatively, the piezo actuator may be integrated in the smartphone, and the controller of the piezo actuator may be the processor of the smartphone.
Fig. 1 shows a flow of a control method of a piezoelectric actuator, which may include the following steps S110 and S120:
step S110, acquiring a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member;
and step S120, determining a control signal for inputting the piezoelectric driver according to the control coefficient and the sliding mode surface of the piezoelectric driver.
Based on the method, on one hand, the friction driving condition between the piezoelectric driver and the driven member is considered, the control signal for inputting the piezoelectric driver is determined in a sliding mode control mode, accurate control over the piezoelectric driver can be achieved, and therefore the precision of piezoelectric driving is improved. On the other hand, the scheme is simple in processing process and low in calculation amount, is favorable for realizing real-time control of the piezoelectric driver, and is applied to scenes such as camera driving.
Each step in fig. 1 is explained in detail below.
In step S110, a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member is acquired.
In the exemplary embodiment, in consideration of the nature of controlling the piezoelectric actuator, the piezoelectric actuator is enabled to drive the driven member to generate the desired displacement by a certain control signal. The relationship between the control signal and the displacement amount may be established, and the control coefficient is a coefficient capable of characterizing the relationship between the control signal and the displacement amount to some extent. For example, the control coefficient may be a linear coefficient between a certain function value of the displacement amount and the control signal.
The inventor experimentally found that the control coefficient is related to the friction coefficient between the piezoelectric driver/driven member, and the two are in positive correlation. The mapping relationship between the control coefficient and the friction coefficient can be obtained through experimental calibration, for example, the mapping relationship can be realized in the form of a mapping table. In this way, when the actual control is carried out, the friction coefficient between the piezoelectric driver and the driven part can be obtained or measured, and the control coefficient can be determined through the calibrated mapping relation.
And step S120, determining a control signal for inputting the piezoelectric driver according to the control coefficient and the sliding mode surface of the piezoelectric driver.
The movement mode of the piezoelectric drive is nonlinear movement, and the sliding mode control belongs to nonlinear control, so that the idea of sliding mode control can be adopted to control the piezoelectric drive.
The control signal may be a transient signal or a time period signal. For example, before the piezoelectric driver is driven, an expected displacement can be obtained, a sliding mode surface of the piezoelectric driver is designed, and a control signal in a driving process is determined according to a control coefficient and the sliding mode surface, wherein the control signal can be a periodic steady-state signal.
In one embodiment, the control signal may comprise a sinusoidal signal or a pulsed signal. The Pulse signal may be a modulated signal having an arbitrary waveform, and may be a PWM (Pulse Width Modulation) signal or the like. More specifically, the pulse signal may be a triangular wave signal. The sinusoidal signal or the pulse signal has a stable waveform. Therefore, the piezoelectric actuator is favorably and stably controlled, and interference and noise can be prevented to a certain degree.
In one embodiment, the determining the control signal for inputting to the piezoelectric actuator according to the control coefficient and the sliding mode surface of the piezoelectric actuator may include:
and determining a control signal according to the control coefficient and the sliding mode surface of the piezoelectric driver by adopting a pre-configured piezoelectric control function.
The piezoelectric control function is used for representing a functional relation among a control coefficient, a sliding mode surface of the piezoelectric driver and a control signal. For example, multiple sets of parameters of the control signals may be set, the parameters of each set of control signals may include frequency, amplitude, waveform parameter, and the like of the control signals, and information such as actual displacement, speed, and the like corresponding to the parameters of each set of control signals is obtained through experiments under different control coefficients to construct a sliding mode surface. And fitting the sliding mode surface and the parameters of the control signal under different coefficients to obtain a piezoelectric control function. Therefore, during actual control, the control coefficient and the sliding mode surface of the piezoelectric driver can be substituted into the piezoelectric control function, so that the control signal can be calculated.
The following is a derivation of the slip form surface. Assuming that the driven element slides on the interface of the piezoelectric driver/the driven element, the displacement of the driven element is x1, the speed is x2, and the control signal is u, the following relationship is obtained:
wherein the content of the first and second substances,
the first derivative of x1 is represented by,
representing the first derivative of x 2. The purpose of the control is to make both the final x1 and x 20, i.e. the driven element just stops at the origin.
The slip form can be designed as follows:
s＝cx1+x2 (3)
where s is called the sliding mode surface, because when s =0 is satisfied, the state of the entire system (piezoelectric driver + driven member) will tend to zero along the sliding mode surface.
The derivation is obtained for both sides of equation (3):
by the law of approach
The following relationships exist:
c·x2+u＝k·sgn(s) (5)
since the piezoelectric driving force itself is fixed, the available piezoelectric control function is as follows:
u＝k·sgn(s) (6)
where u denotes a control signal, k denotes a control coefficient, and s denotes a sliding mode surface. The control signal can be conveniently calculated by adopting the formula (6).
In one embodiment, the determining the control signal for inputting to the piezoelectric actuator according to the control coefficient and the sliding mode surface of the piezoelectric actuator may include:
acquiring the speed of a moving part of the piezoelectric driver;
and determining a control signal according to the control coefficient, the sliding mode surface of the piezoelectric driver and the speed of the moving part.
The control signal u can be calculated by substituting the control coefficient k, the sliding mode surface s of the piezoelectric actuator and the speed x2 of the moving part by adopting a formula (5). The calculation result is more accurate due to the fact that the speed x2 of the moving piece is increased.
In one embodiment, the piezoelectric driver may have a first control terminal and a second control terminal. Referring to fig. 2, the above-mentioned determining a control signal for inputting the piezoelectric actuator according to the control coefficient and the sliding mode surface of the piezoelectric actuator may include the following steps S210 and S220:
step S210, determining a master control signal according to the control coefficient and the sliding mode surface of the piezoelectric driver;
step S220, splitting the master control signal into a first control signal and a second control signal with a preset phase difference; the first control signal is used for inputting the first control end, and the second control signal is used for inputting the second control end.
The first control end and the second control end of the piezoelectric driver can be used for inputting different control signals, the total control signal is the superposition of the control signals of each control end, the total control signal is split into the first control signal and the second control signal, and the first control signal and the second control signal are respectively input into the first control end and the second control end, so that the superposition motion of the piezoelectric driver can be realized, and the driving efficiency is improved.
A description will be given below of a piezoelectric driver having a first control terminal and a second control terminal.
Referring to fig. 3, the piezoelectric actuator 300 may include a piezoelectric body 310 and a moving member 320. The piezoelectric body 310 and the moving member 320 may be coupled by a sliding rod or a friction coupling. A first control signal and a second control signal are respectively applied to two different parts of the piezoelectric body 310, and are used for controlling the piezoelectric body 310 to deform so as to drive the moving piece 320 to move; the moving member 320 moves to drive the driven member 330 to move. The first control signal and the second control signal have a predetermined phase difference, so that the deformation of the piezoelectric body 310 controlled by the first control signal and the deformation of the piezoelectric body 310 controlled by the second control signal can drive the moving element 320 to move in the same direction.
The first control signal and the second control signal are used for applying a voltage difference to the piezoelectric body 310 to deform the piezoelectric body, and the deformation direction may be a horizontal direction or a vertical direction. The first control signal and the second control signal are applied to two different portions of the piezoelectric body 310 to apply a voltage difference to the different portions, for example, the first control signal may be applied to a left portion of the piezoelectric body 310, and the second control signal may be applied to a right portion of the piezoelectric body 310. The first control signal and the second control signal have a predetermined phase difference, for example, they may be opposite signals, and at the same time, the first control signal and the second control signal may apply a voltage difference in the same direction to the piezoelectric body 310, and the two control signals may control the piezoelectric body 310 to deform in the same direction, for example, the first control signal may extend the left portion of the piezoelectric body 310, and the second control signal may contract the right portion of the piezoelectric body 310, so that the piezoelectric body 310 deforms horizontally and leftwards as a whole.
Specifically, the piezoelectric body 310 may have a first control terminal 3101, a second control terminal 3102, and a ground terminal 3103. The first control signal is applied between the first control terminal 3101 and the ground terminal 3103, causing a voltage difference between the first control terminal 3101 and the ground terminal 3103, which deforms the portion of the piezoelectric body 310 between the first control terminal 3101 and the ground terminal 3103. The second control signal is applied between the second control terminal 3102 and the ground terminal 3103, causing a voltage difference between the second control terminal 3102 and the ground terminal 3103, which deforms the portion of the piezoelectric body 310 between the second control terminal 3102 and the ground terminal 3103. Thus, by providing the positions of the first control terminal 3101, the second control terminal 3102 and the ground terminal 3103 on the piezoelectric body 310, it is possible to generate the same driving results as desired for different portions of the piezoelectric body 310. The deformation caused by the two control signals can make the moving element 320 move in the same direction, and compared with a single control signal, the moving stroke of the moving element 320 and the driven element 330 is increased, for example, the maximum displacement distance or the maximum rotation angle of the driven element 330 can be increased.
In one embodiment, referring to fig. 3, the ground terminal 3103 may be disposed on a first side of the piezoelectric body 310 away from the moving element 320, and the first control terminal 3101 and the second control terminal 3102 may be disposed on a second side of the piezoelectric body 310 opposite to the first side and located at two end points away from each other on the second side, respectively. A first control signal that causes the left portion of the piezoelectric body 310 to be deformed upward and a second control signal that causes the right portion of the piezoelectric body 310 to be deformed downward are simultaneously applied. The superposition of the two deformations can make the moving member 320 rotate clockwise or make an elliptical motion clockwise, and drive the driven member 330 to move linearly to the right.
In one embodiment, as shown with reference to fig. 4, the first control end 3101 may be located at one end of the piezo 310 in the axial direction, and the second control end 3102 may be located at the other end of the piezo 3102 in the axial direction. Here, the axial direction may be a direction in which the length of the piezoelectric body 310 is the largest. A first control terminal 3101 and a second control terminal 3102 are arranged at the end points of the axial direction, so that the applied first control signal and second control signal can cause the voltage difference of the piezoelectric body 310 in the axial direction, thereby generating the deformation along the axial direction; also, the first control signal and the second control signal can cover the entire piezoelectric body 310 to fully utilize the inverse piezoelectric effect of the entire piezoelectric body 310. Both of these effects contribute to the generation of relatively large amounts of deformation.
In one embodiment, as shown in fig. 4 and described above, the ground terminal 3103 may be located at an intermediate point of the piezoelectric body 310 in the axial direction. Thus, the portion from the first control terminal 3101 to the ground terminal 3103 and the portion from the second control terminal 3102 to the ground terminal 3103 are symmetrical to each other, and the first control signal and the second control signal can be equally applied to deform the two portions, which can greatly improve the driving efficiency. Illustratively, the first and second control signals may be applied with equal amplitudes, such that the deformation of the piezo 310 is twice the effect of a single control signal, which is equivalent to increasing the maximum stroke and drive range of the piezo actuator 300 by a factor of two.
In one embodiment, the first control signal and the second control signal have the same period, such as a sinusoidal signal or a pulse signal having the same period. The phase difference of the first control signal and the second control signal may be 1/4 of a period. For example, a first control signal may be applied between the first control terminal 3101 and the ground terminal 3103, a second control signal may be applied between the second control terminal 3102 and the ground terminal 3103, and when the second control signal is delayed by 90 degrees (i.e., 1/4 cycle) from the first control signal, the driven member 330 may be driven to move to the right; when the first control signal is delayed by 90 degrees (i.e., 1/4 cycle) from the second control signal, the driven member 330 can be driven to move leftward. It can be seen that by controlling the phase difference between the first control signal and the second control signal to be maintained at 1/4 of the period, the two control signals can be equivalently deformed on the piezoelectric body 310, thereby realizing superposition.
It should be understood that the phase difference between the first control signal and the second control signal is related to the specific waveforms of the first control signal and the second control signal, and the disclosure is not limited thereto. For example, the phase difference between the first control signal and the second control signal may be 1/2 of a period.
Under the condition of determining the phase difference, the total control signal can be split into a first control signal and a second control signal which have the same period and the phase difference, so that a more accurate and efficient control effect is realized through double-end control of the piezoelectric driver.
The piezoelectric driver in the present exemplary embodiment may be provided in a camera module. Referring to fig. 5, the camera module 500 may include a lens 510, an image sensor 520, and a piezoelectric driver 530, and the piezoelectric driver 530 may be any one of the piezoelectric driving devices in the present exemplary embodiment, such as the piezoelectric driver 300 described above. The lens 510 or the image sensor 520 is a driven member, and the piezoelectric driver 530 is used for driving the driven member to move, so as to realize functions of focusing, optical anti-shake, and the like of the camera module 500.
Fig. 5 also shows other components of the camera module 500, including a bracket 540, a circuit board 550, and an optical filter 560. The support 540 is used to carry one or more of the filter 560, the lens 510, and the piezoelectric driver 530. The circuit board 550 is used to set the image sensor 520 and other electronic components (such as a possible image signal processor), and to transmit signals. The filter 560 is used to filter ultraviolet light and infrared light that cannot be observed by the human eye, to reduce stray light, or to filter out monochromatic light, e.g., the filter 560 may be a bayer filter. The filter 560 may also be considered as a component of the image sensor 520.
The camera module 500 uses the piezoelectric driver 530 as a motor for driving the lens 510 or the image sensor 520, so that the maximum stroke of the lens 510 or the image sensor 520 can be increased while the precise control is realized, the focusing or the optical anti-shake can be realized in a wider range, and the focusing or the optical anti-shake effect can be improved.
In one embodiment, the camera module 500 may include three piezoelectric drivers 530 for controlling the driven element to move in the focal length direction, in the optical anti-shake X direction, and in the optical anti-shake Y direction, so as to respectively realize the driving functions of focusing and optical anti-shake.
Three piezo drivers 530 may be integrated into one piezo motor, which is actually provided with three drive mechanisms. Referring to fig. 6, a specific structure of the piezo motor 600 may be as shown in fig. 6, including:
a metal case 602 for protecting the piezoelectric motor 600;
a frame 604 for supporting a frame of the superstructure;
an elastic sheet 606 for pressing a driven member (in the present embodiment, a lens is used as the driven member, and may also be referred to as an Image sensor) on an OIS (Optical Image Stabilizer) rail, so as to ensure the stability of movement in the OIS axial direction;
a carrier 608 for carrying the lens for movement;
a flexible circuit board 610 for connecting signals of a TMR sensor (tunneling Magneto Resistance sensor) and a Piezo AF (Piezo Auto focus, AF axis drive, AF axis, i.e. focus direction);
TMR sensor 612: a magnetic induction device for detecting a position in an AF (Auto focus) axis direction of a lens;
AF shaft drive 614: used for driving the lens to move along the direction of AF axis;
an X-axis frame 616 for driving the lens to move along the X-axis direction of the optical anti-shake;
x-axis drive 618: the X-axis is used for driving the lens to move along the optical anti-shake X axis;
x-axis position detection 620: the position of the lens in the X-axis direction is detected;
y-axis frame 622: the system is used for driving the lens to move along the Y-axis direction of the optical anti-shake;
y-axis drive 624: the system is used for driving the lens to move along the Y-axis direction of the optical anti-shake;
y-axis position detection 626: the position of the lens in the Y-axis direction is detected;
a flexible circuit board 628 for connecting signals of the X-axis position detection 620, the X-axis drive 618, the Y-axis position detection 626 and the Y-axis drive 624;
and a base 636 for carrying the X-axis frame, the Y-axis frame and the lens.
Exemplary embodiments of the present disclosure also provide a control apparatus of a piezoelectric actuator. Referring to fig. 7, the control apparatus 700 of the piezoelectric actuator may include:
a control coefficient acquisition module 710 configured to acquire a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member;
and a control signal determining module 720 configured to determine a control signal for inputting the piezoelectric driver according to the control coefficient and the sliding mode surface of the piezoelectric driver.
In one embodiment, determining a control signal for input to a piezoelectric actuator based on a control coefficient and a sliding mode surface of the piezoelectric actuator comprises:
and determining a control signal according to the control coefficient and the sliding mode surface of the piezoelectric driver by adopting a preset piezoelectric control function.
In one embodiment, the piezoelectric control function is:
u＝k·sgn(s)
where u denotes a control signal, k denotes a control coefficient, and s denotes a sliding mode surface.
In one embodiment, the determining a control signal for inputting to the piezoelectric actuator according to the control coefficient and the sliding mode surface of the piezoelectric actuator includes:
acquiring the speed of a moving part of the piezoelectric driver;
and determining a control signal according to the control coefficient, the sliding mode surface of the piezoelectric driver and the speed of the moving part.
In one embodiment, a piezoelectric driver has a first control terminal and a second control terminal; the determining of the control signal for inputting the piezoelectric actuator according to the control coefficient and the sliding mode surface of the piezoelectric actuator includes:
determining a master control signal according to the control coefficient and the sliding mode surface of the piezoelectric driver;
splitting the master control signal into a first control signal and a second control signal with a preset phase difference; the first control signal is used for inputting the first control end, and the second control signal is used for inputting the second control end.
In one embodiment, the first control signal and the second control signal have the same period and a phase difference of 1/4 of the period.
In one embodiment, the control signal comprises a sinusoidal signal or a pulsed signal.
Exemplary embodiments of the present disclosure also provide a computer-readable storage medium, which may be implemented in the form of a program product, including program code for causing an electronic device to perform the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned "exemplary method" section of this specification, when the program product is run on the electronic device. In an alternative embodiment, the program product may be embodied as a portable compact disc read only memory (CD-ROM) and include program code, and may be run on an electronic device, such as a personal computer. However, the program product of the present disclosure is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
Exemplary embodiments of the present disclosure also provide an electronic device. The electronic device may include a processor and a memory. The memory stores executable instructions of the processor, such as may be program code. The processor executes the executable instructions to execute the control method of the piezoelectric driver in the present exemplary embodiment.
The structure of the electronic device will be exemplarily described below by taking the mobile terminal 800 in fig. 8 as an example. It will be appreciated by those skilled in the art that the configuration of figure 8 can also be applied to fixed type devices, in addition to components specifically intended for mobile purposes.
As shown in fig. 8, the mobile terminal 800 may specifically include: a processor 801, a memory 802, a bus 803, a mobile communication module 804, an antenna 1, a wireless communication module 805, an antenna 2, a display 806, a camera module 807, an audio module 808, a power module 809, and a sensor module 810.
The processor 801 may be connected to the memory 802 or other components by a bus 803.
The memory 802 may be used to store computer-executable program code, which includes instructions. The processor 801 executes various functional applications of the mobile terminal 800 and data processing by executing instructions stored in the memory 802. The memory 802 may also store application data, such as files for storing images, videos, and the like.
The communication function of the mobile terminal 800 may be implemented by the mobile communication module 804, the antenna 1, the wireless communication module 805, the antenna 2, a modem processor, a baseband processor, and the like. The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. The mobile communication module 804 may provide a mobile communication solution of 3G, 4G, 5G, etc. applied to the mobile terminal 800. The wireless communication module 805 may provide wireless communication solutions for wireless lan, bluetooth, near field communication, etc. applied to the mobile terminal 800.
The display screen 806 is used to implement display functions, such as displaying a user interface, images, video, and the like.
The camera module 807 is used to implement the shooting function, such as shooting images and videos. The camera module 807 can be any of the camera modules described above, such as the camera module 500 described above.
The audio module 808 is used to implement audio functions, such as playing audio, collecting voice, and the like.
The power module 809 is used to implement power management functions, such as charging batteries, powering devices, monitoring battery status, etc.
The sensor module 810 may include one or more sensors for implementing corresponding inductive sensing functions.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit, according to exemplary embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method or program product. Accordingly, various aspects of the disclosure may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be limited only by the terms of the appended claims.
Claims (10)
1. A control method of a piezoelectric actuator, comprising:
acquiring a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member;
and determining a control signal for inputting the piezoelectric driver according to the control coefficient and the sliding mode surface of the piezoelectric driver.
2. The method of claim 1, wherein determining a control signal for input to the piezoelectric driver based on the control coefficient and a sliding mode surface of the piezoelectric driver comprises:
and determining the control signal according to the control coefficient and the sliding mode surface of the piezoelectric driver by adopting a preset piezoelectric control function.
3. The method of claim 2, wherein the piezoelectric control function is:
u＝k·sgn(s)
wherein u represents the control signal, k represents the control coefficient, and s represents the sliding mode surface.
4. The method of claim 1, wherein determining a control signal for input to the piezoelectric driver based on the control coefficient and a sliding mode surface of the piezoelectric driver comprises:
acquiring the speed of a moving part of the piezoelectric driver;
and determining the control signal according to the control coefficient, the sliding mode surface of the piezoelectric driver and the speed of the moving part.
5. The method of claim 1, wherein the piezoelectric driver has a first control terminal and a second control terminal; the determining a control signal for inputting the piezoelectric driver according to the control coefficient and the sliding mode surface of the piezoelectric driver includes:
determining a total control signal according to the control coefficient and the sliding mode surface of the piezoelectric driver;
splitting the master control signal into a first control signal and a second control signal with a preset phase difference; the first control signal is used for inputting the first control end, and the second control signal is used for inputting the second control end.
6. The method of claim 5, wherein the first control signal and the second control signal have the same period and a phase difference of 1/4 of the period.
7. The method of any one of claims 1 to 6, wherein the control signal comprises a sinusoidal signal or a pulsed signal.
8. A control apparatus of a piezoelectric actuator, comprising:
a control coefficient acquisition module configured to acquire a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member;
a control signal determination module configured to determine a control signal for input to the piezoelectric driver according to the control coefficient and a sliding mode surface of the piezoelectric driver.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 7.
10. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any of claims 1 to 7 via execution of the executable instructions.
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|---|---|---|---|
| CN202211311413.2A CN115498918A (en) | 2022-10-25 | 2022-10-25 | Piezoelectric driver control method and device, storage medium and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211311413.2A CN115498918A (en) | 2022-10-25 | 2022-10-25 | Piezoelectric driver control method and device, storage medium and electronic equipment |
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| CN115498918A true CN115498918A (en) | 2022-12-20 |
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| CN202211311413.2A Pending CN115498918A (en) | 2022-10-25 | 2022-10-25 | Piezoelectric driver control method and device, storage medium and electronic equipment |
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| Country | Link |
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| CN (1) | CN115498918A (en) |
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