WO2022087828A1 - 跟焦轮的控制方法、跟焦轮及存储介质 - Google Patents

跟焦轮的控制方法、跟焦轮及存储介质 Download PDF

Info

Publication number
WO2022087828A1
WO2022087828A1 PCT/CN2020/124030 CN2020124030W WO2022087828A1 WO 2022087828 A1 WO2022087828 A1 WO 2022087828A1 CN 2020124030 W CN2020124030 W CN 2020124030W WO 2022087828 A1 WO2022087828 A1 WO 2022087828A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
operation feeling
target
focus wheel
main control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/124030
Other languages
English (en)
French (fr)
Inventor
黄常建
殷汇鹏
曹中源
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2020/124030 priority Critical patent/WO2022087828A1/zh
Priority to CN202080006503.3A priority patent/CN113169630B/zh
Publication of WO2022087828A1 publication Critical patent/WO2022087828A1/zh
Priority to US18/128,257 priority patent/US20230236384A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current

Definitions

  • the present application relates to the technical field of motor control, and in particular, to a control method of a follow focus wheel, a follow focus wheel, and a storage medium.
  • the embodiments of the present application provide a control method of a follow focus wheel, a follow focus wheel and a storage medium, so that the follow focus wheel can provide an accurate operation feeling in different environments, thereby improving user experience.
  • an embodiment of the present application provides a method for controlling a follow focus wheel, the follow focus wheel includes an operating component, a motor, a drive circuit and a main control circuit, the drive circuit is electrically connected to the motor, and the The main control circuit is electrically connected with the drive circuit, and the operating component is mechanically coupled with the rotor of the motor, and can drive the rotor of the motor to rotate together; the method includes:
  • the output torque control and target closed-loop control of the motor are completed according to the angular position information and the electrical parameters, wherein the target closed-loop includes at least one of a position closed-loop and a speed closed-loop, and different target closed-loops are used to simulate Different types of operation sense, different types of operation sense correspond to different motor control strategies;
  • the operation feeling that needs to be simulated is determined, and the motor is controlled to run based on the motor control strategy corresponding to the operation feeling that needs to be simulated, so as to provide corresponding operation feeling feedback.
  • the embodiment of the present application also provides a follow focus wheel, the follow focus wheel includes:
  • a motor including a rotor and a coil
  • an operating component for inputting a follow focus control signal for user operation the operating component is mechanically coupled with the rotor of the motor, and can drive the rotor of the motor to rotate together;
  • the drive circuit is connected to the motor and used to drive the motor to rotate;
  • a main control circuit which is connected to the drive circuit, and is used to complete the output torque control and target closed-loop control of the motor according to the angular position information of the rotor and the electrical parameters of the coil of the motor, and the target
  • the closed loop includes at least one of a position closed loop and a speed closed loop. Different target closed loops are used to simulate different types of operation senses, and different types of operation senses correspond to different motor control strategies;
  • the main control circuit is further configured to: determine the operation feeling that needs to be simulated, and control the operation of the motor based on the motor control strategy corresponding to the operation feeling that needs to be simulated, so as to provide corresponding operation feeling feedback.
  • the application further provides a follow focus wheel, wherein the main control circuit of the follow focus wheel includes a micro-control unit, and the micro-control unit includes a processor and a memory;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program, and when executing the computer program, implement the steps of the control method for a focus wheel according to any one of the embodiments of the present application.
  • an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor can be implemented as implemented in the present application.
  • the control method of the follow focus wheel, the follow focus wheel and the storage medium disclosed in the embodiments of the present application can run corresponding motor control strategies through the motor to provide different operation senses, such as providing damping operation sense, pulsator operation sense and rebound operation
  • different operation senses such as providing damping operation sense, pulsator operation sense and rebound operation
  • FIG. 1 is a schematic structural diagram of a follow focus wheel provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a circuit structure of a follow focus wheel provided by an embodiment of the present application
  • FIG. 3 is a schematic structural diagram of a motor part of a follow focus wheel provided by an embodiment of the present application.
  • Fig. 4 is the cross-sectional structure schematic diagram of Fig. 3 along the A-A direction;
  • FIG. 5 is a schematic diagram of the principle of closed-loop control of a motor provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the principle of simulating damping operation feeling provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the corresponding relationship between output limiter and motor speed provided by an embodiment of the present application.
  • FIG. 8a and FIG. 8b are schematic diagrams of the principle of simulating the operation feeling of the pulsator provided by the embodiment of the present application;
  • Fig. 9a and Fig. 9b are schematic diagrams of the principle of simulating the rebound operation feeling provided by the embodiment of the present application.
  • FIG. 10 is a schematic diagram of the corresponding relationship between the output limiter and the motor position provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a circuit structure of another follow focus wheel provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of a circuit structure of another follow focus wheel provided by an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a circuit structure of another follow focus wheel provided by an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a circuit structure of another follow focus wheel provided by an embodiment of the present application.
  • 15 is a schematic flowchart of steps of a control method for a follow focus wheel provided by an embodiment of the present application.
  • FIG. 16 is a schematic block diagram of a follow focus wheel provided by an embodiment of the present application.
  • the existing operational feedback is realized through physical components.
  • the damping operation sense is realized by damping grease
  • the rebounding hand operation sense is realized by elastic parts (such as springs).
  • This kind of operation sense feedback realized by physical parts is easily affected by the environment.
  • the feedback of the operation feeling is relatively reduced, and there is even no damping effect, but at low temperatures, the fluidity will be weakened, the feedback of the damping operation feeling will increase, and it may even be impossible to rotate. Therefore, it is impossible to provide accurate operational feedback, thereby reducing the user's experience.
  • the embodiments of the present application provide a control method of a follow focus wheel, a follow focus wheel and a computer-readable storage medium, which can simulate the operation feeling of the follow focus wheel through a motor, thereby solving the above problems and improving user experience .
  • FIG. 1 is a schematic structural diagram of a follow focus wheel provided by an embodiment of the present application
  • FIG. 2 is a schematic circuit structure diagram of a follow focus wheel provided by an embodiment of the present application.
  • the focus wheel 100 includes an operating part 10, a motor 11, a driving circuit 12 and a main control circuit 13, wherein the motor 11 includes a rotor and a coil.
  • the operation part 10 is used for the user to operate and input the follow focus control signal.
  • the operation part 10 is mechanically coupled with the rotor of the motor 11 and can drive the rotor of the motor 11 to rotate together, and the rotor of the motor 11 also drives the operation part 10 when it rotates. The movement can then simulate the corresponding operation feeling feedback to the operation member 10 .
  • the operation feeling may include a damping operation feeling, a pulsator operation feeling, or a rebounding operation feeling, and certainly may include other types of operation feeling, which are not limited herein.
  • the operating component 10 is, for example, a rubber ring 101 , which is mechanically coupled with the rotor of the motor 11 , such as through a shaft connection or through a gear connection, etc.
  • the rubber ring 101 can drive the rotor of the motor 11 to rotate together, and at the same time, the rotor of the motor 11 also drives the rubber ring 101 to move when it rotates, thereby simulating the damping operation feeling and feeding it back to the rubber ring 101 .
  • the operating part 10 may also be other parts, such as a knob part or a rebound part, wherein the knob part needs to feedback the operation feeling of the pulsator, and the rebound part needs to feedback the rebound operation feeling.
  • the focus wheel 100 includes a circuit board 14 , and the circuit board 14 is provided with a driving circuit 12 and/or a main control circuit 13 .
  • the drive circuit 12 can be provided on the circuit board 14, and the circuit board 14 can also be provided with a position sensor, such as a Hall sensor 150, which cooperates with the magnetic ring 15 provided on the motor 11 to detect the angle of the rotor of the motor 11. location information.
  • the motor 11 may include a permanent magnet synchronous motor or a DC motor, and of course other types of motors, which are not limited herein. As shown in FIG. 4 , the motor 11 includes a rotor 111 and a coil 112 .
  • the drive circuit 12 is connected to the motor 11 and is used to drive the rotor 111 of the motor 11 to rotate.
  • the drive circuit 12 can specifically use a three-phase inverter bridge circuit to drive the rotor 111 of the motor 11 to rotate in commutation through a PWM signal.
  • the main control circuit 13 is connected to the drive circuit 12, and is used to complete the output torque control and target closed-loop control of the motor 11 according to the angular position information of the rotor 111 of the motor 11 and the electrical parameters of the coil 112 of the motor 11.
  • the main control circuit 13 can Includes processor and memory.
  • the target closed loop includes at least one of a position closed loop and a speed closed loop.
  • Different target closed loops are used to simulate different types of operation senses, and different types of operation senses correspond to different motor control strategies.
  • the electrical parameters of the coil of the motor 11 Including current and/or voltage.
  • different types of operation feeling may include damping operation feeling, pulsator operation feeling or rebound operation feeling, wherein the velocity closed loop is used to simulate the damping operation feeling, and the position closed loop is used to simulate the pulsator operation. feel and rebound operation.
  • Table 1 shows the different motor control strategies for different types of operating senses
  • the damping operation sense runs on the speed closed loop, that is, the speed closed loop is used to realize the feedback of the damping operation sense
  • the simulated pulsator operation sense and the rebound operation sense run on the position closed loop, that is, the position closed loop is used to simulate the pulsator. Operation feeling and rebound operation feeling.
  • the simulated pulsator operation and rebound operation both operate on the position closed loop, the corresponding motor control strategies are different.
  • Table 1 may be stored in the memory of the focus wheel, so that after determining the operation feeling that needs to be simulated, the table is queried to determine the motor control strategy corresponding to the operation feeling that needs to be simulated.
  • the main control circuit 13 is further used for: determining the operation feeling to be simulated, and controlling the motor 11 to run based on the motor control strategy corresponding to the operation feeling to be simulated, so as to provide corresponding operation feeling feedback.
  • the operation feeling that needs to be simulated is a damping operation feeling
  • the motor 11 is controlled to run based on the motor control strategy I corresponding to the damping operation feeling, and then the corresponding damping operation feeling feedback is provided; for another example, it is determined that the operation feeling that needs to be simulated is:
  • the motor 11 is controlled to run based on the motor control strategy III corresponding to the rebound operation sense, thereby providing corresponding feedback of the rebound operation sense.
  • the motor 11 is controlled to run based on the motor control strategy corresponding to the operation feeling that needs to be simulated. Specifically, the motor 11 can be controlled to run in the target closed loop corresponding to the operation feeling that needs to be simulated, and the target parameters are determined and the target is input to the target closed loop for closed-loop adjustment. , to provide corresponding operational feedback.
  • the motor can be controlled to run on the speed closed loop, and the target speed can be determined, and the target speed can be input into the closed speed loop for closed-loop adjustment, thereby providing damping.
  • Operation feedback for another example, if it is determined that the operation feeling to be simulated is the rebound operation feeling, the motor can be controlled to run on the position closed loop, and the target position can be determined and the target position input to the position closed loop for closed-loop adjustment, thereby providing the rebound operation feeling feedback.
  • the main control circuit 13 when the main control circuit 13 completes the control of the output torque of the motor 11, it can be specifically used to: realize the current closed-loop control of the motor 11 according to the angular position information of the rotor 111 and the current of the coil 112, and then complete The output torque of the motor 11 is controlled. And the current of the coil 112 of the motor 11 has a linear relationship with the output torque, that is, the greater the current of the motor, the greater the output torque, so that the strength of the same type of operation can be easily adjusted to meet the needs of different users. , and then solve the different needs of different users, thereby improving the user experience.
  • Determining the operation feeling that needs to be simulated can be specifically determined according to the detected operating components. For example, when it is detected that the user operates the rubber ring 101, the operation feeling that needs to be simulated is determined as the damping operation feeling; for example, when the user operation rebound is detected When selecting parts, it is determined that the operation feeling that needs to be simulated is the rebound operation feeling. Of course, the operation feeling that needs to be simulated can also be determined according to the type of operation feeling selected by the user.
  • the control method of the focus wheel provided by the embodiment of the present application can simulate the corresponding operation feeling by controlling the motor to operate on different target closed loops and corresponding motor control strategies, and then provide different operation feeling feedbacks, such as providing damping operation feeling, The pulsator operation feeling and the rebound operation feeling, etc., are simulated by the motor to simulate different operation feelings, which can not be affected by environmental factors, thereby improving the user experience.
  • the corresponding motor control strategy I is: control the motor 11 to run in the speed closed loop, set the target speed to zero and input it into the speed closed loop, so that the motor 11 can operate according to the speed closed loop.
  • the target speed is adjusted in a closed-loop speed loop to provide feedback of damping operation feel.
  • the operation part may be a rotating part.
  • the rotating part is mechanically coupled and connected to the rotor of the motor 11.
  • the main control circuit 13 controls the motor. Run the motor control strategy I to simulate the damping operation feeling and feed back to the rotating part, so that the user can feel the damping feel.
  • the rotating component may be a rubber ring 101 , the rubber ring 101 is used to adjust the focal length of the lens, and the rubber ring 101 and the rotor 111 of the motor 11 can be engaged with each other to drive the rotor 111 of the motor 11 . turn together.
  • the rotating component can also be other components that realize the adjustment of the rotating function, which is not limited here.
  • the damping operation sense is introduced by taking the rubber ring 101 as an example.
  • the rubber ring 101 When the user twists the rubber ring 101 , for example, the user twists in the counterclockwise direction, the rubber ring 101 is mechanically coupled with the rotor 111 of the motor 11 . connected, so the rubber ring 101 will drive the rotor 111 of the motor 11 to rotate, for example, it also rotates counterclockwise, control the motor 11 to run in the speed closed loop, and set the target speed to zero and input it to the speed closed loop, and the motor 11 operates according to the target speed.
  • Speed closed-loop adjustment since the target speed is zero, the rubber ring 101 rotates counterclockwise (forward rotation), the speed closed-loop error is negative, and the motor will output reverse torque according to the forward speed, which will make the rotor 111 of the motor 11 reverse.
  • the direction (clockwise) rotation prevents the user from twisting the rubber ring 101 , thereby providing feedback of the damping operation feeling to the rubber ring 101 .
  • the rubber ring 101 rotates clockwise (reverse rotation)
  • the speed closed-loop error is positive, and the motor will output a forward torque according to the reverse rotation speed, that is, the rotor 111 of the motor 11 will rotate in the reverse direction (counterclockwise direction). , preventing the user from twisting the rubber ring 101, so that the user can feel the damping feel. Since it is a damped operation feeling simulated by a motor, it is not affected by environmental factors such as temperature, thereby improving the user's experience.
  • the rotational speed of the motor has a positive correlation with the output torque of the motor, and the output torque is not greater than a preset threshold.
  • the damping sense cannot be increased all the time during torsion, so the output torque is limited to not be greater than the preset threshold A 0 , that is, when the motor speed reaches a certain value V 0 , the output torque will no longer increase with the speed. increase and increase.
  • the corresponding motor control strategy II is: control the motor 11 to operate in a closed position loop, obtain the current position of the rotor 111 of the motor 11, and determine the target gear according to the current position position, and input the determined target gear position as the target position to the position closed-loop, so that the motor 11 performs position closed-loop adjustment according to the target position, thereby providing feedback on the operation of the pulsator.
  • the operation part when the simulated operation feeling is the operation feeling of a pulsator, the operation part may be a knob part, and the knob part is connected with the rotor 111 of the motor 11, and is specifically connected by a shaft, so as to rotate the part.
  • the rotor 11 of the motor 11 When rotating, the rotor 11 of the motor 11 is driven to rotate together; when the user operates the knob part, the main control circuit 13 controls the motor 11 to simulate the operation of the pulsator and feeds it back to the knob part.
  • the knob part is a knob 102
  • the knob 102 corresponds to different gear functions, specifically six gear functions, namely, gear I, gear II, gear III, gear position IV, Gear V and Gear VI, different gears have different functions, so that the user can select the corresponding gear function by rotating the knob 102. Make the user feel the rotation to a specific gear.
  • the target gear position is input into the position closed loop as the target position, so that the motor 11 can adjust the position closed loop according to the target position, so that the user will feel the cogging torque in the process of rotating the knob 102, that is, the pulsator Operational feeling.
  • the current position of the rotor 111 of the motor 11 can be obtained, and the target gear position is determined according to the current angular position, and the target gear position is a gear determined from multiple gear positions
  • the gear position corresponding to gear I is 30 degrees
  • the gear position corresponding to gear II is 90 degrees
  • the gear position corresponding to gear III is 150 degrees
  • the gear position corresponding to gear IV is 210 degrees
  • the gear position corresponding to gear V is 270 degrees
  • the gear position corresponding to gear VI is 330 degrees.
  • the target gear position is determined according to the current position. Specifically, the gear position closest to the current position may be determined from a plurality of gear positions as the target gear position, and different gear positions correspond to different gears. bit.
  • the current position is 25 degrees
  • the gear position closest to the current position is gear position I
  • the gear position corresponding to gear position I is 30 degrees, so it can be determined that the gear position of gear position 1 is the target gear. bit position.
  • the target gear position is determined according to the current position, specifically, a preset position range to which the current position belongs may be determined, and the gear position corresponding to the determined preset position range is used as the target gear position, wherein different The preset range of positions corresponds to different gear positions, as shown in Table 2 and Figure 8b for details.
  • Table 2 shows different preset position ranges corresponding to different gear positions
  • the gear position corresponding to the preset position range [0, 60) is 30 degrees
  • the gear position corresponding to the preset position range [60, 120) is 90 degrees
  • the preset position range [120, 180) The corresponding gear position is 150 degrees
  • the corresponding gear position of the preset position range [180, 240) is 210 degrees
  • the corresponding gear position of the preset position range [240, 300) is 270 degrees
  • the preset position range [ 300, 360) the corresponding gear position is 330 degrees.
  • the current position of the motor can be acquired, and the preset position range in which the current position is located can be queried, so as to determine the corresponding gear position as the target gear position.
  • the pulsator operation sense can be applied to select corresponding menu options through the knob component, and different menu options correspond to different functions, such as selecting different shooting modes, or selecting different photo brightness levels. .
  • the corresponding motor control strategy III is: control the motor 11 to run in the position closed loop, and input the zero position as the target position into the position closed loop, so that the motor 11 The position closed-loop adjustment is carried out according to the target position, thereby providing feedback of the rebound operation; wherein, the zero position is the middle position of the parameter adjustment range.
  • the operation member includes a rebound member, which is connected to the rotor 111 of the motor 11, and may be connected through a mechanical coupling.
  • the mechanical coupling connection may be a connection structure for realizing swing, such as a crank. Linkage.
  • the resilient member may be a rocker 103 .
  • Most of the rebound operation feeling of the existing rocker is realized by a spring, and as the use time of the spring increases, the elastic force of the spring will gradually weaken, thereby affecting the rebound operation feeling.
  • the parameter adjustment range can be the range that the joystick can reach in a certain direction, such as the position that the joystick 103 can reach left and right in the horizontal direction, and the range that the remote control 103 can reach up and down in the vertical direction.
  • the control motor 11 when it is determined that the operation feeling to be simulated is the rebound operation feeling, for example, when the user shakes the joystick 103 from position 1 to position 2, the control motor 11 is operated in the position closed loop, and the The zero position (the middle position of the rocker 103) is input to the position closed loop as the target position, so that the motor 11 can adjust the position closed loop according to the target position, that is, the rocker 103 is swung from position 1 to position 2 according to the user's swing direction, and the motor 11
  • the torque in the opposite direction (motor adjustment direction) will be output to drive the rocker 103 to return to position 1, thereby realizing the feedback of the rebound operation feeling.
  • the angular position information is positively correlated with the output torque of the motor, And the output torque is not greater than the preset threshold. That is, the greater the deviation of the angular position information from the middle position, the greater the output torque of the corresponding motor, and the stronger the corresponding rebound operation feeling, so a more realistic rebound operation feeling can be simulated.
  • the sense of rebound operation cannot always be enhanced with the increase of the angular position information, so the output torque can be limited to not be greater than the preset threshold, that is, when the angular position information of the rotor of the motor reaches the angle S 0 , the output torque is A 0 , the output torque is not increasing.
  • the angular position information of the rotor 111 of the motor 11 can be obtained by using a position sensor, or obtained by software calculation without using a position sensor.
  • the focus wheel 100 further includes a position sensor 16 for detecting the angular position information of the rotor of the motor 11 and sending the angular position information to the main control circuit 13 .
  • the position sensor 16 includes at least one of a magnetic ring Hall sensor, a photoelectric encoder, and a magnetic encoder.
  • a magnetic ring position Hall sensor is used.
  • the magnetic ring 15 is installed on the motor 11
  • the Hall sensor 150 is installed on the circuit board 14 .
  • the ring 15 detects angular position information of the rotor of the motor 11 .
  • the Hall sensor may be a single-axis Hall sensor, or a three-axis Hall sensor, and the number of the Hall sensor is not limited, and may be one or more.
  • the angular position information is obtained by software calculation, and the main control circuit can specifically obtain the current and voltage of the motor when it is working, and calculate the angular position information of the rotor of the motor according to the current and voltage.
  • the focus wheel 100 further includes a parameter setting unit 17, and the parameter setting unit 17 is configured to communicate with the main control circuit 13, so as to obtain the parameters set by the user and send them to the main control circuit 13, wherein , the parameters include at least one type of operational feeling.
  • the main control circuit 13 After receiving the parameter set by the user, the main control circuit 13 determines the operation feeling to be simulated according to a type of operation feeling included in the parameter.
  • the parameter setting unit 17 includes a terminal device 171 and a display screen 172 ; wherein, the display screen 172 is connected to the main control circuit 13 for communication connection, or, the main control circuit 13 Including a wireless communication module, the main control circuit 13 establishes a wireless communication connection with the terminal device 171 through the wireless communication module. Further, parameters can be set through the terminal device 171 or the display screen 172 , for example, the type of the operation feeling to be simulated or the size of the resistance can be set.
  • the resistance is used to adjust the strength of the operation feeling, and the resistance is linearly related to the current of the coil 112 of the motor 11 , that is, the greater the resistance is set, the greater the current of the coil 112 of the motor 11 is, so the damping operation
  • the strength of the sense of operation can be adjusted, and then different users may have different requirements for the sense of operation when adjusting the focus wheel.
  • the wireless communication module is, for example, a Bluetooth module, a WiFi module, a Zigbee module, and the like
  • the terminal device is, for example, a mobile phone, a tablet computer, a notebook computer, a desktop computer, or a wearable electronic device.
  • the display screen is a touch display, including LED, LCD or OLED and other types of displays.
  • the parameters set by the user through the terminal device 171 or the display screen 172 include different types of operation feeling, such as damping operation feeling, pulsator operation feeling or rebounding operation feeling.
  • the main control circuit 13 is used to obtain the operation feeling selected by the user among different types of operation feelings displayed on the terminal device 171 or the display screen 172, so as to determine the operation feeling that needs to be simulated.
  • the parameter setting unit 17 may also be a physical key.
  • multiple different buttons are set to represent different types of operation senses. When the user presses different buttons, different types of operation senses can be selected; Different types of operational feel.
  • FIG. 15 is a schematic flowchart of a control method of a follow focus wheel provided by an embodiment of the present application. control circuit to provide more accurate feedback on the operation sense, thereby improving the user experience.
  • motor control strategies corresponding to different types of operation senses are pre-stored in the focus wheel, for example, motor control strategies corresponding to three types of operation senses in Table 1 are stored. In order to determine the corresponding motor control strategy when determining the operational feeling that needs to be simulated.
  • the control method of the focus wheel includes steps S201 to S203.
  • S103 Determine the operation feeling that needs to be simulated, and control the operation of the motor based on the motor control strategy corresponding to the operation feeling that needs to be simulated, so as to provide corresponding operation feeling feedback.
  • the current closed-loop control of the motor can be realized according to the angular position information of the rotor of the motor and the current of the coil of the motor, and then the output torque control of the motor can be completed, wherein the current of the coil of the motor is related to the output torque.
  • the torque is linear.
  • the target closed loop includes at least one of a position closed loop and a speed closed loop
  • different target closed loops are used to simulate different types of operation senses
  • different types of operation senses correspond to different motor control strategies.
  • the motor is controlled based on the motor control strategy corresponding to the operation feeling that needs to be simulated. Specifically, the motor can be controlled to run in the target closed loop corresponding to the operation feeling that needs to be simulated, and target parameters are determined and the target is input to the target closed loop A closed-loop adjustment is made to provide corresponding operational feedback.
  • the different types of operation feeling include damping operation feeling, pulsator operation feeling or rebounding operation feeling.
  • the velocity closed loop is used to simulate the damping operation sense
  • the position closed loop is used to simulate the pulsator operation sense and rebound operation sense.
  • the damping operation sense corresponds to the motor control strategy I
  • the pulsator operation sense corresponds to the motor control strategy II
  • the rebound operation sense corresponds to Motor Control Strategy III.
  • the motor control strategy I is: control the motor to run in a closed speed loop; set the target speed to zero and input it to the closed speed loop, so that the motor can adjust the speed closed loop according to the target speed, thereby providing damping operation feedback.
  • the rotational speed of the motor when controlling the motor to run the motor control strategy I and providing damping operation sense feedback, it can also be limited that the rotational speed of the motor is positively correlated with the output torque of the motor, and the output torque is not greater than a preset threshold, This can simulate a more realistic sense of operation.
  • the motor control strategy II is: control the motor to run in a closed position loop; obtain the current position of the rotor of the motor, and determine the target gear position according to the current position; input the determined target gear position as the target position into the closed position loop , so that the motor can perform closed-loop position adjustment according to the target position, thereby providing feedback on the operation of the pulsator.
  • the target gear position is determined according to the current position, and the following two methods can be used:
  • Mode 1 Determine the preset position range to which the current position belongs, and use the gear position corresponding to the determined preset position range as the target gear position, wherein different preset position ranges correspond to different gear positions.
  • Mode 2 From a plurality of gear positions, determine the gear position closest to the current position as the target gear position, wherein different gear positions correspond to different gear positions.
  • the motor control strategy III is: controlling the motor to run in a closed position loop; inputting the zero position as the target position to the closed position loop, so that the motor performs position closed loop adjustment according to the target position, thereby providing a sense of rebound operation feedback; wherein, the zero position is the middle position of the parameter adjustment range.
  • the angular position information has a positive correlation with the output torque of the motor, and the output torque is not greater than the preset threshold, so as to simulate a more realistic operation feel.
  • the electrical parameters of the coil of the motor include: the current of the coil of the motor, and/or the voltage of the coil of the motor.
  • the angular position information of the rotor of the motor may be obtained through a position sensor, wherein the position sensor includes a magnetic ring Hall sensor, a photoelectric encoder, and a magnetic encoder. at least one of them.
  • the angular position information of the rotor of the motor is acquired, and the current and voltage when the motor is working can also be acquired, and the angular position information of the rotor of the motor is determined according to the current and voltage.
  • parameters set by the user may also be obtained through a parameter setting unit of the focus wheel, wherein the parameters include at least one type of operation feeling.
  • An exemplary parameter setting unit includes a display screen or a terminal device; the display screen is connected to the main control circuit to realize communication connection; the main control circuit includes a wireless communication module, and the main control circuit communicates with the terminal through the wireless communication module The device establishes a wireless communication connection.
  • different types of operation senses can be displayed on the parameter setting unit, such as damping operation senses, pulsator operation senses and rebound operation senses, so as to be selected by the user, and the parameters selected by the user in the parameter setting unit can be obtained. Operation feeling, and then determine the operation feeling that needs to be simulated.
  • the parameters set by the user further include a resistance size, which is used to adjust the strength of the operation feeling, wherein the resistance size is also linearly related to the current of the coil of the motor, and the greater the resistance is set, the greater the current is. , correspondingly the stronger the sense of operation. Therefore, it is possible to realize the adjustment of the strength of the same type of operation feeling, thereby meeting the needs of different users and improving the user experience.
  • FIG. 16 is a schematic block diagram of a follow focus wheel provided by an embodiment of the present application. As shown in FIG. 16 , the focus wheel further includes one or more processors 301 and memory 302 .
  • the processor 301 may be, for example, a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Procesor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Procesor
  • the memory 212 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 302 is used for storing a computer program; the processor 301 is used for executing the computer program, and when executing the computer program, executes the control method of the focus wheel as described above.
  • the focus wheel of the embodiments of the present application has beneficial technical effects similar to those of the control methods of the focus wheel of the above-mentioned embodiments, so it is not repeated here.
  • the embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above implementation The steps of any one of the control methods for the follow focus wheel provided in the example.
  • the computer-readable storage medium may be the internal storage unit of the follow focus wheel described in any of the foregoing embodiments, such as a memory or internal memory of the follow focus wheel.
  • the computer-readable storage medium may also be an external storage device of the follow focus wheel, such as a plug-in hard disk equipped on the follow focus wheel, a smart memory card (Smart Media Card, SMC), a Secure Digital (Secure Digital) , SD) card, flash memory card (Flash Card), etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Electric Motors In General (AREA)
  • Mechanical Control Devices (AREA)

Abstract

一种跟焦轮的控制方法、跟焦轮及存储介质，该控制方法包括：获取跟焦轮的电机的转子的角度位置信息和所述电机的线圈的电参数(S201)；根据所述角度位置信息和所述电参数完成对所述电机的输出力矩控制以及目标闭环控制(S202)；确定需要模拟的操作感，基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈(S203)。

Description

跟焦轮的控制方法、跟焦轮及存储介质 技术领域
本申请涉及电机控制技术领域，尤其涉及一种跟焦轮的控制方法、跟焦轮、以及存储介质。
背景技术
随着短视频和视频博客的兴起和发展，人们对视频的拍摄质量和创意有了更高的要求，不仅希望可以拍摄出画质稳定、清晰和流畅的视频，还希望可以利用跟焦轮使用跟焦技术进行拍摄，以求拍摄的视频给人耳目一新的感官体验。在使用跟焦技术时，需要对跟焦轮进行调节并希望跟焦轮提供给用户相应的操作感反馈，比如阻尼操作感反馈等，然而现有的操作感反馈均为通过物理部件实现的，比如阻尼操作感采用阻尼脂实现，这类通过物理部件实现操作感反馈易受环境影响，由此无法提供准确的操作感反馈，进而降低了用户的体验。
发明内容
基于此，本申请提实施例供了一种跟焦轮的控制方法、跟焦轮及存储介质，以便跟焦轮在不同的环境下均可提供准确的操作感，进而提高用户的体验。
第一方面，本申请实施例提供了一种跟焦轮的控制方法，所述跟焦轮包括操作部件、电机、驱动电路和主控电路，所述驱动电路与所述电机电连接，所述主控电路与所述驱动电路电连接，所述操作部件与所述电机的转子机械耦合，并能够带动所述电机的转子一起转动；所述方法包括：
获取跟焦轮的电机的转子的角度位置信息和所述电机的线圈的电参数；
根据所述角度位置信息和所述电参数完成对所述电机的输出力矩控制以及目标闭环控制，其中，所述目标闭环包括位置闭环和速度闭环中的至少一种，不同的目标闭环用于模拟不同类型的操作感，不同类型的操作感对应不同的电机控制策略；
确定需要模拟的操作感，基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈。
第二方面，本申请实施例还提供了一种跟焦轮，所述跟焦轮包括：
电机，所述电机包括转子和线圈；
操作部件，用于供用户操作而输入跟焦控制信号，所述操作部件与所述电机的转子机械耦合，并能够带动所述电机的转子一起转动；
驱动电路，所述驱动电路与所述电机连接，用于驱动所述电机转动；
主控电路，所述主控电路与所述驱动电路连接，用于根据所述转子的角度位置信息和电机的线圈的电参数完成对所述电机的输出力矩控制以及目标闭环控制，所述目标闭环包括位置闭环和速度闭环中的至少一种，不同的目标闭环用于模拟不同类型的操作感，不同类型的操作感对应不同的电机控制策略；
其中，所述主控电路还用于：确定需要模拟的操作感，基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈。
第三方面，本申请还提供了一种跟焦轮，所述跟焦轮的主控电路包括微控制单元，所述微控制单元包括处理器和存储器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如本申请实施例提供的任一项所述的跟焦轮的控制方法的步骤。
第四方面，本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如本申请实施例提供的任一项所述的跟焦轮的控制方法的步骤。
本申请实施例公开的跟焦轮的控制方法、跟焦轮及存储介质，可以通过电机运行相应的电机控制策略以提供不同的操作感，比如提供阻尼操作感、波轮操作感和回弹操作感等，通过电机模拟不同的操作感，可以不受环境因素的影响，因此可以提供更为准确的操作感，进而提高了用户体验。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种跟焦轮的结构示意图；
图2是本申请实施例提供的一种跟焦轮的电路结构的示意图；
图3是本申请实施例提供的跟焦轮的电机部分的结构示意图；
图4是图3沿A-A方向的截面结构示意图；
图5是本申请实施例提供的电机的闭环控制的原理示意图；
图6是本申请实施例提供的模拟阻尼操作感的原理示意图；
图7是本申请实施例提供的输出限幅与电机速度对应关系的示意图；
图8a和图8b是本申请实施例提供的模拟波轮操作感的原理示意图；
图9a和图9b是本申请实施例提供的模拟回弹操作感的原理示意图；
图10是本申请实施例提供的输出限幅与电机位置对应关系的示意图；
图11是本申请实施例提供的另一种跟焦轮的电路结构的示意图；
图12是本申请实施例提供的另一种跟焦轮的电路结构的示意图；
图13是本申请实施例提供的另一种跟焦轮的电路结构的示意图；
图14是本申请实施例提供的又一种跟焦轮的电路结构的示意图；
图15是本申请实施例提供的一种跟焦轮的控制方法的步骤示意流程图；
图16是本申请实施例提供的一种跟焦轮的示意框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
还应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及 “该”意在包括复数形式。
还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
目前，随着短视频和视频博客(Video log，Vlog)的兴起和发展，人们对视频的拍摄质量和创意有了更高的要求，不仅希望可以拍摄出画质稳定、清晰和流畅的视频，还希望可以利用跟焦轮使用跟焦技术进行拍摄，以求拍摄的视频给人耳目一新的感官体验。
在使用跟焦技术时，需要对跟焦轮进行调节并希望跟焦轮提供给用户相应的操作感反馈，比如阻尼操作感反馈等，然而现有的操作感反馈均为通过物理部件实现的，比如阻尼操作感采用阻尼脂实现，回弹手操作感通过弹性部件(如弹簧)实现，这类通过物理部件实现操作感反馈易受环境影响，比如阻尼脂在高温下会导致流动性增强，阻尼操作感反馈相对减小，甚至没有阻尼效果，但在低温下又会导致流动性减弱，阻尼操作感反馈增大，甚至无法转动。因此无法提供准确的操作感反馈，进而降低了用户的体验。
此外，在正常使用跟焦轮过程中，因为不同用户使用，对需要的操作感可能也会存在差异，比如不同用户对跟焦轮调节时，由于调节方式和力度的不同，对需要的阻尼操作感可能会存在差异，然而采用阻尼脂却无法实现针对不同的用户提供不同的阻尼操作感，比如具有不同阻尼大小的阻尼操作感。
为此，本申请的实施例提供了一种跟焦轮的控制方法、跟焦轮及计算机可读存储介质，可以通过电机模拟跟焦轮的操作感，进而解决了上述问题，提高了用户体验。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1和图2，图1是本申请实施例提供的一种跟焦轮的结构示意图，图2是本申请实施例提供的一种跟焦轮的电路结构示意图。该跟焦轮100包括操作部件10、电机11、驱动电路12和主控电路13，其中，该电机11包括转 子和线圈。
操作部件10用于供用户操作而输入跟焦控制信号，操作部件10与电机11的转子机械耦合，并能够带动电机11的转子一起转动，同时电机11的转子在转动时也会驱动操作部件10运动，进而可以模拟出相应的操作感反馈至该操作部件10。
在本申请的实施例中，操作感可以包括阻尼操作感、波轮操作感或回弹操作感，当然还可包括其他类型的操作感，在此不做限定。
示例性的，如图1所示，操作部件10比如为胶圈101，该胶圈101与电机11的转子机械耦合，比如通过轴连接或通过齿轮连接等，当用户转动该胶圈101时，胶圈101能够带动电机11的转子一起转动，同时电机11的转子在转动时也会带动胶圈101进行运动，进而可以模拟出阻尼操作感并反馈至胶圈101。
可以理解的是，操作部件10还可以是其他部件，比如为旋钮部件或回弹部件，其中，旋钮部件需要反馈波轮操作感，回弹部件需要反馈回弹操作感。
在一些实施例中，如图3和图4所示，该跟焦轮100包括电路板14，该电路板14上设置有驱动电路12和/或主控电路13。具体地，可以将驱动电路12设置在电路板14上，同时电路板14还可以设置位置传感器，比如设置霍尔传感器150，配合设置在电机11上的磁环15，检测电机11的转子的角度位置信息。
电机11可以包括永磁同步电机或直流电机，当然也可以是其他类型的电机，在此不做限定。如图4所示，电机11包括转子111和线圈112。
驱动电路12与电机11连接，用于驱动电机11的转子111转动，该驱动电路12具体可以采用三相逆变桥电路，通过PWM信号驱动电机11的转子111换相转动。
主控电路13与驱动电路12连接，用于根据电机11的转子111的角度位置信息和电机11的线圈112的电参数，完成对电机11的输出力矩控制以及目标闭环控制，主控电路13可以包括处理器和存储器。
具体地，该目标闭环包括位置闭环和速度闭环中的至少一种，不同的目标闭环用于模拟不同类型的操作感，不同类型的操作感对应不同的电机控制策略，电机11的线圈的电参数包括电流和/或电压。
示例性的，如表1所示，不同类型的操作感可以包括阻尼操作感、波轮操 作感或回弹操作感，其中，速度闭环用于模拟阻尼操作感，位置闭环用于模拟波轮操作感和回弹操作感。
表1为不同类型的操作感对应不同的电机控制策略
操作感的类型 目标闭环 电机控制策略
阻尼操作感 速度闭环 电机控制策略Ⅰ
波轮操作感 位置闭环 电机控制策略Ⅱ
回弹操作感 位置闭环 电机控制策略Ⅲ
在表1中，阻尼操作感运行在速度闭环上，即速度闭环用于实现阻尼操作感的反馈，模拟波轮操作感和回弹操作感运行在位置闭环上，即位置闭环用于模拟波轮操作感和回弹操作感。虽然模拟波轮操作感和回弹操作感均运行在位置闭环上，但是对应的电机控制策略却不同。
具体地，可以将表1存储在跟焦轮的存储器中，以便在确定需要模拟的操作感之后，查询该表以确定该需要模拟的操作感对应的电机控制策略。
在完成对电机11的输出力矩控制后，主控电路13还用于：确定需要模拟的操作感，基于需要模拟的操作感对应的电机控制策略控制电机11运行，以提供相应的操作感反馈。
示例性的，比如确定需要模拟的操作感为阻尼操作感，则基于阻尼操作感对应的电机控制策略Ⅰ控制电机11运行，进而提供相应的阻尼操作感反馈；再比如确定需要模拟的操作感为回弹操作感，则基于回弹操作感对应的电机控制策略Ⅲ控制电机11运行，进而提供相应的回弹操作感反馈。
基于需要模拟的操作感对应的电机控制策略控制电机11运行，具体可以控制电机11运行在需要模拟的操作感对应的目标闭环，确定目标参数并将所述目标输入至所述目标闭环进行闭环调节，以提供相应的操作感反馈。
示例性的，如图5所示，比如确定需要模拟的操作感为阻尼操作感，则可以控制电机运行在速度闭环上，以及确定目标速度将目标速度输入至速度闭环进行闭环调节，进而提供阻尼操作感反馈；再比如，确定需要模拟的操作感为回弹操作感，则可以控制电机运行在位置闭环上，以及确定目标位置将目标位置输入至位置闭环进行闭环调节，进而提供回弹操作感反馈。
在一些实施例中，主控电路13在完成对电机11的输出力矩控制时，具体 可以用于：根据转子111的角度位置信息和线圈112的电流，实现对电机11的电流闭环控制，进而完成对电机11的输出力矩控制。并且电机11的线圈112的电流与所述输出力矩呈线性关系，即电机的电流越大，其输出力矩就越大，由此可以方便调节同一类型操作感的力度大小，以满足不同用户的需要，进而解决不同用户的差异性需求，由此提高了用户的体验度。
确定需要模拟的操作感，具体可以根据检测到被操作的操作部件确定，比如当检测到用户操作胶圈101时，确定需要模拟的操作感为阻尼操作感；再比如当检测到用户操作回弹部件时，确定需要模拟的操作感为回弹操作感。当然，确定需要模拟的操作感，也可以根据用户选择的操作感的类型确定。
本申请实施例提供的跟焦轮的控制方法，可以通过在不同的目标闭环上控制电机运行相应的电机控制策略模拟出对应的操作感，进而提供不同的操作感反馈，比如提供阻尼操作感、波轮操作感和回弹操作感等，通过电机模拟不同的操作感，可以不受环境因素的影响，进而提高了用户体验。
以下将结合附图介绍本申请实施例提供的三种操作感的具体控制策略，即阻尼操作感对应的电机控制策略、波轮操作感对应的电机控制策略和回弹操作感对应的电机控制策略。
在一些实施例中，若需要模拟的操作感为阻尼操作感，对应的电机控制策略Ⅰ为：控制电机11运行在速度闭环，将目标速度设置为零并输入至速度闭环，以使电机11根据目标速度进行速度闭环调节，进而提供阻尼操作感反馈。
在具体应用中，若需要模拟的操作感为阻尼操作感，操作部件具体可以为转动部件，该转动部件与电机11的转子机械耦合连接，在用户操作该转动部件时，主控电路13控制电机运行电机控制策略Ⅰ以模拟阻尼操作感并反馈至该转动部件，以使用户感受到阻尼手感。
在一些实施例中，转动部件具体可以为胶圈101，该胶圈101用于调节镜头的焦距，该胶圈101与电机11的转子111可以通过齿合等方式，实现带动电机11的转子111一起转动。转动部件也可以为其他实现转动功能调节的部件，在此不做限定。
示例性的，如图6所示，以胶圈101为例介绍阻尼操作感，当用户扭转胶圈101时，比如用户扭转方向为逆时针方向，由于胶圈101与电机11的转子111机械耦合连接，因此胶圈101会带动电机11的转子111转动，比如也是按 照逆时针转动，控制电机11运行在速度闭环，并将目标速度设置为零输入至该速度闭环，电机11根据该目标速度进行速度闭环调节，由于目标速度为零，胶圈101逆时针转动(正向转动)，速度闭环误差为负，电机会根据正向转速输出反向转矩，即会使电机11的转子111向反方向(顺时针方向)转动，阻碍用户扭转胶圈101，由此可以提供阻尼操作感反馈至胶圈101。同理，胶圈101顺时针转动(反向转动)，速度闭环误差为正，电机会根据反向转速输出正向转矩，即会使电机11的转子111向反方向(逆时针方向)转动，阻碍用户扭转胶圈101，使得用户感受到阻尼手感。由于是使用电机模拟的阻尼操作感，因此不会受温度等环境因素的影响，进而提高了用户的体验。
在一些实施例中，为了使得模拟的阻尼操作感更加真实，以提高用户的体验度。在提供阻尼操作感反馈时，所述电机的转速与所述电机的输出力矩呈正相关关系，且所述输出力矩不大于预设阈值。
电机的转速越快表示用户扭转的速度愉快，由于电机的转速与电机的输出力矩呈正相关关系，因此电机的转速快，电机的输出力矩就越大，因此对应的阻力就越大，阻尼操作感就越强烈，因此会使得阻尼操作感更加真实。示例性的，如图7所示，扭转时阻尼感不可能一直增大，因此限定输出力矩不大于预设阈值A 0，即在电机速度到达一定值V 0时，输出力矩不再随着速度增加而增加。
在一些实施例中，若需要模拟的操作感为波轮操作感，对应的电机控制策略Ⅱ为：控制电机11运行在位置闭环，获取电机11的转子111的当前位置，根据当前位置确定目标档位位置，并将确定的目标档位位置作为目标位置输入至位置闭环，以使电机11根据目标位置进行位置闭环调节，进而提供波轮操作感反馈。
示例性的，如图8a所示，在模拟的操作感为波轮操作感时，操作部件具体可以为旋钮部件，该旋钮部件与电机11的转子111连接，具体为轴连接，以在旋转部件转动时，带动电机11的转子11一起转动；当用户操作该旋钮部件时，主控电路13控制电机11运行模拟波轮操作感并反馈至该旋钮部件。
具体地，如图8a所示，该旋钮部件为旋钮102，旋钮102对应不同的档位功能，具体地为六个档位功能，分别为档位Ⅰ、档位Ⅱ、档位Ⅲ、档位Ⅳ、档位Ⅴ和档位Ⅵ，不同档位具有不同功能，以便用户通过旋转该旋钮102选择对 应的档位功能，在用户旋转该旋钮102时，需要模拟波轮操作感反馈给用户，以使用户感受到旋转到某个具体的档位。
由于，将目标档位位置作为目标位置输入至位置闭环，以使电机11根据目标位置进行位置闭环调节，进而使得用户在旋转旋钮102的过程中，会有齿槽转矩的手感，即波轮操作感。
获取电机11的转子111的当前位置，具体可以获取电机11的转子111的当前角度位置，根据当前角度位置确定目标档位位置，目标档位位置为从多个档位位置中确定的一个档位位置，档位位置也可以是角度位置，如图8所示，档位Ⅰ对应的档位位置为30度、档位Ⅱ对应的档位位置为90度、档位Ⅲ对应的档位位置为150度、档位Ⅳ对应的档位位置为210度、档位Ⅴ对应的档位位置为270度和档位Ⅵ对应的档位位置为330度。
在一些实施例中，根据当前位置确定目标档位位置，具体可以从多个档位位置中，确定与所述当前位置最近的档位位置作为目标档位位置，不同档位位置对应不同的档位。
示例性的，比如当前位置为25度，最靠近该当前位置的档位位置为档位Ⅰ，档位Ⅰ对应的档位位置为30度，因此可以确定档位1的档位位置为目标档位位置。
在一些实施例中，根据当前位置确定目标档位位置，具体可以确定所述当前位置所属的预设位置范围，将确定的预设位置范围对应的档位位置作为目标档位位置，其中，不同的预设位置范围对应不同的档位位置，具体参照表2和图8b所示。
表2为不同的预设位置范围对应不同的档位位置
预设位置范围(度) [0，60) [60，120) [120，180) [180，240) [240，300) [300，360)
档位位置(度) 30 90 150 210 270 330
在表2中，预设位置范围[0，60)对应的档位位置为30度，预设位置范围[60，120)对应的档位位置为90度，预设位置范围[120，180)对应的档位位置为150度，预设位置范围[180，240)对应的档位位置为210度，预设位置范围[240，300)对应的档位位置为270度，预设位置范围[300，360)对应的档位位置为330度。
由此可以获取电机的当前位置，并查询该当前位置位于的预设位置范围， 以确定对应的档位位置作为目标档位位置。
示例性的，如图8b所示，若确定电机的当前位置位于预设位置范围[60，120)，则可以确定档位位置90度为目标档位位置。
需要说明的是，波轮操作感在实际应用中，比如可以应用于通过旋钮部件选择相应的菜单选项，不同的菜单选项对应不同的功能，比如选择不同的拍摄模式，或者，选择不同拍照亮度大小。
在一些实施例中，若需要模拟的操作感为回弹操作感，对应的电机控制策略Ⅲ为：控制电机11运行在位置闭环，将零位位置作为目标位置输入至位置闭环，以使电机11根据目标位置进行位置闭环调节，进而提供回弹操作感反馈；其中，零位位置为参数调节范围的中间位置。
对于回弹操作感，操作部件包括回弹部件，该回弹部件与电机11的转子111连接，具体可以通过机械耦合连接，该机械耦合连接可以为用于实现摆动的连接结构等，比如为曲柄连杆机构。其中，在所述回弹部件被操作时，所述主控电路控制所述电机运行模拟回弹操作感并反馈至所述回弹部件。
示例性的，如图9a所示，该回弹部件可以为摇杆103。现有的摇杆的回弹操作感多数是由弹簧实现的，而弹簧随着使用时间增加，其弹力会逐渐变弱，进而影响回弹操作感。
参数调节范围可以摇杆在某一个方向上达到的范围，比如在水平方向上摇杆103左右所能达到的位置，再比如在竖直方向上遥控103上下所能达到的范围。
示例性的，如图9b所示，确定需要模拟的操作感为回弹操作感时，比如当用户将摇杆103从位置1处摇到位置2处时，控制电机11运行在位置闭环，将零位位置(摇杆103的中间位置)作为目标位置输入至位置闭环，以使电机11根据目标位置进行位置闭环调节，即按照用户摆动方向从位置1将摇杆103摆动到位置2，而电机11在根据目标位置做闭环调节时则会输出反方向(电机调节方向)力矩，以驱动摇杆103在返回到位置1，由此实现回弹操作感反馈。
在一些实施例中，为了使得模拟的回弹操作感更加真实，以提高用户的体验度，在提供回弹操作感反馈时，限定所述角度位置信息与所述电机的输出力矩呈正相关关系，且所述输出力矩不大于预设阈值。即角度位置信息偏离中间位置越大，对应的电机的输出力矩就越大，对应的回弹操作感就越强，因此可 以可以模拟更为真实的回弹操作感。但是回弹操作感不能一直随着角度位置信息的变大而增强，因此可以限定所述输出力矩不大于预设阈值，即电机的转子的角度位置信息达到角度S 0时，输出力矩为A 0，输出力矩不在增大。
在本申请的实施例中，获取电机11的转子111的角度位置信息，可以使用位置传感器获取，或者不使用位置传感器采用软件计算方式得到。
示例性的，跟焦轮100还包括位置传感器16，位置传感器16用于检测电机11的转子的角度位置信息，并将所述角度位置信息发送给主控电路13。其中，位置传感器16包括磁环霍尔传感器、光电编码器、磁编码器中的至少一种。
在本申请的实施例中，采用磁环位置霍尔传感器，具体如图4所示，磁环15安装在电机11上，霍尔传感器150安装在电路板14上，通过霍尔传感器150和磁环15检测电机11的转子的角度位置信息。其中，霍尔传感器可以采用单轴霍尔传感器，也可以采用三轴霍尔传感器，同时霍尔传感器的数量也不做限定，可以为一个或者多个。
示例性的，采用软件计算方式得到角度位置信息，主控电路具体可以获取所述电机工作时的电流和电压，并根据所述电流和电压计算得到所述电机的转子的角度位置信息。
在一些实施例中，为了方便用户操作以及快速确定需要模拟的操作感，并且为提高用户的体验度。示例性的，如图12所示，跟焦轮100还包括参数设置单元17，参数设置单元17用于与主控电路13通信连接，以便获取用户设置的参数并发送给主控电路13，其中，所述参数至少包括一种类型的操作感。
当主控电路13接收到用户设置的参数后，根据该参数包括的一种类型的操作感，确定需要模拟的操作感。
在一些实施例中，如图13和图14所示，参数设置单元17包括终端设备171和显示屏172；其中，显示屏172与主控电路13连接以实现通信连接，或者，主控电路13包括无线通信模块，主控电路13通过无线通信模块与终端设备171建立无线通信连接。进而可以通过终端设备171或者显示屏172设置参数，比如设置需要模拟的操作感的类型或者阻力大小。
其中，该阻力大小用于调节操作感的力度，并且该阻力大小与电机11的线圈112的电流呈线性关系，即设置的阻力越大，电机11的线圈112的电流就越大，因此阻尼操作感就越强，由此方便用户设置适合自己的操作感。由此可以 满足不同用户对操作感的差异要求，通过调节阻力大小，调节操作感的力度大小，进而满足不同用户对跟焦轮调节时，对需要的操作感可能会存在差异的要求。
其中，无线通信模块比如为蓝牙模块、WiFi模块、Zigbee模块等，终端设备比如为手机、平板电脑、笔记本电脑、台式机电脑或可穿戴电子设备等。显示屏为触控显示器，包括LED、LCD或者OLED等类型的显示器。
用户通过终端设备171或者显示屏172设置的参数包括不同类型的操作感，比如为阻尼操作感、波轮操作感或回弹操作感。主控电路13用于：获取用户在终端设备171或者显示屏172显示的不同类型的操作感中选择的操作感，以确定需要模拟的操作感。
需要说明的是，参数设置单元17除了可以是终端设备171或显示屏172之外，还可以是物理按键。比如设置多个不同的按键，分别表示不同的类型操作感，当用户按压不同的按键时，可以选择不同类型的操作感；或者，设置一个按键，该按键包括多个不同的操作方式，分别表示不同类型的操作感。
请参阅图15，图15是本申请实施例提供的一种跟焦轮的控制方法的示意流程图，该控制方法可以应用于本申请实施例提供的任一项所述的跟焦轮的主控电路，以提供更为准确的操作感反馈，进而提高用户的体验。
其中，该跟焦轮中预先保存有不同类型操作感对应不同的电机控制策略，示例性的，比如保存表1中的三种类型操作感对应的电机控制策略。以便在确定需要模拟的操作感时，确定对应的电机控制策略。
如图15所示，该跟焦轮的控制方法包括步骤S201至步骤S203。
S101、获取跟焦轮的电机的转子的角度位置信息和所述电机的线圈的电参数；
S102、根据所述角度位置信息和所述电参数完成对所述电机的输出力矩控制以及目标闭环控制；
S103、确定需要模拟的操作感，基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈。
示例性的，可以根据电机的转子的角度位置信息和电机的线圈的电流，实现对电机的电流闭环控制，进而完成对所述电机的输出力矩控制，其中，电机的线圈的电流与所述输出力矩呈线性关系。
在本申请的实施例中，该目标闭环包括位置闭环和速度闭环中的至少一种，不同的目标闭环用于模拟不同类型的操作感，不同类型的操作感对应不同的电机控制策略。
基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，具体可以控制电机运行在需要模拟的操作感对应的目标闭环，并确定目标参数并将所述目标输入至所述目标闭环进行闭环调节，以提供相应的操作感反馈。
示例性的，如表1所示，不同类型的操作感包括阻尼操作感、波轮操作感或回弹操作感。其中，速度闭环用于模拟阻尼操作感，位置闭环用于模拟波轮操作感和回弹操作感，阻尼操作感对应电机控制策略Ⅰ、波轮操作感对应电机控制策略Ⅱ和回弹操作感对应电机控制策略Ⅲ。
在一些实施例中，电机控制策略Ⅰ为：控制电机运行在速度闭环；将目标速度设置为零并输入至速度闭环，以使电机根据目标速度进行速度闭环调节，进而提供阻尼操作感反馈。
在一些实施例中，在控制电机运行电机控制策略Ⅰ，提供阻尼操作感反馈时，还可以限定电机的转速与所述电机的输出力矩呈正相关关系，且所述输出力矩不大于预设阈值，由此可以模拟出更为真实的操作感。
在一些实施例中，电机控制策略Ⅱ为：控制电机运行在位置闭环；获取电机的转子的当前位置，根据当前位置确定目标档位位置；将确定的目标档位位置作为目标位置输入至位置闭环，以使电机根据目标位置进行位置闭环调节，进而提供波轮操作感反馈。
其中，根据当前位置确定目标档位位置，具体可以采用以下两种方式：
方式一、确定当前位置所属的预设位置范围，将确定的预设位置范围对应的档位位置作为目标档位位置，其中，不同的预设位置范围对应不同的档位位置。
方式二、从多个档位位置中，确定与当前位置最近的档位位置作为目标档位位置，其中，不同的档位位置对应不同的档位。
在一些实施例中，电机控制策略Ⅲ为：控制电机运行在位置闭环；将零位位置作为目标位置输入至位置闭环，以使电机根据所述目标位置进行位置闭环调节，进而提供回弹操作感反馈；其中，所述零位位置为参数调节范围的中间位置。
在控制电机运行电机控制策略Ⅲ，提供回弹操作感反馈时，可以限定角度位置信息与所述电机的输出力矩呈正相关关系，且输出力矩不大于预设阈值，以便模拟出更为真实的操作感。
在本申请的实施例中，电机的线圈的电参数包括：电机的线圈的电流，和/或，电机的线圈的电压。
在一些实施例中，获取所述电机的转子的角度位置信息，可以通过位置传感器获取所述电机的转子的角度位置信息，其中，位置传感器包括磁环霍尔传感器、光电编码器、磁编码器中的至少一种。
在一些实施例中，获取所述电机的转子的角度位置信息，还可以获取所述电机工作时的电流和电压，并根据所述电流和电压确定所述电机的转子的角度位置信息。
在一些实施例中，为了提高用户体验，还可以通过跟焦轮的参数设置单元获取用户设置的参数，其中，所述参数至少包括一种类型的操作感。示例性的参数设置单元包括显示屏或终端设备；显示屏与所述主控电路连接以实现通信连接；所述主控电路包括无线通信模块，主控电路通过所述无线通信模块与所述终端设备建立无线通信连接。
在一些实施例中，可以在参数设置单元上显示不同类型的操作感，比如显示阻尼操作感、波轮操作感和回弹操作感，以便用户选择，以及获取用户在所述参数设置单元选择的操作感，进而确定需要模拟的操作感。
在一些实施例中，用户设置的参数还包括阻力大小，该阻力大小用于调节操作感的力度，其中，阻力大小还与电机的线圈的电流呈线性关系，设置的阻力越大，电流越大，相应地操作感越强烈。因此可以实现对同一类型的操作感的力度大小调节，进而满足不同用户的需求，提高了用户体验。
请参阅图16，图16是本申请实施例提供的一种跟焦轮的示意性框图。如图16所示，该跟焦轮还包括一个或多个处理器301和存储器302。
处理器301例如可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Procesor，DSP)等。
存储器212可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，存储器302用于存储计算机程序；处理器301用于执行所述计算机程序并在执行所述计算机程序时，执行如上所述的跟焦轮的控制方法。
本申请实施例的跟焦轮具有与上面所述各个实施例的跟焦轮的控制方法相类似的有益技术效果，故，在此不再赘述。
本申请的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的任一种所述的跟焦轮的控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的跟焦轮的内部存储单元，例如所述跟焦轮的存储器或内存。所述计算机可读存储介质也可以是所述跟焦轮的外部存储设备，例如所述跟焦轮上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (50)

  1. 一种跟焦轮的控制方法，其特征在于，所述跟焦轮包括操作部件、电机、驱动电路和主控电路，所述驱动电路与所述电机电连接，所述主控电路与所述驱动电路电连接，所述操作部件与所述电机的转子机械耦合，并能够带动所述电机的转子一起转动；所述方法包括：
    获取跟焦轮的电机的转子的角度位置信息和所述电机的线圈的电参数；
    根据所述角度位置信息和所述电参数完成对所述电机的输出力矩控制以及目标闭环控制，其中，所述目标闭环包括位置闭环和速度闭环中的至少一种，不同的目标闭环用于模拟不同类型的操作感，不同类型的操作感对应不同的电机控制策略；
    确定需要模拟的操作感，基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈。
  2. 根据权利要求1所述的方法，其特征在于，所述不同类型的操作感包括阻尼操作感、波轮操作感或回弹操作感；
    其中，所述速度闭环用于模拟所述阻尼操作感，所述位置闭环用于模拟所述波轮操作感和所述回弹操作感。
  3. 根据权利要求1所述的方法，其特征在于，所述电机的线圈的电参数包括：所述电机的线圈的电流，和/或，所述电机的线圈的电压。
  4. 根据权利要求1所述的方法，其特征在于，所述基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈，包括：
    控制所述电机运行在所述需要模拟的操作感对应的目标闭环，确定目标参数并将所述目标输入至所述目标闭环进行闭环调节，以提供相应的操作感反馈。
  5. 根据权利要求1所述的方法，其特征在于，若确定需要模拟的操作感为阻尼操作感；所述基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈，包括：
    控制所述电机运行在速度闭环；
    将目标速度设置为零并输入至所述速度闭环，以使所述电机根据所述目标 速度进行速度闭环调节，进而提供阻尼操作感反馈。
  6. 根据权利要求5所述的方法，其特征在于，在提供阻尼操作感反馈时，所述电机的转速与所述电机的输出力矩呈正相关关系，且所述输出力矩不大于预设阈值。
  7. 根据权利要求1所述的方法，其特征在于，若确定需要模拟的操作感为波轮操作感；所述基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈，包括：
    控制所述电机运行在位置闭环；
    获取所述电机的转子的当前位置，根据所述当前位置确定目标档位位置；
    将确定的目标档位位置作为目标位置输入至所述位置闭环，以使所述电机根据所述目标位置进行位置闭环调节，进而提供波轮操作感反馈。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述当前位置确定目标档位位置，包括：
    确定所述当前位置所属的预设位置范围，其中，不同的预设位置范围对应不同的档位位置；以及
    将确定的预设位置范围对应的档位位置作为目标档位位置。
  9. 根据权利要求7所述的方法，其特征在于，所述根据所述当前位置确定目标档位位置，包括：
    从多个档位位置中，确定与所述当前位置最近的档位位置作为目标档位位置，其中，不同的档位位置对应不同的档位。
  10. 根据权利要求1所述的方法，其特征在于，若确定需要模拟的操作感为回弹操作感；所述基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈，包括：
    控制所述电机运行在位置闭环；
    将零位位置作为目标位置输入至所述位置闭环，以使所述电机根据所述目标位置进行位置闭环调节，进而提供回弹操作感反馈；
    其中，所述零位位置为参数调节范围的中间位置。
  11. 根据权利要求10所述的方法，其特征在于，在提供回弹操作感反馈时，所述角度位置信息与所述电机的输出力矩呈正相关关系，且所述输出力矩不大于预设阈值。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述跟焦轮包括位置传感器，所述获取所述电机的转子的角度位置信息，包括：
    通过所述位置传感器获取所述电机的转子的角度位置信息。
  13. 根据权利要求12所述的方法，其特征在于，所述位置传感器包括磁环霍尔传感器、光电编码器、磁编码器中的至少一种。
  14. 根据权利要求1-11任一项所述的方法，其特征在于，所述获取所述电机的转子的角度位置信息，包括：
    获取所述电机工作时的电流和电压，并根据所述电流和电压确定所述电机的转子的角度位置信息。
  15. 根据权利要求1-11任一项所述的方法，其特征在于，所述跟焦轮包括参数设置单元，所述参数设置单元用于与所述主控电路通信连接；
    所述方法，还包括：
    通过所述参数设置单元，获取用户设置的参数，其中，所述参数至少包括一种类型的操作感。
  16. 根据权利要求15所述的方法，其特征在于，所述参数设置单元包括显示屏或终端设备；
    所述显示屏与所述主控电路连接以实现通信连接；所述主控电路包括无线通信模块，所述主控电路通过所述无线通信模块与所述终端设备建立无线通信连接。
  17. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    在所述参数设置单元上显示不同类型的操作感以便用户选择，以及获取用户在所述参数设置单元选择的操作感。
  18. 根据权利要求15所述的方法，其特征在于，所述参数还包括阻力大小，所述阻力大小用于调节操作感的力度。
  19. 根据权利要求18所述的方法，其特征在于，所述阻力大小与所述电机的线圈的电流呈线性关系。
  20. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    根据所述转子的角度位置信息和电机的线圈的电流，实现对所述电机的电流闭环控制，进而完成对所述电机的输出力矩控制；
    其中，所述电机的线圈的电流与所述输出力矩呈线性关系。
  21. 根据权利要求1-11任一项所述的方法，其特征在于，所述电机包括永磁同步电机或直流电机。
  22. 一种跟焦轮，其特征在于，所述跟焦轮包括：
    电机，所述电机包括转子和线圈；
    操作部件，用于供用户操作而输入跟焦控制信号，所述操作部件与所述电机的转子机械耦合，并能够带动所述电机的转子一起转动；
    驱动电路，所述驱动电路与所述电机连接，用于驱动所述电机转动；
    主控电路，所述主控电路与所述驱动电路连接，用于根据所述转子的角度位置信息和电机的线圈的电参数完成对所述电机的输出力矩控制以及目标闭环控制，所述目标闭环包括位置闭环和速度闭环中的至少一种，不同的目标闭环用于模拟不同类型的操作感，不同类型的操作感对应不同的电机控制策略；
    其中，所述主控电路还用于：确定需要模拟的操作感，基于所述需要模拟的操作感对应的电机控制策略控制所述电机运行，以提供相应的操作感反馈。
  23. 根据权利要求22所述的跟焦轮，其特征在于，所述不同类型的操作感包括阻尼操作感、波轮操作感或回弹操作感；
    其中，所述速度闭环用于模拟所述阻尼操作感，所述位置闭环用于模拟所述波轮操作感和所述回弹操作感。
  24. 根据权利要求22所述的跟焦轮，其特征在于，所述电机的线圈的电参数包括：所述电机的线圈的电流，和/或，所述电机的线圈的电压。
  25. 根据权利要求22所述的跟焦轮，其特征在于，所述主控电路用于：
    控制所述电机运行在所述需要模拟的操作感对应的目标闭环，确定目标参数并将所述目标输入至所述目标闭环进行闭环调节，以提供相应的操作感反馈。
  26. 根据权利要求22所述的跟焦轮，其特征在于，若需要模拟的操作感为阻尼操作感；所述主控电路用于：
    控制所述电机运行在速度闭环；
    将目标速度设置为零并输入至所述速度闭环，以使所述电机根据所述目标速度进行速度闭环调节，进而提供阻尼操作感反馈。
  27. 根据权利要求26所述的跟焦轮，其特征在于，所述操作部件包括转动部件，所述转动部件与所述电机的转子连接；
    其中，在所述转动部件被操作时，所述主控电路控制所述电机运行模拟阻 尼操作感并反馈至所述转动部件。
  28. 根据权利要求26所述的跟焦轮，其特征在于，所述转动部件包括胶圈，所述胶圈用于调节镜头的焦距。
  29. 根据权利要求26所述的跟焦轮，其特征在于，在提供阻尼操作感反馈时，所述电机的转速与所述电机的输出力矩呈正相关关系，且所述输出力矩不大于预设阈值。
  30. 根据权利要求22所述的跟焦轮，其特征在于，若需要模拟的操作感为波轮操作感；所述主控电路用于：
    控制所述电机运行在位置闭环；
    获取所述电机的转子的当前位置，根据所述当前位置确定目标档位位置；
    将确定的目标档位位置作为目标位置输入至所述位置闭环，以使所述电机根据所述目标位置进行位置闭环调节，进而提供波轮操作感反馈。
  31. 根据权利要求30所述的跟焦轮，其特征在于，所述操作部件包括旋钮部件，所述旋钮部件与所述电机的转子连接；
    其中，在所述旋钮部件被操作时，所述主控电路控制所述电机运行模拟波轮操作感并反馈至所述旋钮部件。
  32. 根据权利要求31所述的跟焦轮，其特征在于，所述旋钮部件包括旋钮，所述旋钮对应不同的档位功能，以便用户通过旋转所述旋钮选择对应的档位功能。
  33. 根据权利要求30所述的跟焦轮，其特征在于，所述主控电路用于：
    从多个档位位置中，确定与所述当前位置最近的档位位置作为目标档位位置，不同档位位置对应不同的档位。
  34. 根据权利要求30所述的跟焦轮，其特征在于，所述主控电路用于：
    确定所述当前位置所属的预设位置范围，将确定的预设位置范围对应的档位位置作为目标档位位置，其中，不同的预设位置范围对应不同的档位位置。
  35. 根据权利要求22所述的跟焦轮，其特征在于，若需要模拟的操作感为回弹操作感；所述主控电路用于：
    控制所述电机运行在位置闭环；
    将零位位置作为目标位置输入至所述位置闭环，以使所述电机根据所述目标位置进行位置闭环调节，进而提供回弹操作感反馈；
    其中，所述零位位置为参数调节范围的中间位置。
  36. 根据权利要求35所述的跟焦轮，其特征在于，所述操作部件包括回弹部件，所述回弹部件与所述电机的转子连接；
    其中，在所述回弹部件被操作时，所述主控电路控制所述电机运行模拟回弹操作感并反馈至所述回弹部件。
  37. 根据权利要求36所述的跟焦轮，其特征在于，所述回弹部件包括摇杆。
  38. 根据权利要求35所述的跟焦轮，其特征在于，在提供回弹操作感反馈时，所述角度位置信息与所述电机的输出力矩呈正相关关系，且所述输出力矩不大于预设阈值。
  39. 根据权利要求22-38任一项所述的跟焦轮，其特征在于，所述跟焦轮包括：
    位置传感器，用于检测所述电机的转子的角度位置信息，并将所述角度位置信息发送给所述主控电路。
  40. 根据权利要求39所述的跟焦轮，其特征在于，所述位置传感器包括磁环霍尔传感器、光电编码器、磁编码器中的至少一种。
  41. 根据权利要求22-38任一项所述的跟焦轮，其特征在于，所述主控电路用于：
    获取所述电机工作时的电流和电压，并根据所述电流和电压确定所述电机的转子的角度位置信息。
  42. 根据权利要求22-38任一项所述的跟焦轮，其特征在于，所述跟焦轮，还包括：
    参数设置单元，所述参数设置单元用于与所述主控电路通信连接，以便获取用户设置的参数并发送给所述主控电路，其中，所述参数至少包括一种类型的操作感。
  43. 根据权利要求42所述的跟焦轮，其特征在于，所述参数设置单元包括显示屏或终端设备；
    其中，所述显示屏与所述主控电路连接以实现通信连接；所述主控电路包括无线通信模块，所述主控电路通过所述无线通信模块与所述终端设备建立无线通信连接。
  44. 根据权利要求43所述的跟焦轮，其特征在于，所述用户设置的参数包 括不同类型的操作感；所述主控电路用于：获取用户在所述参数设置单元显示的不同类型的操作感中选择的操作感。
  45. 根据权利要求42所述的跟焦轮，其特征在于，所述参数还包括阻力大小，所述阻力大小用于调节操作感的力度。
  46. 根据权利要求45所述的跟焦轮，其特征在于，所述阻力大小与所述电机的线圈的电流呈线性关系。
  47. 根据权利要求22-38任一项所述的跟焦轮，其特征在于，所述主控电路还用于：
    根据所述转子的角度位置信息和电机的线圈的电流，实现对所述电机的电流闭环控制，进而完成对所述电机的输出力矩控制；
    其中，所述电机的线圈的电流与所述输出力矩呈线性关系。
  48. 根据权利要求22-38任一项所述的跟焦轮，其特征在于，所述电机包括永磁同步电机或直流电机。
  49. 一种跟焦轮，其特征在于，所述跟焦轮包括：
    电机，所述电机包括转子和线圈；
    操作部件，用于供用户操作而输入跟焦控制信号，所述操作部件与所述电机的转子机械耦合，并能够带动所述电机的转子一起转动；
    驱动电路，所述驱动电路与所述电机连接，用于驱动所述电机转动；
    主控电路，所述主控电路与所述驱动电路连接；
    其中，所述主控电路包括处理器和存储器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如权利要求1-21任一项所述的跟焦轮的控制方法的步骤。
  50. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1至21任一项所述的跟焦轮的控制方法的步骤。
PCT/CN2020/124030 2020-10-27 2020-10-27 跟焦轮的控制方法、跟焦轮及存储介质 Ceased WO2022087828A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CN2020/124030 WO2022087828A1 (zh) 2020-10-27 2020-10-27 跟焦轮的控制方法、跟焦轮及存储介质
CN202080006503.3A CN113169630B (zh) 2020-10-27 2020-10-27 跟焦轮的控制方法、跟焦轮及存储介质
US18/128,257 US20230236384A1 (en) 2020-10-27 2023-03-30 Follow focus wheel, control method thereof, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/124030 WO2022087828A1 (zh) 2020-10-27 2020-10-27 跟焦轮的控制方法、跟焦轮及存储介质

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/128,257 Continuation US20230236384A1 (en) 2020-10-27 2023-03-30 Follow focus wheel, control method thereof, and storage medium

Publications (1)

Publication Number Publication Date
WO2022087828A1 true WO2022087828A1 (zh) 2022-05-05

Family

ID=76879281

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/124030 Ceased WO2022087828A1 (zh) 2020-10-27 2020-10-27 跟焦轮的控制方法、跟焦轮及存储介质

Country Status (3)

Country Link
US (1) US20230236384A1 (zh)
CN (1) CN113169630B (zh)
WO (1) WO2022087828A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116746054A (zh) * 2021-06-17 2023-09-12 深圳市大疆创新科技有限公司 跟焦设备的控制方法、设备及存储介质
CN121633833B (zh) * 2026-02-04 2026-04-21 苏州英特模科技股份有限公司 一种旋转设备的测试系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1912431A2 (de) * 2006-10-09 2008-04-16 Funkwerk plettac electronic GmbH Verfahren und Vorrichtung zur Steuerung einer schwenkbaren Kamera
CN209356825U (zh) * 2019-02-26 2019-09-06 深圳市大疆创新科技有限公司 跟焦器及云台
CN110770671A (zh) * 2018-09-30 2020-02-07 深圳市大疆创新科技有限公司 云台及其控制方法、可移动平台
CN110809734A (zh) * 2018-11-15 2020-02-18 深圳市大疆创新科技有限公司 一种相机镜头调节方法、装置及控制设备、控制系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6564168B1 (en) * 1999-09-14 2003-05-13 Immersion Corporation High-resolution optical encoder with phased-array photodetectors
US7759894B2 (en) * 2006-10-26 2010-07-20 Honeywell International Inc. Cogless motor driven active user interface haptic feedback system
US9266233B2 (en) * 2013-03-15 2016-02-23 Sri International Exosuit system
US10705629B1 (en) * 2016-08-03 2020-07-07 Apple Inc. Customizable control system
DE102019003510B4 (de) * 2019-05-20 2023-02-23 Florian Maier Verfahren und Vorrichtung zur Steuerung von Motoren im Film- und Broadcastbereich

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1912431A2 (de) * 2006-10-09 2008-04-16 Funkwerk plettac electronic GmbH Verfahren und Vorrichtung zur Steuerung einer schwenkbaren Kamera
CN110770671A (zh) * 2018-09-30 2020-02-07 深圳市大疆创新科技有限公司 云台及其控制方法、可移动平台
CN110809734A (zh) * 2018-11-15 2020-02-18 深圳市大疆创新科技有限公司 一种相机镜头调节方法、装置及控制设备、控制系统
CN209356825U (zh) * 2019-02-26 2019-09-06 深圳市大疆创新科技有限公司 跟焦器及云台

Also Published As

Publication number Publication date
US20230236384A1 (en) 2023-07-27
CN113169630B (zh) 2022-07-19
CN113169630A (zh) 2021-07-23

Similar Documents

Publication Publication Date Title
CN113752250B (zh) 机器人关节的控制方法、装置、机器人及存储介质
EP2812773B1 (en) Portable device and method for controlling the same
CN113169630B (zh) 跟焦轮的控制方法、跟焦轮及存储介质
CN105511666A (zh) 具有刚性组件的触觉使能的可变形设备
WO2020146122A1 (en) Context-aware system menu behavior for mixed reality
CN103677569B (zh) 一种电子设备的用户界面的处理方法及电子设备
CN108390468A (zh) 一种自动控制充电的人工智能无线充电器
CN112044017A (zh) 一种基于电机力量训练设备的参数优化方法及装置
CN110027002A (zh) 一种基于多电机驱动的仿生关节控制系统及方法
CN106131395A (zh) 防抖系统及防抖方法
KR102234776B1 (ko) 햅틱 휠을 이용한 vr 또는 게임 컨트롤러 및 그 제어 방법, 이를 구비한 vr 시스템
CN115933877A (zh) 基于触觉力反馈的虚拟交互方法、系统和可读存储介质
CN111562840A (zh) 可穿戴显示设备及其成像面的调整方法
Lin et al. A fast humanoid robot arm for boxing based on servo motors
CN213586003U (zh) 跟焦轮
TW201913298A (zh) 可顯示實體輸入裝置即時影像之虛擬實境系統及其控制方法
CN119336165A (zh) 一种用于虚拟现实环境下空中手势旋转操作的显示方法
US20120303295A1 (en) Direction sensing apparatus
CN115874383A (zh) 一种洗衣机面板旋转控制方法、装置及存储介质
CN215424434U (zh) 清洁设备及其运动控制装置
KR20080108651A (ko) 커서 이동에 따른 햅틱 제어방법
WO2022261907A1 (zh) 跟焦设备的控制方法、设备及存储介质
CN116827184A (zh) 运动设备的电流调整方法、装置和计算机可读存储介质
US20240350891A1 (en) Game program control method with sports equipment and human-machine interaction system
CN112169304A (zh) 智能终端的陀螺仪控制方法、系统及计算机可读存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20958993

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20958993

Country of ref document: EP

Kind code of ref document: A1