TW201036320A - Control techniques for motor driven systems - Google Patents

Abstract

Embodiments of the present invention provide a motor-driven mechanical system with a detection system to measure properties of a back channel and derive oscillatory characteristics of the mechanical system. Uses of the detection system may include calculating the resonant frequency of the mechanical system and a threshold drive DTH required to move the mechanical system from the starting mechanical stop position. System manufacturers often do not know the resonant frequency and DTH of their mechanical systems precisely. Therefore, the calculation of the specific mechanical system's resonant frequency and DTH rather than depending on the manufacturer's expected values improves precision in the mechanical system use. The backchannel calculations may be used either to replace or to improve corresponding pre-programmed values.

Description

201036320 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to motor control and materials and control of a motor drive system. In particular, the present invention relates to the control of motors and cymbals, which minimizes the mechanical system controlled by the motor. Ringing or bounce j. 9 曰 application for US interim application Driven Mechanical Systems j 'The content of this case is quoted in full by this application. February 2009 "Control Protocols for· Motor

The manner of claim 61/15 0, 9 5 8 is hereby incorporated by reference. This application is a part of the continuation case and claims that the same application in the middle of the 9th, 9th, 9th, 9th, 367th, and 12th, 367, 938, "C_r〇1 Techniques f〇r M〇t〇r is the priority of the S (4) deletion. The contents of these applications are the full text of the application. [Prior Art] The motor-driven translation system is a common thing in modern electrical installations. These systems are used when it is necessary to move the mechanical system under electrical control within a predetermined range of motion. See examples of digital cameras, video recorders, and portable devices with such functionality (eg, mobile phones, personal digital assistants, and handheld games) and laser drivers for optical disc readers. . In such systems, a motor driver integrated circuit produces a multi-valued drive signal to a motor which in turn drives a mechanical system (e.g., in the case of an autofocus system - a "lens group"). The motor drive responds to the externally supplied codewords (4). The code word 嗤 145778.doc 201036320 is intended to identify the digit value of the position within the range of motion of the *Hai mechanical system 'the motor should cause the machine to "move to the position n, according to the number of characters assigned to the range of motion The range of motion is divided into a predetermined number of & address locations (referred to herein as "points"). The drive signal is an electronic signal that is directly applied to the motor to cause the mechanical system to move as needed. Although the type and configuration of the mechanical system typically changes, many mechanical systems can be modeled as one side to _ ^ ^ iJb AL. The handle is the block of the main spring. When a motor moves the block according to the drive signal, the motion creates other forces within the system that cause the block to oscillate at a certain vibration frequency (f〇 centered on the new position). For example, 'a resonant frequency of about 110 Hz has been observed in consumer electronics. This oscillation usually decreases over time, but it can be extended, for example, by extending the time it takes for a camera lens system to focus on an image or a disc. The simplified functional block diagram of the motor drive system typically used in the lens driver in FIG. 1 is a simplified block diagram of the desired time for the performance chip reader to move to the m track. The system includes an imaging die 110, a motor driver 12, a voice coil motor 130 and a lens 14. The motor driver generates a drive signal to the voice coil motor in response to a code provided by the imaging chip. Next, the voice coil motor causes the motor The lens moves within its range of motion. The movement of the lens changes the way the lens focuses incident light onto one of the surfaces of the imaging wafer 'which can be pre-measured and used to generate a new code to the Figure 2. Figure 2 is a frequency diagram of the possible response of the system of Figure 其, which illustrates a spectrum and frequency of frequency fR. 145778.doc 201036320 The two driving signals generated by a conventional motor driver. The signal is a one-step function, and the push _ ± ± less 丨 & mountain doubles change from a first state to a second state like a discontinuous jump (Fig. 3(4)). The second drive signal is described as $-slope The function 'changes from the first state to the first state at a fixed rate of change (Fig. 3(b)). However, both types of drive signals result in ringing behavior that impairs performance as described above. For example) Explain the vibrations observed in this mechanical system. Ο 务 The clerk has observed that the ringing behavior of these motor drive systems unnecessarily prolongs the stabilization time of these mechanical systems and degrades performance. In this technology, a motor drive system is required, which can be driven according to a digital code word and avoids the vibration-out behavior found in such systems. [Summary] In the aspect, 'provide __ kind for generation -drive Signal to

The dynamic mechanical system of the ancient, soil # a Α horse violation S ^ system method 'includes: according to one of the Baska triangle. Deer added to the motor drive machine 2 selected column! The mother step has a step size corresponding to the Baska triangle - the respective entries, and the steps are separated from each other by a time constant tc of + 疋:

2fR 八中 fR is the expected frequency of one of the mechanical systems. "Xinmu X" provides a method for producing a peak-c* afe drive machine t (four) twin (four) ^ to a motor η system, which includes: in the selected column - one 1 r one month shape The step step applies a driving signal to the motor-driven machine I45778.doc -5-201036320 system, and the t-·step step is equal to the number of intervals from the Baska triangle. The number of entries in the w琏疋 column, each length, per-interval, including the respective entries of the selected column corresponding to - from the bar:: the dipole from Baska according to the time constant of the following formula Dividing t, and the phase is separated by 2f where 匕 is the expected spectral frequency of one of the mechanical systems. In the other aspect, a "driver" generator is provided, which includes a tap register, which stores a representation of the Baska: angular column and: - identifies the control signal of the selected column. And in response to the - time constant, the time interval is driven to drive the tap register: tc"i:, is - a pre-/month 4 frequency of the mechanical system to be driven by the drive signal generator; g crying ', β, in response to the information of the tap register and the mechanical system - the starting position and the destination location, generating a step-by-step driving signal. The number of H steps is equal to the entry from the Baska Triangle. The number of each step has - corresponding to the out: set: the difference between the destination locations and corresponds to the step size of the other entries of the Baska triangle, and the steps are based on The time number 4 is separated from each other; and the _digit to analog converter is used to generate an analogy of the step drive signal. In another aspect, a drive signal generator is provided, comprising: a tool joint register 'The storage indicates the Baska triangle The pattern of the columns, the 145778.doc -6 - 201036320 special patterns each contain a number of entries with a number of steps in the Baska triangle, and the number of items in each interval corresponds to the Baska triangle The value of each item...the number of whites is in response to the output from the tap register and the data of the starting position and the destination position of the tap register to generate a -, wherein the step drive signal has One corresponds to the number of accumulated steps from the tap = mobile output and the step corresponds to the amplitude of the difference between the destinations and the destinations; - the timing engine, which uses - a tap register, wherein the timing engine causes the 纟μ drive to be separated by intervals, and the inter-output constant tc: when determined by the following formula

~~ 丨― 2fR where 匕 is the expected resonant frequency of one of the mechanical systems—the steps are separated from each other—the time constant shorter than tc. In the parent-interval, in a further aspect, 'providing a driving method, which comprises: responding to a recognition of the mechanical system---------------------------------------------------------------- = where 4 is the expected spectral frequency of one of the mechanical systems > an amplitude is selected from one of the Baska triangles, "the difference between the starting position of the middle mother-step", 歹] and the destination Position and the other aspect, providing a drive motor to drive the mechanical system 145778.doc 201036320 2^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Order drive signal, each interval is private and adjacent to each other for a time tc: tp S--

2fR where fR is the expected peak frequency of one of the mechanical systems, wherein each step has a uniform amplitude and the number of each is derived from one of the selected columns of the Baska triangle. In another aspect, a method for generating a drive signal to a motor-driven mechanical system is provided, wherein: a drive letter is applied to the motor-driven mechanical system in a series of steps: wherein: The number depends on the distance over which the mechanical system will be driven by the motor, and the drive signal causes the motor-driven mechanical system to span the distance for a predetermined time unrelated to the departure. In another aspect, a drive signal generator is provided, comprising: a ramp modulator 'which responds to a step clock rate and a - net distance ^ generation - step response signal; - an accumulator that responds Generating a step-by-step drive signal at the step response signal; and a digital to analog converter for generating a drive signal, wherein the drive signal causes the motor to drive the mechanical system for a predetermined time independent of the clear distance Across the net distance. [Embodiment] An embodiment of the invention provides a drive for a motor-driven mechanical system having a frequency distribution having zero (or near zero) energy at an expected resonant frequency of the mechanical system. The driving signal can be provided according to a series of steps selected by one of the Bass II / Bu II reshapes, wherein the number of steps *= * is in the column # i column from the 145778.doc 201036320 card triangle The number of entries, each step 且 且 : : : 斯卡 斯卡 斯卡 三角形 三角形 三角形 三角形 三角形 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡 斯卡a ==motion signal can be used as a number of intervals according to Baska to correspond to Dix from the Baska form for the selected column of the step months ^, and each interval includes a corresponding _ from the bar Sis

It is chosen to receive many steps for each job. At the expected resonant frequency, the dipole not only produces a ^, no monthly b-set drive signal, but also has a "zero" energy "notch", which has a sufficient width to accommodate, and the real V is the same as These systems are expected to have a frequency of vibration. The motor is driven; the #test system' is used to measure the nature of the return-to-back, emirate (ba:keh_i) and derive the characteristics of the mechanical system. = The purpose of the test system may include calculating the spectral frequency of the mechanical system and a threshold drive required to move the mechanical system from the initial mechanical stop position. These return channel calculations can be used to replace or improve the corresponding pre-programmed values. Figure 5 is a diagram illustrating an exemplary drive signal in accordance with an embodiment of the present invention. The drive signal is a multi-step function that varies with time corresponding to the time constant: Equation 1 This drive 彳§ is converted into a drive signal having two steps: one in the first step of time to There is an amplitude corresponding to about half of the level required for the separation distance (ΔΡ=ρΝΕν_ρ〇ι^) across the old position (p〇LD) from the new position (PNEW). A second step can occur at time t 〇 + tc, which has a pair of 145778.doc 9· 201036320 amplitudes that should span the remainder of the desired distance. Figure 6 illustrates the differential response of the motion signal. Fig. 7 is a view for explaining the energy distribution of the driving signal of Fig. 5 in accordance with the frequency. As shown, the "Xuan Drive No. 45" has a non-zero energy distribution at frequencies above and below the resonant frequency & At resonant frequency 4, the drive signal has zero energy. This energy distribution minimizes the ability to impart mechanical systems in the resonant region and, therefore, avoids oscillations that may occur in such systems. Figure 7 also illustrates the energy distribution (dashed line) that may occur in a drive signal generated according to a single step function. In this figure, the Xiao system has a non-zero energy at the resonant frequency fR, which allows energy to be imparted to the mechanical system at this frequency. This non-zero energy component at the resonant frequency fR contributes to the extended oscillation effect observed by the inventors. Fig. 8 is a view for explaining the response of the mechanical system when driven by a drive signal having a shape as shown in Fig. 5 (case (a)). The mechanical system begins at a position P 〇 LD and moves to a position pNEW. The start pulse is applied at time (〇 and t0 + tC. In this example, P〇LD corresponds to 27 μηη (digit code 5〇) and

Pnew corresponds to 170 μηη (digit code 295) 'tG corresponds to 1=〇 and 4 corresponds to 3.7 ms. Figure 8 compares the response of the mechanical system under the drive signal proposed herein (case (a)) and the response observed when driven by a drive signal according to a single step function (case (b)). In the case (&), the mechanical system is stable at the new position PNEW after about 4 ms, and the same mechanical system exhibits an extended vibration edge in the case of sand. Even after 30 ms, the mechanical system continues to oscillate around the PNEW position. Therefore, the driving signal of Figure 5 provides real 145778.doc •10- 201036320 The stable time is faster than the conventional driving signal.

Figure 9 is a block diagram of a system 9A in accordance with an embodiment of the present invention. As shown, (4) can include multiple temporary storage! ! _·(d), the data system 900 for storing the old & new location of the mechanical system at & expected spectral frequency may include a subtractor 940 for calculating ΔΡ from Pnew and Pold. System 900 can further include a one-step signal generator 95A that receives the H clock and generates a pulse to accumulator 960 based on the timing determined from equation (4). The step signal generator 95A can generate, for example, pulses as shown in Fig. 6, each having an amplitude corresponding to about half of the total distance spanned by the mechanical system. The accumulator 960 may total the total value of the pulses generated by the step signal generator 95A and output the total value to the multiplier 97 that also receives the ΔΡ value from the subtractor. Therefore, the 'multiplier 97' produces a signal corresponding to the multi-step increment of f in Fig. 5. The output of the multiplier 97A can be input to an adder 98 that also receives the POLD value from the register 910. Thus, adder 980 can generate a time varying output signal that drives a mechanical system from a first position to a second position with a minimum settling time. When the mechanical system completes its translation from the old position to the new position, the old position can be updated. In the system illustrated in FIG. 9, after the step signal generator 950 generates its final step to the accumulated H, the step signal generator can also generate a transfer signal to the registers 910 and 920 for use. The data of the new 4-bit register 920 updates the old location register 91〇. If the resonant frequency 4 of the mechanical system exactly matches the "notch" of the drive signal (e.g., within ± 3%), then the drive signal of Figure 5 works well. Unfortunately, system manufacturers often do not accurately know the resonant frequency of their mechanical systems 145778.doc 201036320 rate. Moreover, particularly in consumer devices where system components must be inexpensively manufactured, the frequency of vibration can be varied between different manufacturing lots of the common product. Thus, although the motor driver can be designed to provide a notch at the expected vibration frequency, there may be a substantial difference between the pre-vibration frequency and the actual resonant frequency (fRM) of the mechanical system. To accommodate these uses, the principles of the present invention can be extended to expand the frequency notch to allow for greater resonant frequency tolerance for such systems. One such expansion includes providing multiple chopping levels to "widen" the notch. Figure ι〇 is a diagram showing the effect of multiple filter classes. Four such filter levels are illustrated. One of the additional filter-level spreading frequencies, "notch", for which there is zero energy imparted to the system. Although each "chopper class" reduces the total amount of energy applied to the system 'and thus may cause slower movement of the mechanical system' but by reducing the settling time of the mechanical system (even when it is not possible to accurately predict such This chopping wave may be advantageous for overall system operation. Figure 11 illustrates that a simplified block diagram of a system i i(9) in accordance with another embodiment of the present invention includes a 'driver signal generator 111' - or a plurality of notch limiting filters set in series! 120 Η 12 〇 N. The first filter 1120.1 of the system i 1 可接受 can receive a driving signal from the driving signal generator 111. The N filtering Each of the (4) inputs its signal at a desired frequency (fRE) into the (four) wave. Since the chopper is arranged in cascade, the plurality of filters can operate together to provide a A wave drive signal can be generated from the notch width of the notch width of the |m system. Or 'additional notch can be placed at different frequencies around the expected single-frequency frequency week 145778.doc -12- 201036320 To widen the attenuation band of the waver. Domain, an additional level of filtering to provide a further step should be shown as follows Press: Time 0 1 2 2 1

T 4 4 Table 1 ❹ Ο These output drive signals are normalized (the steps are scaled such that their sum is equal to 丨) following the step responses shown in the table. For example, 5, for the secondary system, at each of the times shown in the table, the step responses can be set to 1/8, 3/8, 3/8, and 1/8. . The drive signal is generated based on the response of the steps over time. Thus, the drive signals of the watch can produce waveforms having the shape shown in FIG. The progression shown in Table 1 matches the number of levels of the Baska triangle. - In an embodiment, an arbitrary (10) chopper can be used by using a number of stages from the corresponding Nth column of one of the Baska triangles. Any number of stages can be used as needed to counter the uncertainty of the expected resonant frequency of the mechanical system: although any number of stages can be used, a greater number of stages involve increased settling times and therefore the number of stages should be carefully selected. FIG. 13 is a schematic diagram of a signal generator 13 根据 according to an embodiment of the present invention, which may include a pair of registers 131 〇, 132 〇, which represent the mechanical system. Estimated vibration frequency and current position ρ_ data. The timing engine 1330 and the tap register 1340 can produce an output corresponding to the appropriate step pattern of 145778.doc -13 - 201036320 (such as the _± said month of the step). Specifically, the L's engine 1330 can be used to provide a clock at a rate t of the time interval t determined by the stored estimated resonant frequency. The tap register (10) can store the poor material of the normalized value of the Baska triangle. Based on a control M (N selection) that identifies the application of the Baska triangle, the tap register n4G can sequentially output the step value corresponding to each entry of the money on each cycle of the pulse. . A multiply-accumulate MMAC) unit 135 can receive data representing the new location p, the old location P0LD, and the step pattern information from the tap register 134. Mathematically, MAC 1340 can generate a digital drive code as follows: Drlve(t)=p〇LD+(PNEw_p〇LD)^step(1) where kiss (1) represents the step response of the selected pattern, and t is all related to the selected pattern The tc interval changes. A digital to analog converter (dac) i36 can generate an analog output signal based on the digital output of the 4 MAC. This output signal can be generated as a current or voltage. The solution of Figure 3 provides a wider notch than the embodiment of Figure 9 as needed: but its complexity is increased. The normalized value of each of the Baska triangles must be stored in the memory of the tap register or dynamically calculated. This complexity can be avoided in another embodiment of the invention in which timing misalignment is applied to the step maps. Consider the step response shown in Table 1. The response (assumed) of any level N is the sum of a previous stage N-1 and the previous stage (level N_" delayed by a time constant. For example: 】45778,doc 201036320

Time constant 2TC 2 1 Φ Φ 3 3 1 Φ Φ φ 4 6 4 1 Table 2 In an embodiment Φ, $ 么 & Ο Τ 5 系统 system generation means relative to each other in time

The step response pattern of the replica signal of the micro misalignment (showing A Feng in Table 3 below). The step response patterns can be expressed as follows: ND t() n 2 1 1 1 3 1 1 1 l 4 1 « _L_i_L i Table 3 〇β These step patterns can be generated - such as shown in the example of FIG. Drive signal. In the illustrated example, Ν = 4. In practice, the time interval can be provided by one of the system clocks in the motor drive, which can be much faster than the k time interval calculated from the expected resonant frequency 。. Figure 14 is not drawn to scale. In an embodiment, the coefficients may be exchanged with each other to widen the attenuation band. Coefficient exchange reduces the need for small & time intervals. For example, when using coefficient swapping, it can be set to 1/4 tc or 1/8 tc. The time domain embodiment may include a cascade of non-uniform distribution notches provided by convolution of N filters 'each filter corresponding to the first M5778.doc of the Baska=& 15 201036320 column. The choppers can be tuned to cause a notch to appear around the target frequency. A common time base, as defined by the least common multiplier of the time constant tc of the filters, may also be used to convolve for the m. The example can include 4 filters whose responses are { 1 00000 1 }, { J 000000 1}, μ 0000000 】} and ^ __ coffee (1). When the four filters are convoluted with a time base of about 30 times the spectral period, a 32-degree tap of the coefficient "〇〇〇〇〇1110100111111〇〇1〇111〇〇〇〇〇1} is obtained. (four) wave device. Figure 15 illustrates the frequency response of the Example 32 tap (four) waver to a nominal resonant frequency of 140 Hz. Figure 16 is a drive signal generator 1600 in accordance with another embodiment of the present invention. The drive signal generator can include a pair of registers 1610, 1620 for storing an estimated resonant frequency of a mechanical system. And the position of the mechanical position of the m position (P0LD). The drive signal generator may include a tap register 1630 that stores a discrete step pattern such as the step pattern shown in Table 3. In response to a system Each of the clocks (corresponding to M), the tap register 1630 can move out of a single bit of the step pattern. The tap register can include a buffer corresponding to the time interval separating each time constant 砣Bits (zero). The shifted bits can be output to an accumulator 164 〇 'the accumulator 1640 calculates the flow of the pulses over time 0. The subtractor 1650 can be based on the old position and new The position is calculated as ΔΡ(Δρ=ΡΝΕχν_P〇LD). A divider can divide the ΔΡ by a factor of 2ν, and the divider can be implemented with a simple bit shift, where Ν denotes the currently used Baska triangle. a multiplier 丨670 and The adder 1680 completes the production of the driving signal 145778.doc •16·201036320, mathematically, the driving signal can be expressed as: ZMve(,) = P(10) + 知娜U Σ_(,). In this embodiment, the item Step (1) again represents the pulse from the tap register. However, in this embodiment, the tap register does not have to store the regular step value. In fact, the tap register can store the At A single bit value (Is) at each of the locations, which requires an incremental effect (see Table 3). Within each of the N columns, the single bit steps total 2N. In this embodiment, the divider 660 completes the normalization while permitting the simple implementation of the tap register. The 〇8 (: can generate an analog signal (voltage or current) according to the codeword output by the adder 168〇. Although FIG. 16 illustrates a tap register 1630 that provides a clock from a system clock, the tap register can alternatively be provided with a clock by a timing signal generator (not shown), the timing signal The generator is during a time period defined by each time constant tc It works, and when it works, it sorts the (4) memory (4) for the clock. At each end of the f pulse, the timing signal generator can be deactivated until the next interval occurs. This second embodiment permits the size of the tap register to be small, but increases the complexity of the clock providing system. Figure 17 illustrates a drive signal generator 1700 ° according to another embodiment of the present invention. The drive signal generator can include - a pair of registers 171G, 1720 storing information indicative of the estimated resonant frequency of the mechanical system and the field position (p0LD) of the mechanical position. The drive signal generator can include a tap register 1730, which has a step pattern of 145778.doc 17-201036320, such as the step pattern shown in Table 3. In response to the -system clock-repeated (corresponding to Δ〇, the tap register 1730 can remove a single bit of the step pattern. The tap register can include a time constant corresponding to each time constant tc The buffer bits of the time interval (zero). The shifted bits can be output to the accumulator 1740. In this embodiment, the P〇LD value can be preloaded into the accumulator 174〇. The appliance 1750 can calculate P_) based on the old location and the new location. The value register mo can use the aligning element shift to divide the AP by 2n to calculate the step size. The calculated step size can be stored in the value register. Whenever the tap register 173 〇 shifts - with the bit of - (1), the accumulator 174 更新 is updated by adding the content value contained in the value register mo, the accumulator is initialized with the old position value . The DAC 178 产生 can generate an analog signal (voltage or current) based on the code word output by the accumulator 1740. The embodiment of Figures 16 and 17 is advantageous in that these embodiments provide a simpler implementation than the embodiments of Tables 1 and 13. The step response of the embodiment of Figure 14/Table 3 is uniform' and because &, there is no need to expand the step response values as discussed with respect to Table 1. As with the embodiment of Fig. 13, the embodiment of Figs. 16 and n also contributes to a notch wider than the embodiment of Fig. 5. The Huiduo mechanical system did not move from the starting mechanical stop position immediately after applying a drive signal. Before the amplitude of the drive signal reaches a certain threshold DTH (Fig. 18), there is usually an uncompensated spring force or other inertial force. This threshold is often unknown and can vary between manufacturing lots. In addition, the threshold can be changed depending on the orientation of the mechanical system. In order to improve the response time, an embodiment of the present invention can raise the drive signal to a corresponding threshold drive signal dth when moving from a position corresponding to a mechanical stop position 145778.doc -18-201036320. The value of Figure 19) is calculated as ΔΡ, which is ΤΗ/, which is sufficient to move the mechanical system to the _ difference between the drive signal levels of the destination location. When a drive signal is applied to the system, the ## can include the DTH level applied immediately from the motor driver and a corresponding one of the Dth levels provided above the Dth level (Fig. 5, Fig. 12, and/or Or the time-varying component of the stepwise drive signal in one of the steps of Figure 14). The juice threshold drive dth can be estimated in a 0 blind manner (e.g., based on the expected properties of the mechanical system) which may or may not be true. Alternatively, the threshold can be programmed into the system via a temporary register. The principles of the present invention are applicable to a variety of electronically controlled mechanical systems. As discussed above, such mechanical systems can be used to control lens groups in autofocus applications such as the camera and video recording shown in Figure 1. It is contemplated that systems utilizing the drive signals discussed herein can achieve improved performance because the lens sets will be more stable at new locations than systems utilizing conventional drive signals. Therefore, the camera and video recorder will produce focused image data faster than previously achieved, and we can generate a larger throughput. Figure 20 illustrates another system 2〇0〇 in accordance with an embodiment of the present invention. The system 2000 of Figure 20 illustrates a lens control system having multiple movement dimensions. As with Figure 1, the system can include an imaging wafer 2010, a motor driver 2020, various motors 2030-2050, and a lens 2060. Each motor 2030-2050 can drive the lens in a multi-dimensional space. For example, as shown in FIG. 2A, an autofocus motor 2050 can move the lens laterally relative to the imaging wafer 2010, and the imaging wafer 2010 focuses the light on one of the wafers 2010 145778.doc -19-201036320 On 2010.1. An up and down deflection motor 2030 rotates the lens about a first axis of rotation to control the orientation of the lens 2060 in a first spatial dimension. A left and right yaw motor 2040 can rotate the lens about a second axis of rotation that is perpendicular to the first axis of rotation to control the orientation of the lens 2060 in another spatial dimension. In the embodiment of FIG. 20, imaging wafer 2010 may include a processing unit to perform auto focus control 2010.1, motion detection 2010.2, and optical image stabilization (OIS) 2010. These units may generate codewords for each of the drive motors 2030-2050 that may output 〇 to the motor driver 2020 on an output line. In the embodiment shown in Figure 20, the code words can be output to the motor driver 2020 in a multiplexed manner. Motor driver 2020 can include motor drive units 2020.1-2020.3 for generating analog drive signals for each of drive motors 2030-2050. The analog drive signals can be generated in accordance with previous embodiments discussed herein. As with the one-dimensional lens driver, it is contemplated that driving the multi-dimensional lens driver as shown in the previous embodiment will achieve a faster settling time than driving the lens driver in accordance with conventional drive signals. The principle of the present invention is applied to other systems, for example, the MEMS-based switch shown in FIG. 21, which may include a switching component 211, which is controlled by a control signal in an open position and a Move between closed positions. When closed, the movable "beam" portion 212 of the off component 2110 is placed in contact with the -output terminal 213. The control signal is applied via a control terminal 2M0 to the switch member 211, which imparts an electrostatic force to the switch member 2110 to move the switch member from a normally open position 145778.doc -20-201036320 to the closed position. In this regard, the operation of the PCT switch is known. In accordance with an embodiment, a MEMS control system can include a switch driver 2150 that generates a drive signal having a shape such as that shown in Figures 5, 12 or 14 to the MEMS switch in response to the actuating control signal. The MEMS switch will have a block from which an expected resonant frequency can be derived and (by expanding) the time constant tc. The switch driver 215 can apply a step having a total amplitude sufficient to move the beam 2120 toward the output terminal 2130. When the last time constant is over, the switch driver 215 can apply a final step to cause the beam 2120 to pause in the closed position with minimal oscillation. The principles of the invention may also be applied to an optical MEMS system such as that shown in FIG. Here, an optical transmitter 2210 and an optical receiver 222 are disposed in a common optical path. A MEMS mirror 2230 can be disposed along the optical path, the mirror being translatable from a first position to a second position under control of a li signal. In a predetermined state, for example, MEMS mirror 2230 can be positioned outside of the optical path between transmitter 2210 and receiver 2220. However, in an activated state, the MEMS mirror 2230 can be moved to obscure the optical path, which causes the blocked emitted light beam to reach the receiver 2220. In accordance with an embodiment, a MEMS control system can include a motor driver 2240' that generates a drive signal to the MEMS mirror 2230 in response to the actuation control signal to move the mirror from a predetermined position to an activated position. The mirror 2230 can have a block from which an expected resonant frequency can be derived and (by extension) a time constant tc. The mirror driver 2240 can apply a step having a total amplitude sufficient to move the mirror 2230 toward the activated position. When the last time constant is over, the mirror driver 2240 can apply the last step to cause the mirror 223 0 to pause at the start position with a minimum vibration of 145778.doc • 21-201036320. The optical system 2200 can optionally include a second receiver 225A disposed along a second optical path formed when the mirror 223 is moved to the activated position. In this embodiment, system 2200 can provide a path selection capability for optical signals received by optical system 2200. The principles of the present invention are applicable to touch sensitive device devices that use tactile or haptic feedback to acknowledge receipt of data. The haptic device provides feedback or other tactile feedback that simulates a click of a mechanical button. As shown in Fig. 23, the device 2300 can include a touch screen panel 2310 for capturing data from an input device (usually a hand of a colleague, a stylus or other object). The touch screen panel 231 generates data to a touch screen controller 2320'. The touch screen controller processes the panel data to derive a screen position at which the operator inputs data. To provide haptic feedback, the touch screen controller 232 can generate a digital codeword to a motor driver that generates a drive signal to a haptic motor controller 233A. The haptic motor controller 2330 can generate a _ drive signal to a haptic effect motor 234, which imparts a force to the haptic feedback mechanism on the touch screen panel 231. As is known in the art, the motor driver 2330 can generate a drive signal to the haptic effect motor 2340 according to a shape such as FIG. 12 or FIG. The haptic effect motor 2340 and associated mechanical components of the touch screen device can derive a desired spectral frequency and (by expanding) the time constant tc. Motor driver 2330 can apply a series of steps according to a selected column of one of the Baska triangles or any of the embodiments of the invention described herein. 145778.doc •22- 201036320 Due to the changing mass controlled by user interaction, these steps can originate from one of the Baska dips that are deeper than other applications (eg, column 4 or more) Ice column). It is contemplated that the step pulse drive signal will produce a tactile feedback within the touch screen device that begins and ends sharply, and thus provides a powerful imitation of the feedback feel of the mechanical system. Ο ❹ The principles of the present invention can also be applied to optical or magnetic disk readers, which can include readers based on swing arms or sleds. The common structure of the disc reader is illustrated in Fig. 24, and Fig. 24 illustrates a motor driven swing arm 2410 disposed above a disc surface 2420. The swing arm can include a motor coil 2430 mounted thereon that, when a drive signal is supplied to the coil, generates a magnetic flux that interacts with a magnet (not shown) to move the swing arm over a moving trunk . In this manner, a read head 2440 disposed on the swing arm can be addressed from the disc to the identified information track and read the information. «- Embodiment, a disc reader control system may include a motor driver 2450 'in response to - code word generation - having a drive signal such as that shown in Figure 5, Figure 12 or Figure to the motor coil (10) . The swing arm (and the slider) can have inertia from which an expected spectral frequency fR and (by expansion) hours tG can be derived. The motor drive (4) 2450 can apply a step with m to move the dish feeder to the total amplitude of a new position. When the last time constant ends, the motor driver 245 can apply the last step to cause the reader to pause at the addressed position with minimal oscillation. According to an embodiment, the drive signal generator 2 of Figure 25 can generate a ramp-based motor drive signal with a :: fixed drive window. In the previous motor system, the ramp signal had a constant rate of change. In such a "pour 145778.doc -23· 201036320 oblique" ramp signal system, the time to drive a mechanical system to the desired position depends on the distance that will be traversed. For example, the time it takes to pass a ramp signal corresponding to 100 will be twice the time it takes to transmit the ramp signal corresponding to the movement of the point. However, the "tilt" ramp signal requires notch filtering and has a varying frequency response. The ramp-based motor (4) signal of the other side of the drive window can be linearly operated and has a constant frequency response. The drive signal generation II 2· may include a _ input code register 251, which is used to store a code indicating the new position to be traversed. The drive signal generator test 1 includes an old code register 252G' for storing a code indicative of a sold or current location of the mechanical system. A subtractor 253 can calculate the separation distance between the old position and the new position by subtracting the new position code from the old position code. The drive "generate (4) 00 may also include - a ramp modulator 254G with a _ step clock rate pulse, which is used to generate a step response signal at a base (4) separation distance. The step response may correspond to two steps in the - drive signal. Further, the 'drive signal generator 2500' may include an accumulator for generating a digital drive Z number in response to the step response signal. Accumulator 2550 can be initialized with a value corresponding to the old horse maintained from a previous operation. The DAC 2560 can generate a drive signal based on the digital drive signal. Figure 26 illustrates an example of a ramp-based motor drive (4) with a fixed drive window. Regardless of the separation distance, the signals cause the mechanical system to reach its desired destination within a predetermined time tp. For example, the figure % is used for full range distance, half distance and quarter range distance = 145778.doc •24- 201036320 The dynamic signal is operated for the same predetermined time tp. The predetermined time tp may correspond to a time taken by the mechanical system to traverse a full range at 1 point/cycle. The number of steps required to reach the desired destination may vary depending on the distance spanned. These steps can be dispersed in time, so some steps may not be needed. For example, a half-range displacement may not require a 50% step compared to the step required for a full-range displacement. For example, a quarter range shift may not require a 75% step compared to the step required for a full range shift. Other ratios may produce corresponding ratios of step loops, but may also result in irregular patterns. Drive signal generator 2500 can be cooperatively used with other embodiments described herein. For example, a motor drive system can operate in several modes, one of which is a ramp-based drive signal mode with a fixed drive window. According to an embodiment, the motor drive system 2700 can include a feedback system as shown in FIG. The feedback system can be a detection system for a return channel, a Hall effect sensor or other suitable feedback device. The motor drive system can include a control wafer 2710 that transmits a code for instructing the motor driver 2720 to drive the mechanical structure 2750. Mechanical structure 2750 can include a motor 2730 and a mechanical system 2740. The motor driver can transmit a drive signal to the motor 2730 via a signal line connecting the driver 2720 to the motor 2730. Motor 2730, in response to the drive signal, causes mechanical system 274 to move, which can cause oscillation or ringing behavior in mechanical system 2740. These vibrations can be captured by a feedback system. The oscillations are induced by an electrical signal in the signal line extending between the motor 2730 and the cymbal and the nursery rhymes „ 2720. The guards send four return channels 145778.doc -25- 201036320 can transmit the same drive signal The signal line can be on the separate signal line. The °H back-to-back detection system can calculate the resonant frequency fR of the mechanical system. The system manufacturer should know exactly the frequency of the money-age consumption. In addition, the system components must be cheap. In a consumer device manufactured in the ground, the frequency of the vibration can be varied between different manufacturing lots of a common product. Therefore, the actual resonant frequency of the mechanical system is calculated (rather than depending on the manufacturer's expectations). Improving the accuracy of the mechanical system during use and reducing the settling time due to reduced resistance. Figure 28 shows a drive signal generator that can be incorporated into a motor drive to calculate the actual resonant frequency of the mechanical system. 2_ Embodiments. The driving signal generator 2800 can include: an accumulator 282A for generating a digital test drive signal; a digital to analog converter (DAC) 283〇, Generating an analog test drive output signal (which is then applied to the motor of the mechanical structure) according to the digital output of the accumulator; a return channel sensor 2840 for capturing a return channel electronic signal; a processing unit 2850 It is used to calculate the actual resonant frequency; and a register 281, which stores the calculated resonant frequency. The analog signal can be generated as a current or voltage.

Figure 29 is a flow diagram of a method 2900 for determining the actual vibration frequencies of a mechanical system in accordance with one embodiment of the system of the present invention. The method can include generating a test drive signal (step 2910). The test drive signal can be a unit step drive signal having a value sufficient to drive the mechanical system to an intermediate position within the range of motion of the = mechanical system. The drive signal can be Z 145778.doc -26- 201036320 = unit step p& function, a ramp function or other function to generate the drive ^ has a non-zero over a wide range of candidate resonant frequencies of the mechanical system: the inner port should be (4) The test drive signal 'The motor can move the mechanical system to induce an oscillation in the mechanical system to induce an -electron signal in the return channel of the horse 2. The method can capture the return channel signal in the return channel sense (step (10) 40). The method generates a data sample based on the return channel signal (step 295°). According to the ’ ' ', the δHel method can calculate the actual resonant frequency of the mechanical system (step 2960). The process can further include storing the calculated resonant frequency in a buffer (step 297A). The stored vibration frequencies can then be used to generate drive signals during the execution time, as discussed in the previous embodiments. Figure 30 shows the corresponding movement of the mechanical system in one of the test drive signals (Fig. 30(4) and the schematic). The test drive in Fig.,) is a unit-step drive signal that corresponds to the movement of the mechanical system. The wiper point (4) is applied to the motor, which causes motion in the mechanical system. The displacement of the mechanical system in response to the midpoint drive signal is shown in the illustration. The ringing effect is found at the beginning of the displacement map, and the displacement of the mechanical system first acts in a two-oscillation manner before stabilizing to its corresponding displacement value. The oscillating behavior induces in the return channel that the electronic signal 'has the same frequency as the oscillations in the mechanical system. The resonant frequency can also be calculated during the search/adaptation process. Figure 31 is a flow chart of a method for adaptively adjusting the resonance of a mechanical system according to an embodiment - 145778.doc • 27· 201036320 Frequency value. The method can include applying - driving as "Step 311". At this time, one of the nominal values of 4 can be stored in a register. The nominal value of fR can be the last calculated value. The signal can be a test drive signal or a drive signal applied during normal operation. If the drive signal is a test drive signal, the drive signal can be a unit step drive signal 'which has enough to drive the mechanical system to a value intermediate the range of motion of the mechanical system. The drive signal can be generated based on an early step function, a ramp function, or other function that is over a wide range of candidate resonant frequencies of the mechanical system. Having a non-zero energy response to the (four) (four) (4) machine (10) system moves and will induce an oscillation behavior in the system. The method can estimate one of the three values of the vibration = (step 312G) ° according to Μ, the method can Adjusting fR (step 3130). 峨 can be determined by factors such as the orientation of the mechanical system and the step size. The party includes storing the calculated spectral frequency between the buffer registers and the signal. Discussed in the examples (4) The method for calculating the fR adjustment amount according to the embodiment - the second method may include estimating the frequency region Fe of the relocations (the step E1 has a tolerance value such as ±10%; therefore, no The method requires that the method can compare the stored (four) 匕 to check the storage of the storage, under the FE or above the FE (step 32 〇 2). If the two: F: then the method After the storage can be maintained (step) under the right money, the method can make the storage θ a predetermined amount (step 3). If the library is stored above the 145778.doc -28· The 201036320 method may cause the stored fR to decrease by - .. ^ ^ ^ in the foreground (step 3205). The method may further include storing the buffer in the correction register. Figure 32(b) is According to another implementation, W α $ 丨 l l is used to calculate the amount of the different fR adjustment amount of the square 3250. The square half 4 a ^ ..., ... can be included as - "adjustment amount assignment - preferred

旎 (+ or -) (step 3251). The scent A is preferably assigned based on a previous pattern or operation of the mechanical system. The method can be used by Zhuang Shi Bu Bu, and the 10,000 can be detected by comparing the current oscillation magnitude with a previous oscillation magnitude, but whether the performance of the mechanical system is degraded (step Ο 325 2252) . The increase of the vibrations over time ^ Pei I value has not been degraded. If the current seismic magnitude is greater than the previous oscillation 1 value, the method may change the preferred symbol and adjust fR to a predetermined amount based on the newly assigned symbol (step 3253). The method can further store the changed symbols as preferred symbols for the next iteration. If the _ value is not greater than the first _ magnitude, the method maintains the preferred symbol to adjust fR by the predetermined symbol by a predetermined amount (step milk 4). These changes in the amount of fR can be relatively small, since large changes in the resonant frequency are not desired. Therefore, the method continues to track and adjust the fR. According to the embodiment, the return channel can be used to calculate the amount required to move the mechanical system from the initial mechanical stop position. In addition, system manufacturers often do not know exactly the DTH of their mechanical systems. Moreover, particularly in consumer devices where system components must be manufactured inexpensively, Dth can vary between different manufacturing lots of a common product. Therefore, the calculation of the actual DTH of the mechanical system (rather than depending on the manufacturer's expected DTH) improves the accuracy of the mechanical system during use. Figure 33 illustrates a system that can be incorporated into a motor drive to calculate a mechanical system. 145778.doc -29- 201036320

An embodiment of the actual dth drive signal generator 3300. The drive signal generator 330G operates in the initialization mode of the motor drive. The drive signal generator can include: an accumulator 332A for generating a digital test drive signal; a digital to analog converter (DAC) 333〇 for generating an analog test based on the digital output of the accumulator Driving a output signal (which is applied to the motor of the mechanical structure); a head-back channel sensor 334A for capturing a return channel electrical signal; a processing unit 335A for calculating an actual Dth value or indication The accumulator 332 generates a further digital test drive signal; and a DTH register 333〇 for storing the calculated value. This analog signal can be generated as a current or voltage.

According to an embodiment of the invention, the drive signal generator may further include a position sensor 3360 for storing the position and orientation of the mechanical system. The position sensor 3360 can be consuming to the accumulator 332A. Dth can be sensitive to the auxiliary system. For example, the lens mechanical system may have a lower Dth' in the face-down direction because the assist force of gravity is toward T, and conversely, the lens mechanical system may have a higher Dm when facing up, because gravity The reaction force is downward. The position sensor 336() can be a _ inclinometer, a gyroscope or any suitable position detecting device. Figure 34 is a flow diagram of a method 3400 for determining a mechanical system: DTH according to the embodiment of the present invention. The method side can perform a repetitive process for confirming DTH. The process can be estimated using the field stored in the known register. Generating a test drive signal (step. The test drive signal can be generated according to a unit step function. In a first iteration, the DTH estimate can be - a pre-programmed value, but after that, it can be borrowed ^ 145778.doc -30- 201036320 A previously repeated setting. According to an embodiment, the test drive signal may be generated when a change in orientation is detected. The test drive signal may also be generated according to the sensed orientation of the mechanical system. A motor that can be applied to the machine. If the value of the test drive signal is equal to or higher than the actual y, the motor moves the mechanical system. This creates a vibration in the mechanical system. The oscillation can induce an electrical signal in the return channel. However, if the value of the test = drive ❹ signal is lower than the actual dth, the mechanical system does not move, and therefore, the return channel signal is not induced. Method 3400 can monitor the return channel to obtain an oscillating condition (step Μ") and Determining if the return channel signal is present. If a return channel signal is not observed, method 3400 increments the test drive signal for another iteration (step The method can be repeated. If a return channel signal is observed, the processing unit checks that the current Dth value is within a predetermined accuracy level (step 3450). This check can be performed, for example, by determining - the value in the process Whether to change for a predetermined number of times. If the current DTH is not estimated to be within a precise level, the method reduces the test drive signal (step 344q). The method can be repeated. If the threshold value is known to be within the accuracy level' The processing unit then stores the current Dth value as a post-fetch estimate in the Du register (step 〇). Thereafter the "Hay method" may end. It may then be used in any embodiment of the invention using the expected Dm value. The stored Dm value may additionally be implemented by a loopback = search method to improve the convergence rate by calculating the amplitude of the unit step function based on the return parameter of the previous drive signal based on the return parameter. .doc -31 · 201036320 Figure 35 shows an example of the test drive signal in Figure 35(4) and the corresponding movement of the mechanical system in Figure 5 (1). The first step value test drive in Figure 35(a) Signal is A unit step drive signal corresponding to the estimated Dm value is applied to the motor 'this is caused in the mechanical system. ^ Figure 35 (b) shows the mechanical system in response to the first step The step value tests the displacement of the boat (4). The ringing effect is found at the beginning of the displacement map, wherein the displacement of the mechanical system first acts in two oscillations before stabilizing to its corresponding displacement value. The vibrating action is In the return channel, a 'the same resonance as the equal-magnet I in the mechanical system is induced'. The second-step test drive signal whose value is lower than the first-step test drive signal does not drive the motor, so The mechanical system does not move, because of the vibration | behavior in Figure 35. Therefore, the first: step value test drive =: TDth. The process may be performed by generating a third step value between the step-steps and the step values (not shown and x: 仃 until the DTH value is determined to be within the accuracy level. The fR&DTH value can be determined in the -initialization mode. When the mechanical system is turned on, or whenever the mechanical system is turned on, or at other = time, the initialization mode can be triggered. ^ and Dm calculation process can also be the same The same test drive signal can be used for over-privateness in the initialization mode or in two different processes simultaneously or continuously in different initialization modes, wherein the processing unit uses the same return channel signal to calculate the actual: wide value. If you perform two processes, you can perform these processes in order. In addition, when a certain change is detected, the Dth value can be modified according to the function or lookup table (LUT). 145778.doc •32· 201036320 In this paper The present invention has been described and described in detail with reference to the embodiments of the present invention. In addition, it will be understood that the signals described above represent an ideal form of drive signal with a transient response; in practice, a quantitative slewing from one of the motor drives under actual operating conditions can be expected. These effects are omitted so as not to obscure the principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an exemplary mechanical system suitable for use with the present invention; FIG. 2 is a frequency response of an example mechanical system. And a diagram of the oscillations that may occur during startup; Figure 3 shows a conventional drive signal for a mechanical system; Figure 4 illustrates the response of a mechanical system observed under a single step drive signal; Figure 6 is a diagram illustrating the height and position of the drive signal of Figure 5; Figure 7 is a diagram illustrating the energy distribution of the frequency of a drive signal in accordance with the present invention; A response of a mechanical system observed under a drive signal such as that shown in FIG. $ is illustrated; FIG. 9 is a block diagram of a system in accordance with an embodiment of the present invention; 0 is a diagram illustrating the energy distribution of the frequency of another drive signal in accordance with the present invention; FIG. 11 is a block diagram of a system in accordance with an embodiment of the present invention; 145778.doc -33 - 201036320 FIG. 12 is a diagram illustrating FIG. 13 is a simplified block diagram of a drive signal generator in accordance with an embodiment of the present invention; FIG. 4 is a block diagram illustrating another embodiment of the present invention. Figure 15 is a diagram illustrating the frequency response of an exemplary filtering system; " Figure 16 is a simplified block diagram of a driving signal generator in accordance with another embodiment of the present invention; -Simplified block diagram of a drive signal generator in accordance with another embodiment of the present invention; Figure 18 is an illustration showing an exemplary relationship between a typical displacement of a mechanical system (after stabilization) and an applied drive signal; - Figure of the stalk of the stalker; Χ Illustrative drive letter 20 of another embodiment of the invention is a block diagram of another mechanical system used in the present invention 21 or 5; ; Figure 22 is a simplified diagram of a MEMS switching system according to the present invention; Figure 23 of the MEMS mirror control system of the embodiment is a diagram of a haptic control system according to an embodiment of the present invention; Figure 24 is a simplified diagram of a disc reader according to the present invention; a simplified version of the disc reader of the embodiment 145778.doc - 34 - 201036320 Figure 25 is a driving signal generator according to another embodiment of the present invention Figure 26 is a diagram illustrating an exemplary drive signal in accordance with an embodiment of the present invention; Figure 27 is a simplified diagram of a motor drive system suitable for use with the present invention; Figure 28 is a further __ according to the present invention A simplified block diagram of a drive signal generator of an embodiment; ❹ Figure 29 shows a simplified process flow for determining a spectral frequency; Figure 30 illustrates a mechanical system viewed under a test drive signal. Simplified processing flow for update-resonant frequency; Figure 32(4) shows - simplified process for adjusting a wobble frequency. Flowchart 32(b) shows - Figure 33 for a simplified process flow for adjusting a vibration frequency - According to the invention In addition, the driving signal of the embodiment generates a simplified block diagram; FIG. 34 shows a simplified processing flow for determining a threshold voltage; and FIG. 35 illustrates a mechanical system that is detected in the unit step test driving signal. The response. $ [Main component symbol description] 110 imaging chip 120 motor driver 130 voice coil motor 140 lens 910 P0LD register 145778.doc . 201036320 920 Pnew register 930 register 940 subtractor 950 step signal generator 960 accumulator 970 Multiplier 980 Adder 1110 Drive Signal Generator 1120.1 Notch Limit Filter 1120.N Notch Limit Filter 1300 Signal Generator 1310 Register 1320 Register 1330 Timing Engine 1340 Tap Register 1350 Multiply Accumulate ( MAC) Unit 1360 Digital to Analog Converter (DAC) 1600 Drive Signal Generator 1610 Register 1620 Register 1630 Tap Register 1640 Accumulator 1650 Subtractor 1660 Divider 145778.doc -36- 201036320 1670 Multiplier 1680 Adder 1700 Drive Signal Generator 1710 Register 1720 Register 1730 Tap Register 7740 Accumulator 1750 Subtracter Ο 1760 Value Register 1780 Digital to Analog Converter (DAC) 2000 System / Lens Control System 2010 Imaging Wafer 2010.1 Photosensitive Surface / Auto Focus Control 2010.2 Motion Test 20 10.3 Optical Image Stabilization (OIS) © 2020 Motor Driver 2020.1 Motor Drive Unit 2020.2 Motor Drive Unit 2020.3 Motor Drive Unit 2030 Up and Down Deflection Motor 2040 Left and Right Deflection Motor 2050 Auto Focus Motor 2060 Lens 2110 Switch Parts 145778.doc -37- 201036320 2120 Movable "Beam" part 2130 output terminal 2140 control terminal 2150 switch driver 2200 optical system 2210 optical transmitter 2220 optical receiver 2230 MEMS mirror 2240 mirror driver 2250 second receiver 2300 device 2310 touch screen panel 2320 touch screen controller 2330 tactile Motor Controller / Motor Driver 2340 Tactile Effect Motor 2410 Motor Drive Swing Arm 2420 Disc Surface 2430 Motor Coil 2440 Read Head 2450 Motor Driver 2500 Drive Signal Generator 2510 Input Code Register 2520 Old Code Register 2530 Subtractor 145778 .doc -38- 201036320 2540 Ramp Modulator 2550 Accumulator 2560 Digital to Analog Converter (DAC) 2700 Motor Drive System 2710 Control Wafer 2720 Motor Driver 2730 Motor 2740 Mechanical System ^ 2750 Mechanical Structure 2800 Drive Signal Generator 2810 Register 2820 Accumulator 2830 Digital to Analog Converter (DAC) 2840 Return Channel Sensor 2850 Processing Unit ^ 3300 Ο Drive Signal Generator 3320 Accumulator 3330 Digital to Analog Converter (DAC) 3340 Return Channel Senser 3350 Processing Unit 3360 Position Sensor fR Resonant Frequency 145778.doc -39-

Claims (1)

201036320 VII. Patent Application: I.—A method for generating a drive-drive system to drive a mechanical drive signal to a method, comprising: a motor according to a bass card of a Baska triangle... a motion signal is applied to the motor drive : 疋列的-Series steps will number the number of steps to be equal to those from Bath; the system: 'where: the number of: the entry of the selected column of the angle Ο 0 per-step has - the step corresponding to the individual entry One of the selected columns of the long, and one of the selected columns is separated from each other by a time constant tc of the following formula: tcs-L 2fR whose fR is the mechanical system t 2 , ^ , ε Nothing—expected vibration frequencies. • The method of claim 1, wherein the TAIA drive signal has substantially zero energy at the expected resonant frequency. 3. If the method of item 1 is requested, Gans # should ^ ', one of the middle drive signals, the last step, so that the machine maple system is substantially I, the county tL p , , , , oscillatingly stay at the destination position. 4. The method of claim 1, further comprising: - identifying a codeword at a destination location of the mechanical system, confirming, having an amplitude of one of the drive signals representing a component of: a) the S-mechanical system - the starting position and b) the difference between the starting position and the destination position, the amplitude component of the eight corresponding to the difference being dispersed in the step of the driving signal On the order. 5_ The method of claim 1 wherein the codeword identifies an addressable location within a range of motion of the mechanical system 145778.doc 201036320. 6. The method of claimants, further comprising 'when one of the mechanical systems is in a parked position, determining one of the amplitudes of the drive signal having the following: sentence one corresponding to one (four) a first component of the drive signal level required to move from the parked position; and b) a correspondence between the first component and a drive signal level required to move the mechanical system to the destination position a differential component, wherein the differential component is spread over the temporally separated steps of the drive signal, and wherein the first component is applied in the first step of the drive signal. 7. The method of claim 1 wherein the amplitude of one of the steps is determined based on a codeword generated by the shirt image signal processor and the drive signal is applied to a lens drive motor. 8. The method of claim 1, wherein the mechanical system is a lens system having a multi-dimensional range of motion, the image signal processor generates a codeword corresponding to each dimension, and the method generates a plurality of drive signals, A drive signal corresponds to each of the code words. For example, the method of claim 8 wherein there are three dimensions and three codewords, one codeword is used for lateral movement of the lens system, one codeword is used for deflection of the lens system, and one codeword is used for The left and right deflection of the lens system. The method of claim 1, wherein the amplitude of one of the steps is based on a code shirt generated by the 145778.doc 201036320: touch panel controller, and the driving signal is applied to the touch-touch The haptic effect motor of the panel. Η The method of claim 1, wherein the amplitude of one of the steps is determined according to a code word generated by a disc controller, and the field number is applied to a disc based on the swing arm. Slice reader. 12. The method of claim 1, and the amplitude of the first phase is based on a codeword generated by the disc controller, and the driving signal is applied to A slide-based disc reader. 13. The method for generating a Μr method comprising: a number to the motor-driven mechanical system to drive one of the series of steps according to one of the Baska triangles to the motor-driven machine a system, wherein: the steps are grouped into a plurality of entries from the Baska II, wherein the number of intervals is equal to the number of entries from the selected column of the ska dimorph, each step having a mean step length, ❹ Each interval includes a plurality of steps corresponding to a respective entry from the column, and the interval of the I-corner $ is equal to each other according to a time constant tc determined by the following formula: The mechanical system - 1 4 'bite = the counter-resonant frequency 〇 14 · 4, the method of claim 13, further comprising, in response to a recognition that the machine has a code word indicating the location of the following bauxite destination, indeed ~ eight q One of the driving signals in the knife of the knife is: a) 145778.doc 201036320 The purpose of the mechanical system is one of the starting position and... the difference between the starting position and the setting," Which step According to the difference component, 15. The method of claim 3, further driving the system to the destination position when one of the starting positions of the field system is a parking position a difference component of the signal difference, determining an amplitude of the one of the drive signals having the following: a hook corresponding to the drive signal required to move the mechanical system from the parked position: a first component of the quasi-component; and b) Corresponding to the first component and - causing the step of the machine to be broken according to the difference, and wherein the first component is applied in the first step of the driving signal. In the method of claim 13, the amplitude of one of the steps is determined according to a code word generated by an image processing system, and the driving signal is applied to a lens driving motor. 17 (4) The method of claim 13, wherein The step (vibration) is determined according to the code word disc generated by the touch panel controller, and the driving signal is applied to a haptic effect motor coupled to a touch panel. Method in which the steps are oscillated The frame is determined based on a word produced by the disc controller, and the drive signal is applied to a disc reader based on the swing arm. 19. The method of claim 13 wherein one of the steps is amplitude Based on a codeword generated by the disc controller, and the drive signal is applied to a 145778.doc 201036320 skateboard based disc reader. 20. A drive signal generator comprising: a tap temporarily The memory 'stores a column representing the Baska triangle and returns, a pattern of control signals identifying a selected column; a timing engine for driving the tap at a time interval corresponding to a time constant ^ a register: t , -L c-2fR 〇 wherein fR is an expected resonant frequency of one of the mechanical systems to be driven by the drive signal generator; and an accumulator responsive to the tap register and representing the mechanical system A data of a starting position and a destination position, generating a step-by-step driving signal, wherein: the number of steps 126 is equal to the number of entries from the selected column of the Baska triangle, each step having one a step between the departure position and the destination location Ο and corresponding to a step size of each of the selected columns of the Baska triangle, and the steps are separated from each other according to the time constant tc; A digital to analog converter that is used to generate an analogy of the step drive signal. 21. The drive signal generator of claim 2, wherein the digital to analog converter produces an analog voltage. 22. The drive signal generator of claim 2, wherein the digital to analog converter produces an analog current. 145778.doc 201036320 23. The drive signal generator of claim 2, 1 Τ the drive 大体上§唬 has substantially zero energy at the pre-activation frequency. 24. A drive signal generator comprising: - a tap register, a pro, a w-storage table, a number of maps not in the Baska triangle, and a "height interval" , the interval ^^ number a corresponds to the number of steps of the Baska II... number, each interval - the adder, which responds to the value of the mechanical system - the position of the start position Z and the output of the watch The step-by-step miscellaneous action number, the data of the I destination location, is derived from the tap (four) / ❹ step drive signal has - corresponding to the two f steps - the cumulative number and the in-step pair - timing two Γ::: set The amplitude of the difference between the intervals, the intervals separating the output steps separated by intervals, the time constant tc determined by the following formula: tc = "- where fR is the step of the mechanical system R separated from each other The vibration frequency 'and a time constant shorter than (1) in each interval. The motor-driven machine responds to the method of the mechanical system, which comprises: each of the mechanical systems has a multi-step drive signal for the rest of the machine, and the code word of the destination position, producing tc: the mother step shift An adjacent step one time 145778.doc 201036320 where fR is the expected spectral frequency of the machine in each of the steps, and the destination position ^ is from the Baska triangle - the selected column is driven from - The difference between the locations is derived. ―: A method of driving a mechanical system, which comprises: :, :: identifying one of the mechanical systems, the number of the first occurrences, the number of the first, and the number of the mechanical systems - the expected mechanical frequency - 4 mechanical systems - the expected resonant frequency , which causes each step to have a mean sentence amplitude and each number is derived from the selected column of the Baska triangle. The method comprises: 2 7 'for generating a driving signal to a motor-driven mechanical system, applying a driving signal to the motor-driven mechanical system in a series of steps, wherein: 数目 the number of steps depends on The mechanical system will be driven by the motor to straddle the distance, and the drive signal causes the motor-driven mechanical system to traverse the distance within a predetermined time tp of the ϊ»»ν. 28. A drive signal generator comprising: a ramp modulator responsive to a one-step clock rate and a clear distance to generate a one-step response signal; an accumulator responsive to the step response signal , generating a step-by-step drive signal; and 145778.doc • 7- 201036320 玍王—drive signal, motor-to-motor mechanical system, and the net-to-digital distance to analog converter, wherein the drive signal makes a departure independent of predetermined time The net distance is crossed. 29. The drive signal generator of claim 28, further comprising: a first register for storing an old location; a second register for storing a new location; and a subtractor And for generating the net distance corresponding to the difference between the old location and the new location. 30. The drive signal generator of claim 28, wherein the step clock rate corresponds to a number of steps in the drive signal, and the number of steps in the drive signal is dependent on the net distance. 145778.doc