KR100842268B1 - Method for controlling micro actuator and Apparatus thereof - Google Patents

Abstract

The present invention relates to a control method and an apparatus thereof, and more particularly, to a micro actuator control method and an apparatus thereof.

According to an aspect of the present invention, a method of controlling a micro actuator may include: (a) generating a command signal having a predetermined format from a command signal generator; and (b) driving the micro actuator in response to the generated command signal. And (c) generating a position signal corresponding to the position change by detecting a position change of the driven micro actuator by the position sensor; and (d) storing the generated position signal in a storage unit in advance. Judging whether or not it is within a preset error range by comparing with the position signal; and (e) if the generated position signal is within the error range, storing the command signal in the storage unit; and ( f) controlling the micro actuator according to the command signal stored in the storage unit. The control method will be presented. In the method of controlling a micro actuator according to the present invention, a command signal for driving the micro actuator system may be input as an optimized signal from the beginning to control the micro actuator to a desired position.

Micro Actuator, Optimization

Description

Method for controlling micro actuator and apparatus therefor {Method for controlling micro actuator and Apparatus}

1A is a conceptual command and position signal graph of a system in accordance with a preferred embodiment of the present invention.

1B is a graph of actual command and position signals of a system in accordance with one preferred embodiment of the present invention.

1C is a graph of a command signal and a position signal optimized for controlling a micro actuator position according to an exemplary embodiment of the present invention.

2 is a microactuator system according to one preferred embodiment of the present invention.

3 is a flow chart of optimizing command signals for micro actuator position control in accordance with one preferred embodiment of the present invention.

4 is a block diagram of an apparatus for optimizing command signals for micro actuator position control in accordance with one preferred embodiment of the present invention.

 The present invention relates to a control method and an apparatus thereof, and more particularly, to a micro actuator control method and an apparatus thereof.

In the conventional mobile communication terminal market, camera phones with camera functions have become mainstream, but mobile communication terminals that can watch DMB broadcasting channels and videos are increasing due to the development of video services and the development of DMB technology. .

Accordingly, a problem arises in that the display screen of the mobile communication terminal becomes larger in order to perform an image and a video. This has a bad effect on the mobile communication terminal that requires convenient mobility. As a result, in order to overcome this problem, an attempt has been made to apply a projection system to a small display system such as a mobile phone or a PDA to project onto a screen or a wall.

In the image projection system, numerous reflection mirrors (Mirrors) are driven separately to reflect the image.

In the related art, a galvanometer method is used for the micro actuators that drive each of the reflection mirrors constituting the image projection system. In more detail, an encoder equipped with an optical element is used to drive the micro actuator, and the position signal of the micro actuator detected from the encoder is fed back to match the command signal of the system one to one.

However, the encoder for detecting the micro-actuator position occupies a large volume and is not suitable to be provided in the above-described mobile communication terminal, and there is a problem in that the system is complicated and expensive due to the need for a complicated circuit. In other words, using an encoder for precise position detection of a micro actuator has a problem of making the system complicated and uneconomical.

Accordingly, an object of the present invention to solve the above problems is to provide a micro-actuator control method and apparatus for controlling the micro-actuator to a desired position by inputting a command signal for driving the system as an optimized signal from the beginning. have.

Another object of the present invention is to provide a micro actuator control method and apparatus for reducing the volume of an image projection system using a hall sensor (or hall IC) instead of detecting the position of the micro actuator through an encoder using an optical device, which is a conventional method. To provide. Another object of the present invention is to provide a micro actuator control method and apparatus for improving efficiency of a system by inputting an optimized command signal and controlling a micro actuator system using a small Hall sensor.

Other objects of the present invention will be readily understood through the description of the following examples.

In order to achieve the above object and to solve the problems of the prior art, according to an aspect of the present invention, a micro actuator control method and apparatus are provided.

According to one aspect of the invention, the micro-actuator control method performed in the micro-actuator control apparatus includes the steps of: (a) generating a command signal having a predetermined format in the command signal generator; (b) driving the micro actuator according to the generated command signal; (c) generating a position signal corresponding to the position change by a position sensor detecting a position change of the driven micro actuator; (d) comparing the generated position signal with a reference position signal pre-stored in a storage unit to determine whether it exists within a preset error range; (e) if the generated position signal exists within the error range, storing the command signal in the storage unit; (f) controlling the micro actuator according to a command signal stored in the storage unit.

Further, step (e) may include: (e-1) compensating the generated command signal when the generated position signal does not exist within the error range; And (e-2) driving the micro actuator according to the compensated command signal, but may be performed again from the step (c) after the step (e-2) is performed.

In addition, step (e-1) may include: (e-3) sampling the generated position signal and the reference position signal at regular intervals; And (e-4) if the generated position signal is larger than the reference position signal corresponding to the period, adjust the generated command signal to be smaller. If the generated position signal is smaller than the reference position signal, the command signal is adjusted. May comprise a step of making a large adjustment.

In this case, in step (a), the command signal having the predetermined format may be one of a triangular waveform, a sinusoidal waveform, or a square waveform.

In addition, the step (f) of the micro actuator control method may include: generating an operation error signal by comparing the command signal stored in the storage unit with the generated position signal; And generating a control signal by receiving the generated operation error signal and driving the micro actuator according to the generated control signal.

In addition, the position sensor may be either a Hall sensor or a laser vibrator.

According to another preferred embodiment of the present invention, a micro actuator control device,

A command signal generator for generating a command signal corresponding to a predetermined format stored in the storage unit; A position sensor for detecting a position change of the micro actuator and generating a position signal corresponding to the position change; A storage unit for storing the command signal, a preset error range, and a reference position signal in a predetermined format corresponding to each; The generated position signal is compared with the reference position signal to determine whether it exists within the set error range. When the generated position signal does not exist within the error range, the command signal having the predetermined format is compensated for. An optimization device for storing the compensated command signal in a storage unit in a predetermined format; And a driving IC configured to generate a control signal according to the command signal stored in the storage unit, and to drive the micro actuator according to the generated control signal.

Of course, the micro-actuator control apparatus further includes a signal comparison unit for generating an operation error signal by comparing the command signal stored in a predetermined format with the generated position signal in the storage unit, wherein the driving IC generates the operation error signal. The control unit may receive a signal, generate a control signal, and drive the micro actuator according to the generated control signal.

At this time, the optimization device, the optimization determination unit for sampling and comparing the generated position signal with the reference position signal at a predetermined period and determines whether the generated position signal is within the set error range corresponding to the period; ; And when the generated position signal does not exist within the set error range, compensating the command signal having the predetermined format corresponding to the period from the comparison error between the reference position signal and the generated position signal. It may include a command signal compensation unit for storing.

In addition, the position sensor of the micro-actuator control device may be any one of a hall sensor or a laser vibrator.

In particular, the micro-actuator may be included in an image projection system included in the mobile communication terminal and coupled to a reflection mirror that reflects and projects a predetermined image.

In addition, the command signal of the predetermined type stored in the storage unit may be any one of a triangular waveform, a sinusoidal waveform, or a square waveform.

The optimization device may be implemented by any one of a PC, a microcomputer, and a program implemented by software.

A program of instructions that can be executed in a memory device is tangibly embodied to perform a method of performing a process, and the microactuator control method stored in a recording medium on which a program that can be read by the memory device is recorded includes (a) an instruction. Generating a command signal having a predetermined format by the signal generator; (b) driving the micro actuator according to the generated command signal; (c) generating a position signal corresponding to the position change by a position sensor detecting a position change of the driven micro actuator; (d) comparing the generated position signal with a reference position signal pre-stored in a storage unit to determine whether it exists within a preset error range; (e) if the generated position signal exists within the error range, storing the command signal in the storage unit; And (f) controlling the micro actuator according to a command signal stored in the storage unit.

The present invention may have various modifications and may have various embodiments. In addition, specific embodiments of the present invention are merely examples for clarifying the invention and clarifying the technical spirit of the invention and are not intended to limit the present invention to the specific embodiments.

Also, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. Hereinafter, the same reference numerals are used for the same components in the drawings, and redundant description of the same components is omitted. In addition, in describing the present invention, when it is determined that the detailed description of the related known technology may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

First, it is assumed that the desired change in position of the micro actuator is a linear operation. That is, it is assumed that the micro actuator in the projection projection system increases or decreases with time and moves linearly. When this is generated as a position signal, it is assumed that the micro actuator has a triangular waveform.

Of course, the image projection system is described according to an example of the present invention, but the system in which the micro actuator is driven varies, and thus the driving type of the desired micro actuator may vary. That is, the position change of the micro actuator corresponding to the command signal may not occur simply to generate a triangular waveform position signal (for example, a sinusoidal waveform and a square waveform). Accordingly, it can be seen that the position myth according to the change of the position of the micro actuator is a triangular waveform is an example used to easily understand the technical idea of the present invention.

1A is a conceptual command and position signal graph of a system in accordance with one preferred embodiment of the present invention.

Referring to FIG. 1A, in the case of an ideal feedback system, when a command signal is input to a triangular waveform 100a, the micro actuator may change a position linearly in response to the command signal. In this case, when the position change of the micro actuator is detected through a position sensor (for example, a hall sensor or a laser vibrator), the same triangular waveform 110a is formed. However, this conceptually represents a case where control of the system is performed, and in the case of an actual system, the micro actuator may be driven as shown in FIG. 1B.

1B is a graph of actual command and position signals of a system in accordance with one preferred embodiment of the present invention.

Referring to FIG. 1B, the micro actuator may not change to a desired position even when the command signals 100a and 100b are input as in FIG. 1A. In this case, when the position change of the micro actuator is detected through the Hall sensor, it may be formed as a compensated waveform 110b. That is, the micro actuator provided in the system does not change to a desired position, and as a result, the reflection mirror of the image projection system coupled to the micro actuator cannot accurately project an image.

1C is a graph of a command signal and a position signal optimized for controlling a micro actuator position according to an exemplary embodiment of the present invention.

FIG. 1C shows the command signal 100c compensated through an optimization step for the position control of the desired micro actuator (i.e., the position signal is represented by the triangular waveform 110c as described above) through an optimization step. Is showing.

That is, the optimized command signal is calculated by repeatedly comparing the command signal 100b as shown in FIG. 1B and the position signal 110b of the corresponding micro actuator to the optimum completion before the micro actuator system is driven. Of course, each micro actuator included in the image projection system has its own operating characteristics (e.g., electromagnetic or physical characteristics), so that each micro actuator can be controlled to a desired position (i.e., a desired position signal becomes a triangular waveform). ) Requires a separate command signal optimization step corresponding to each micro actuator.

Of course, the compensated command signal may be expressed in various shapes. In addition, in order to generate the command signal 100c as shown in FIG. 1C, it may be implemented using a digital circuit, but may also be implemented through an analog circuit.

However, in FIG. 1C, the optimized command signal 100c for driving the micro actuator according to the exemplary embodiment of the present invention is illustrated as a sawtooth waveform.

2 is a microactuator system according to a preferred embodiment of the present invention.

Referring to FIG. 2, the micro actuator system 200 includes a signal comparator 210, a driving IC 220, a micro actuator 230, and a position sensor 240.

The signal comparing unit 210 combines the command signal generated and transmitted from the external command signal generator and the position signal generated by the position sensor 240 to detect the change in the position of the micro actuator 230 and generates an operation error signal. can do. Of course, the signal comparator 210 may not be provided in the micro actuator control apparatus according to an embodiment of the present invention when driving the micro actuator 230 only by the command signal transmitted. In this case, the transmitted command signal is directly operated as a drive signal of the micro actuator 230.

The driving IC 220 may generate a control signal by amplifying the operation error signal generated and transmitted from the signal comparing unit 210 to a predetermined control current (or voltage). Of course, the operation error signal transmitted as described above has been described on the assumption that the combined signal of the command signal and the position signal, but if the position signal is not fed back, the command signal may act as the operation error signal of the present invention. Seen to be self-evident.

The micro actuator 230 may be driven when a control signal transmitted from the driving IC 220 is applied and may be connected to a reflection mirror of the image projection system to move the reflection mirror to a desired position. Of course, according to an example of the present invention is limited to a micro actuator, but the technical idea of the present invention is practically applicable to all actuator control.

The position sensor 240 may detect a position change of the micro actuator 230 and generate it as a constant position signal. The position sensor may be a hall sensor, a laser vibrator, or the like. In particular, the Hall sensor is a sensor that detects the movement of an object using a Hall Effect. In particular, hall sensors are known in the art and generally practiced. Hall sensors can also be included in miniaturized devices due to their small volume and low cost. Of course, it is also possible to use a sensor using an optical element for detecting the position change of the micro actuator more precisely.

The position signal generated from the position sensor 240 may be transmitted to the signal comparator 210 described above (referred to as feedback) and compared with the command signal transmitted from an external command signal generator.

In addition, although it is configured as a feedback micro-actuator system in FIG. 2, it may be configured as an open-loop system that delivers the command signal applied to the system as it is to the micro actuator. In addition, the micro-actuator system according to an embodiment of the present invention may be included in the image projection system provided in the mobile communication terminal.

3 is a flow chart of compensating and optimizing a command signal for micro actuator position control according to an exemplary embodiment of the present invention. According to an example of the present invention, the command signal transmitted to the micro actuator system may be appropriately optimized to control the position change of the micro actuator. After all, this is to optimize the command signal to input the optimized command signal at the time of driving the system afterwards.

In operation 300, a command signal stored in a predetermined format in an arbitrary storage unit is input to the micro actuator system 200 through the command signal (for example, triangular waveform) generating unit. In operation 300, the command signal input to the system is not optimized and may be a signal of any type initially stored in any storage unit. That is, the command signal initially input may vary according to the desired position signal.

In step 310, the micro actuator 230 is driven according to the input first command signal to cause a change in position.

In step 320, a driving characteristic (ie, a position signal according to a change in position) of the micro actuator is derived through a position sensor (for example, a hall sensor or a laser vibrator).

In step 330, the reference position signal (in this case, the reference position signal may be the first command signal input in step 320) stored in an arbitrary storage unit according to an example of the present invention, and the micro actuator derived from step 320. The position signal is compared to determine the optimization. That is, the micro-actuator control device may determine whether the generated position signal is within a preset error range by comparing with the mood position signal stored in the storage unit.

In step 340, the command signal is compensated when optimization is required.

Referring to the optimization step according to an embodiment of the present invention in more detail, first, the reference position signal and the detected position signal are sampled at regular intervals. Thereafter, if the position signal detected and generated in each period is larger than the pre-stored reference position signal, the command signal may be adjusted to be small, and if it is small, the command signal may be adjusted to generate a compensated command signal. Of course, step 430 may be repeated until optimization is performed, and the comparison error range for optimization may be changed according to the precision of the system.

In addition, the optimization process according to an embodiment of the present invention can be performed only during the first manufacturing process through the optimization device. In this case, the compensated command signal obtained through the optimization process is stored in an arbitrary storage unit and applied in correspondence with each micro actuator (the optimization process corresponding to the micro actuator corresponding to the reflection mirror of the image projection system). Can be. Of course, according to another embodiment of the present invention, the optimization process may be performed in real time to compensate the command signal in real time.

The micro actuator control method according to the embodiment of the present invention described above may be performed in combination with a predetermined device, for example, a mobile communication terminal after being stored in a recording medium. Here, the recording medium may be a magnetic or optical recording medium such as a hard disk, a video tape, a CD, a VCD, a DVD, or a database of a client or server computer built offline or online.

4 is a block diagram of an apparatus for optimizing a command signal for micro actuator position control according to an exemplary embodiment of the present invention.

The micro-actuator system illustrated in FIG. 2 has been described assuming only a micro-actuator for driving the command signal transmitted from the command signal generator 403. FIG. 4 illustrates a micro actuator system in which a device for optimizing a command signal is combined. In the following, portions that are the same as those in FIG. 2 and described for the same content are omitted.

The optimization apparatus 400 according to an embodiment of the present invention includes a storage unit 401, a command signal generator 403, a command signal compensator 405, and an optimization determination unit 407. Of course, the optimization device 400 is connected to the above-described micro actuator system to perform the optimization process.

The storage unit 401 may store a command signal, an optimized command signal, a reference position signal, and the like corresponding to each micro actuator. It may also be provided separately from the optimization apparatus 400.

The command signal generator 403 may generate a command signal and an optimized command signal stored in the storage unit as an analog signal having a predetermined format and transmit the generated command signal to the micro actuator system 200. Of course, it will be apparent that the command signal generator 403 may be provided separately from the optimization apparatus 400. In addition, it will be apparent that the micro actuator may be included in the control device to transmit a predetermined command signal.

The command signal compensator 405 may compensate by compensating the command signal to be transmitted to the micro actuator system by the command signal generator 403 in a predetermined manner when optimization is required. That is, the compensated command signal may be transmitted to the storage unit 401 so that the command signal generator 403 may be stored as a command signal for driving the micro actuator system (for example, the command signal shown in 100c of FIG. 1C). have.

Of course, the command signal compensated by being directly connected to the command signal generator 403 in the command signal compensator 405 may be transmitted. In this case, the optimization process may be performed in real time. An optimization process according to an embodiment of the present invention has been described with reference to FIG. 3 and will be omitted.

The optimization determination unit 407 compares the reference position signal recorded in the storage unit with the position signal of the micro actuator detected from the position sensor (for example, a Hall sensor, a laser vibrator, etc.) 460 to determine whether to optimize the optimization. have. As described above, the error range may be changed according to the optimization accuracy. Of course, as described above, the reference position signal may be a command signal input for the first time.

The optimization device 400 may be implemented in various devices. For example, the optimization device 400 may be a program implemented in a PC, a microcomputer, or software.

In addition, the optimization apparatus may be provided separately from the micro actuator system when performing the optimization process for each actuator during the initial process. In this case, the optimized command signal may be recorded in any storage unit and transferred to the micro actuator system as a command signal.

Of course, the optimization device may be provided connected to the micro actuator system will also be apparent in view of the technical spirit of the present invention.

In addition, according to an example of the present invention, the optimization process through the optimization device may be performed in real time or may be performed only at the initial process.

As described above, the method and apparatus for controlling a micro actuator according to the present invention can control the micro actuator to a desired position by inputting a command signal for driving the micro actuator system as an optimized signal from the beginning.

In addition, the present invention can reduce the volume and economical efficiency of the image projection system by using a Hall sensor (or Hall IC) instead of detecting the position of the micro actuator through an encoder using an optical device of the conventional method.

In addition, the present invention can improve the efficiency of the system by inputting the optimized command signal and controlling the micro actuator system using a small Hall sensor.

Although the above has been described with reference to a preferred embodiment of the present invention, those of ordinary skill in the art to the present invention without departing from the spirit and scope of the present invention and equivalents thereof described in the claims below It will be understood that various modifications and changes can be made.

Claims (14)

In the micro-actuator control method performed in the micro-actuator control device, (a) generating a command signal having one of a triangular waveform, a sinusoidal waveform, and a square waveform by the command signal generator; (b) driving the micro actuator according to the generated command signal; (c) generating a position signal corresponding to the position change by a position sensor detecting a position change of the driven micro actuator; (d) comparing the generated position signal with a reference position signal pre-stored in a storage unit to determine whether it exists within a preset error range; (e) if the generated position signal exists within the error range, storing the command signal in the storage unit; (e-1) compensating the generated command signal when the generated position signal does not exist within the error range; (e-2) driving the micro actuator according to the compensated command signal; And (f) controlling the micro actuator by a command signal stored in the storage unit, And performing step (c) again after the step (e-2) is performed. delete The method of claim 1, The step (e-1), (e-3) sampling the generated position signal and the reference position signal at regular intervals; And (e-4) If the generated position signal is larger than the reference position signal corresponding to the period, the generated command signal is adjusted to be small. If the generated position signal is smaller than the reference position signal, the command signal is made larger. Micro-actuator control method comprising the step of adjusting. delete The method of claim 1, Step (f), Generating an operation error signal by comparing the command signal stored in the storage unit with the generated position signal; And And receiving the generated operation error signal, generating a control signal, and driving the micro actuator in response to the generated control signal. The method according to any one of claims 1, 3 or 5, The position sensor is a micro-actuator control method, characterized in that any one of a Hall sensor or a laser vibrator. In the micro actuator control device, A command signal generator for generating a command signal corresponding to a predetermined format stored in the storage unit; A position sensor for detecting a position change of the micro actuator and generating a position signal corresponding to the position change; A storage unit for storing the command signal, a preset error range, and a reference position signal in a predetermined format corresponding to each; The generated position signal is compared with the reference position signal to determine whether it exists within the set error range. When the generated position signal does not exist within the error range, the command signal having the predetermined format is compensated for. An optimization device for storing the compensated command signal in a storage unit in a predetermined format; And And a driving IC which generates a control signal according to the command signal stored in the storage unit and drives the micro actuator according to the generated control signal. The method of claim 7, wherein The micro-actuator control device further includes a signal comparison unit for generating an operation error signal by comparing the command signal stored in a predetermined format with the generated position signal in the storage unit, The driving IC receives the generated operation error signal, generates a control signal, and drives the micro actuator according to the generated control signal. The method of claim 7, wherein The optimization device, An optimization determination unit for sampling the generated position signal with the reference position signal at regular intervals, and comparing the generated position signal with the period to determine whether the generated position signal is within the set error range; And When the generated position signal does not exist within the set error range, the command signal having the predetermined format is compensated for and stored in the storage unit from the comparison error between the reference position signal and the generated position signal. Micro actuator control apparatus comprising a command signal compensation unit. The method according to any one of claims 7 to 9, The position sensor, Micro-actuator control device, characterized in that any one of a Hall sensor or a laser vibrator. The method of claim 7, wherein The micro-actuator is a micro-actuator control device, characterized in that coupled to the reflection mirror which is included in the image projection system provided in the mobile communication terminal to reflect and project a predetermined image. The method of claim 7, wherein The command signal of the predetermined format stored in the storage unit, Micro actuator control device, characterized in that any one of a triangular waveform, a sine wave or a square wave. The method of claim 7, wherein The optimization device, Micro actuator control device, characterized in that implemented by any one of a PC, a microcomputer, a program implemented in software. In a recording medium in which a program of instructions that can be executed in a memory device is tangibly implemented to perform a micro actuator control method, and in which a program that can be read by the memory device is recorded. (a) generating a command signal having one of a triangular waveform, a sinusoidal waveform, and a square waveform by the command signal generator; (b) driving the micro actuator according to the generated command signal; (c) generating a position signal corresponding to the position change by a position sensor detecting a position change of the driven micro actuator; (d) comparing the generated position signal with a reference position signal pre-stored in a storage unit to determine whether it exists within a preset error range; (e) if the generated position signal exists within the error range, storing the command signal in the storage unit; (e-1) compensating the generated command signal when the generated position signal does not exist within the error range; (e-2) driving the micro actuator according to the compensated command signal; And (f) controlling the micro actuator by a command signal stored in the storage unit, And a program for executing a micro-actuator control method, which is performed again from the step (c) after the step (e-2) is performed.

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