WO2022179201A1 - 音圈电机及其控制方法和控制装置 - Google Patents

音圈电机及其控制方法和控制装置 Download PDF

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Publication number
WO2022179201A1
WO2022179201A1 PCT/CN2021/131366 CN2021131366W WO2022179201A1 WO 2022179201 A1 WO2022179201 A1 WO 2022179201A1 CN 2021131366 W CN2021131366 W CN 2021131366W WO 2022179201 A1 WO2022179201 A1 WO 2022179201A1
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WO
WIPO (PCT)
Prior art keywords
coil
force
inner coil
outer coil
command
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Ceased
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PCT/CN2021/131366
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English (en)
French (fr)
Inventor
张一凡
冯蓬勃
王学强
韩涛
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Goertek Inc
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Goertek Inc
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Publication of WO2022179201A1 publication Critical patent/WO2022179201A1/zh
Priority to US18/449,141 priority Critical patent/US12603594B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032—Reciprocating, oscillating or vibrating motors
    • H02P25/034—Voice coil motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/02—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type
    • H02P7/025—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type the DC motors being of the moving coil type, e.g. voice coil motors

Definitions

  • the present application relates to the technical field of motors, and in particular, to a voice coil motor and a control method and control device thereof.
  • voice coil motors today usually consist of permanent magnets and coils, where the magnetic field generated by the permanent magnets interacts with the magnetic field generated by the energized coil conductors to generate motion. At the same time, the voice coil motor combined with the feedback and control system can achieve precise control.
  • the embodiments of the present application provide a voice coil motor, a control method and a control device thereof, so as to enhance the environmental adaptability and stability of the voice coil motor, and improve the motion and control accuracy of the voice coil motor.
  • the embodiment of the present application provides a voice coil motor control method, which adopts a voice coil motor composed of an inner coil module and an outer coil module, the inner coil module is arranged in the outer coil module, and the inner coil module is arranged in the outer coil module.
  • An air gap for the movement of the inner coil module is formed between the group and the outer coil module, and the method further includes: driving the outer coil module of the voice coil motor to generate an electromagnetic force of the outer coil; according to the expected force command, and according to the voice coil motor
  • the force feedback information sent by the actuator determines the current command of the inner coil; according to the current command of the inner coil, the inner coil module that drives the voice coil motor generates the electromagnetic force of the inner coil; according to the electromagnetic force of the outer coil and the electromagnetic force of the inner coil, the actuator generates motor force.
  • the embodiments of the present application also provide a voice coil motor control device, wherein the voice coil motor is composed of an inner coil module and an outer coil module, the inner coil module is arranged in the outer coil module, and the inner coil module is connected to the outer coil module.
  • the voice coil motor control device includes: an outer coil control unit for driving the outer coil module of the voice coil motor to generate the electromagnetic force of the outer coil; the inner coil controls The unit is used to determine the inner coil current command according to the expected force command and the force feedback information sent by the actuator of the voice coil motor; and according to the inner coil current command, drive the inner coil module of the voice coil motor to generate the inner coil electromagnetic force ;Execution unit, used to make the actuator generate motor force according to the electromagnetic force of the outer coil and the electromagnetic force of the inner coil.
  • the embodiments of the present application also provide a voice coil motor, including a base, a movable inner coil module, an outer coil module and an actuator; the outer coil module is embedded on the base, and the inner coil module is The group is arranged in the outer coil module, and an air gap for the inner coil module to move is formed between the inner coil module and the outer coil module; the actuator is connected with the inner coil module; the outer coil module can respond to the above voice coil
  • the motor control device generates the electromagnetic force of the outer coil, and the inner coil module can generate the electromagnetic force of the inner coil in response to the above voice coil motor control device, so that the actuator generates the motor force according to the electromagnetic force of the outer coil and the electromagnetic force of the inner coil.
  • a force sensor is provided at the end of the actuator for generating force feedback information and sending it to the voice coil motor control device.
  • the above-mentioned at least one technical solution adopted in the embodiments of the present application can achieve the following beneficial effects: abandoning permanent magnets, and by adopting a voice coil motor composed of an inner and outer double coil module, it is possible to solve the problem that a motor using permanent magnets cannot maintain stability in environments such as high temperatures
  • the voice coil motor controlled by the present application can be applied to scenarios that require precise control, such as robot fingers.
  • FIG. 1 shows a schematic structural diagram of a voice coil motor according to an embodiment of the present application
  • FIG. 2 shows a schematic flowchart of a method for controlling a voice coil motor according to an embodiment of the present application
  • FIG. 3 shows a schematic diagram of a voice coil motor control according to an embodiment of the present application
  • FIG. 4 shows a schematic structural diagram of a voice coil motor control device according to an embodiment of the present application
  • FIG. 5 shows a schematic structural diagram of a voice coil motor control system according to an embodiment of the present application.
  • the electromagnetic coil module is used to achieve the stability of the magnetic field in multiple scenarios, and the electromagnetic force of the inner coil generated by the inner coil module is controlled through a closed-loop force. , which improves the control precision and control range of the motor force generated by the actuator.
  • FIG. 1 shows a schematic structural diagram of a voice coil motor according to an embodiment of the present application.
  • the voice coil motor 100 includes a base 110, a movable inner coil module, an outer coil module and an actuator 140; wherein, the outer coil module is embedded on the base 110, and the inner coil module It is arranged in the outer coil module, and an air gap 150 is formed between the inner coil module and the outer coil module, so that the inner coil module can perform frictionless movement therein.
  • the actuator 140 is connected to the inner coil module.
  • the outer coil module and the inner coil module are both composed of an iron core and a coil wound on the iron core.
  • the outer coil module includes an outer coil 131 and an outer coil iron core 132
  • the inner coil module includes an inner coil 121 and an inner coil iron core 122 .
  • the actuator 140 can be connected to the end of the inner coil iron core 122, and is driven to move by the inner coil module. After the power is turned on, the outer coil module can generate the outer coil electromagnetic force, and the inner coil module can generate the inner coil electromagnetic force, so that the actuator 140 externally applies the motor force according to the outer coil electromagnetic force and the inner coil electromagnetic force.
  • the electromagnetic force of the inner coil and the electromagnetic force of the outer coil can be precisely controlled according to the voice coil motor control method and voice coil motor control device shown in the following embodiments.
  • a force sensor is provided at the end of the actuator 140 for generating force feedback information and sending it to the voice coil motor control device.
  • FIG. 2 shows a schematic flowchart of a voice coil motor control method according to an embodiment of the present application, which can be used to control the voice coil motor shown in the above embodiment, and the voice coil motor control method can be implemented by a voice coil motor control device.
  • the voice coil motor control method includes:
  • Step S210 driving the outer coil module of the voice coil motor to generate the outer coil electromagnetic force.
  • the outer coil module can generate a fixed outer coil electromagnetic force, even if the outer coil module generates a stable electromagnetic field, thereby overcoming the easy change of the permanent magnet magnetic field in scenarios such as high temperature, high heat, impact, etc. question.
  • the outer coil electromagnetic force generated by the outer coil module can also be adapted to the inner coil electromagnetic force generated by the inner coil module, so as to improve the control precision of the inner coil electromagnetic force.
  • Step S220 Determine the current command of the inner coil according to the desired force command and according to the force feedback information sent by the actuator of the voice coil motor.
  • the desired force command can indicate the magnitude of the motor force that needs to be generated by the voice coil motor, that is, the desired value representing the motor force.
  • the specific value can be determined according to the needs of the actual scene.
  • the planning software is used to generate the desired force command according to the process requirements.
  • a time-varying force command trajectory can be obtained by generating the desired force command.
  • force closed-loop control can be used, that is, according to the expected force command and force feedback information, to determine the inner coil current command.
  • step S230 can be executed to drive the inner coil module of the voice coil motor to generate the inner coil electromagnetic force according to the inner coil current command. force.
  • Step S240 according to the electromagnetic force of the outer coil and the electromagnetic force of the inner coil, the actuator generates a motor force.
  • the principle of generating the motor force based on the two types of electromagnetic forces is the same as that of the voice coil motor, and will not be repeated here.
  • the method shown in Figure 2 can effectively control the voice coil motor composed of the inner and outer double coil modules without permanent magnets, and solve the problem that the voice coil motor using permanent magnets cannot maintain stability in high temperature and other environments. , and by obtaining the force feedback information sent by the actuator of the voice coil motor, combined with the desired force command to determine the current command of the inner coil, the closed-loop control of the electromagnetic force of the inner coil is finally realized, and the control accuracy and control range of the motor force are improved.
  • the voice coil motor controlled by the present application can be applied to scenarios that require precise control, such as robot fingers.
  • step S210 further includes: determining the outer coil force command according to the desired force command; determining the outer coil current command according to the outer coil force command; acquiring the outer coil current feedback information, and according to the outer coil current The command and the outer coil current feedback information determine the outer coil drive command; the outer coil module is driven according to the outer coil drive command to generate the outer coil electromagnetic force.
  • FIG. 3 shows a control principle diagram according to an embodiment of the present application, wherein the control of the electromagnetic force of the outer coil and the electromagnetic force of the inner coil are independent of each other.
  • the outer coil force command In the control of the electromagnetic force of the outer coil, the outer coil force command needs to be determined first.
  • ⁇ represents the conversion coefficient, which means The conversion relationship between the expected value of the electromagnetic force of the outer coil and the expected value of the motor force.
  • the electromagnetic field of the outer coil will also adapt to changes, so as to facilitate the control of the electromagnetic force of the inner coil.
  • the outer coil force command is input to the force open-loop controller, the outer coil current command is generated, and the generated outer coil current command is input into the outer coil current controller.
  • Outer coil current feedback information for more precise control of outer coil current.
  • the outer coil current controller determines the outer coil driving command according to the outer coil current command and the outer coil current feedback information, so as to drive the outer coil module to generate the outer coil electromagnetic force.
  • determining the outer coil current command according to the outer coil force command includes: according to the coil length, number of turns, magnetic pole area and magnetic permeability of the outer coil module, and the outer coil Force command, determine the outer coil current command.
  • F o is the outer coil force command
  • l is the coil length of the outer coil module
  • ⁇ is the magnetic permeability
  • A is the magnetic pole area of the outer coil module
  • N is the number of coil turns of the outer coil module.
  • determining the outer coil drive command according to the outer coil current command and the outer coil current feedback information includes: determining the outer coil current difference value according to the outer coil current command and the outer coil current feedback information; The outer coil current difference value is respectively calculated with the outer coil current loop proportional gain, outer coil current loop integral gain and outer coil current loop differential gain, and the outer coil drive command is determined by using the obtained operation values.
  • the outer coil drive command can be determined according to a PID (proportional, integral, derivative) control algorithm, that is, the outer coil current controller in FIG. 3 may include a proportional controller, an integral controller and a derivative controller.
  • a PID proportional, integral, derivative
  • Uo the outer coil drive command Uo:
  • Outer coil drive command in is the proportional gain of the outer coil current loop, is the integral gain of the outer coil current loop, is the differential gain of the outer coil current loop.
  • step S220 further includes: determining the force difference value according to the desired force command and the force feedback information; and comparing the force difference value with the force closed-loop proportional gain, the force closed-loop integral gain, and the force closed-loop differential, respectively. The gain is calculated accordingly, and the inner coil current command is determined by using the obtained calculation values and the desired force command.
  • the desired force command and the force feedback information are input into the force closed-loop controller to obtain the inner coil current command.
  • the force closed-loop controller can also include a proportional controller, an integral controller, and a differential controller.
  • the force difference ⁇ F is determined according to the desired force command and the force feedback information, and the following calculation formula can be used to obtain the inner coil current command I i :
  • J is the preset conversion coefficient
  • F a is the desired force command
  • F a is the force closed-loop proportional gain
  • F closed-loop integral gain is the force closed-loop differential gain.
  • step S230 further includes: acquiring the inner coil current feedback information; determining the inner coil driving command according to the inner coil current command and the inner coil current feedback information; The inner coil module of the coil motor generates the electromagnetic force of the inner coil.
  • the inner coil current is controlled more precisely, so that the generated inner coil electromagnetic force is more in line with the expected value.
  • the inner coil current command and the inner coil current feedback information are input into the inner coil current controller to obtain the inner coil driving command, thereby driving the inner coil module of the voice coil motor to generate the inner coil electromagnetic force.
  • determining the inner coil drive command according to the inner coil current command and the inner coil current feedback information includes: determining the inner coil current according to the inner coil current command and the inner coil current feedback information The difference value; the inner coil current difference value is calculated respectively with the inner coil current loop proportional gain, the inner coil current loop integral gain and the inner coil current loop differential gain, and the inner coil drive command is determined by using the obtained operation values.
  • the inner coil current controller may also include a proportional controller, an integral controller and a differential controller, and the inner coil current difference ⁇ I i is determined according to the inner coil current command and the inner coil current feedback information; then the following can be used Calculate the formula to get the inner coil drive command Ui:
  • Inner coil drive command in is the proportional gain of the inner coil current loop, is the integral gain of the inner coil current loop, is the differential gain of the inner coil current loop.
  • the electromagnetic force of the outer coil module and the inner coil module are synchronously controlled.
  • the electromagnetic force of the outer coil and the magnetic induction intensity of the electromagnetic field of the outer coil can be at the highest level of the electromagnetic field of the outer coil. The optimal position, thereby improving the accuracy of the motor force.
  • FIG. 4 shows a schematic structural diagram of a voice coil motor control apparatus according to an embodiment of the present application, and the voice coil motor control apparatus can control the voice coil motor as described in the above embodiment.
  • the voice coil motor control device 400 includes:
  • the outer coil control unit 410 is used for driving the outer coil module of the voice coil motor to generate the electromagnetic force of the outer coil.
  • the outer coil module can generate a fixed outer coil electromagnetic force, even if the outer coil module generates a stable electromagnetic field, thereby overcoming the easy change of the permanent magnet magnetic field in scenarios such as high temperature, high heat, impact, etc. question.
  • the outer coil electromagnetic force generated by the outer coil module can also be adapted to the inner coil electromagnetic force generated by the inner coil module, so as to improve the control precision of the inner coil electromagnetic force.
  • the inner coil control unit 420 is configured to determine the inner coil current command according to the desired force command and the force feedback information sent by the actuator of the voice coil motor; and according to the inner coil current command, drive the inner coil module of the voice coil motor to generate Inner coil electromagnetic force.
  • the desired force command can indicate the magnitude of the motor force that needs to be generated by the voice coil motor, that is, the desired value representing the motor force.
  • the specific value can be determined according to the needs of the actual scene.
  • the planning software is used to generate the desired force command according to the process requirements.
  • a time-varying force command trajectory can be obtained by generating the desired force command.
  • force closed-loop control can be used, that is, according to the expected force command and force feedback information, to determine the inner coil current command.
  • the inner coil current command of the inner coil is determined, and the inner coil module of the voice coil motor can be driven to generate the electromagnetic force of the inner coil.
  • the execution unit 430 is configured to make the actuator generate a motor force according to the electromagnetic force of the outer coil and the electromagnetic force of the inner coil.
  • the device shown in Figure 4 can effectively control the voice coil motor composed of internal and external double coil modules without permanent magnets, and solves the problem that the voice coil motor using permanent magnets cannot maintain stability in high temperature and other environments , and by obtaining the force feedback information sent by the actuator of the voice coil motor, combined with the desired force command to determine the current command of the inner coil, the closed-loop control of the electromagnetic force of the inner coil is finally realized, and the control accuracy and control range of the motor force are improved.
  • the voice coil motor controlled by the present application can be applied to scenarios that require precise control, such as robot fingers.
  • the outer coil control unit 410 is configured to determine the outer coil force command according to the desired force command; determine the outer coil current command according to the outer coil force command; obtain the outer coil current feedback information, according to The outer coil current command and the outer coil current feedback information determine the outer coil driving command; the outer coil module is driven according to the outer coil driving command to generate the outer coil electromagnetic force.
  • the outer coil control unit 410 is configured to determine the outer coil current according to the coil length, number of turns, magnetic pole area and magnetic permeability of the outer coil module, and the outer coil force command instruction.
  • the outer coil control unit 410 is configured to determine the outer coil current difference according to the outer coil current command and the outer coil current feedback information; The proportional gain of the current loop, the integral gain of the current loop of the outer coil and the differential gain of the current loop of the outer coil are calculated accordingly, and each obtained operation value is used to determine the driving command of the outer coil.
  • the inner coil control unit 420 is configured to determine the force difference value according to the desired force command and the force feedback information; The force closed-loop differential gain is calculated accordingly, and the inner coil current command is determined by using the obtained operation values and the expected force command.
  • the inner coil control unit 420 is configured to obtain the inner coil current feedback information; determine the inner coil driving instruction according to the inner coil current instruction and the inner coil current feedback information; and determine the inner coil driving instruction according to the inner coil driving instruction , which drives the inner coil module of the voice coil motor to generate the inner coil electromagnetic force.
  • the inner coil control unit 420 is configured to determine the inner coil current difference according to the inner coil current command and the inner coil current feedback information; The proportional gain of the current loop, the integral gain of the inner coil current loop and the differential gain of the inner coil current loop are calculated accordingly, and the inner coil drive command is determined by using the obtained operation values.
  • the above-mentioned voice coil motor control device can implement each step of the voice coil motor control method provided in the foregoing embodiments, and the relevant explanations about the voice coil motor control method are all applicable to the voice coil motor control device, and will not be repeated here. .
  • FIG. 5 shows a schematic structural diagram of a voice coil motor control system according to an embodiment of the present application.
  • the voice coil motor control system 500 includes an instruction planning unit 510 for generating a desired force instruction, and a controller 520 , driver 530, coil module 540, actuator 550 and force sensor 560, wherein controller 520 includes outer coil controller 521 and inner coil controller 522, driver 530 includes outer coil driver 531 and inner coil driver 532, coil module 540 includes an outer coil 541 and an inner coil 542 .
  • controller 520 includes outer coil controller 521 and inner coil controller 522
  • driver 530 includes outer coil driver 531 and inner coil driver 532
  • coil module 540 includes an outer coil 541 and an inner coil 542 .
  • the outer coil controller 521 and the outer coil driver 531 form the outer coil control unit 410 in FIG. 4
  • the inner coil controller 522 and the inner coil driver 532 form the inner coil control unit 420 in FIG. 4 .
  • the technical solution of the present application can effectively control the voice coil motor composed of inner and outer double coil modules without permanent magnets, and solves the problem that the voice coil motor using permanent magnets cannot maintain stability in high temperature and other environments.
  • the voice coil motor controlled by the present application can be applied to scenarios that require precise control, such as robot fingers.
  • the electromagnetic field of the outer coil can also be controlled according to actual needs, so that the electromagnetic force of the outer coil is adapted to the electromagnetic force of the inner coil, and the control accuracy of the electromagnetic force of the inner coil is further improved.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

提供了音圈电机（100）及其控制方法和控制装置。其中音圈电机（100）由内线圈模组和外线圈模组构成，内线圈模组设置在外线圈模组内，内线圈模组与外线圈模组间形成可供内线圈模组移动的气隙（150）。音圈电机（100）的控制方法包括：驱动音圈电机（100）的外线圈模组产生外线圈电磁力；根据期望力指令，以及根据音圈电机（100）的执行机构发送的力反馈信息，确定内线圈电流指令；根据内线圈电流指令，驱动音圈电机（100）的内线圈模组产生内线圈电磁力；根据外线圈电磁力和内线圈电磁力，使执行机构（140）产生电机作用力。

Description

音圈电机及其控制方法和控制装置 技术领域
本申请涉及电机技术领域，尤其涉及音圈电机及其控制方法和控制装置。
发明背景
近年来，在消费电子、半导体、医疗设备等产品组装和生产领域，产品的精密性和复杂度不断提高，对生产设备的作业速度和控制精度的要求日益提高。在需要实施力控制的场景中，音圈电机由于具有响应速度快、控制精度高等优点，在高速高精度设备上的应用越来越广泛。
目前常见的音圈电机通常由永磁体和线圈组成，其中永磁体产生的磁场与通电线圈导体产生的磁场相互作用，从而产生运动。同时，音圈电机结合反馈及控制系统，能够实现精确的控制。
然而，由于永磁体产生的磁场及磁感应强度无法主动控制调节，并且在高温、高热、撞击等场景中容易改变磁场的强弱，因此会影响音圈电机的运动及控制精度。
发明内容
本申请实施例提供了音圈电机及其控制方法和控制装置，以增强音圈电机的环境适应性和稳定性，提高音圈电机的运动和控制精度。
本申请实施例采用下述技术方案：
第一方面，本申请实施例提供一种音圈电机控制方法，采用由内线圈模组和外线圈模组构成的音圈电机，将内线圈模组设置在外线圈模组内，在内线圈模组与外线圈模组间形成可供内线圈模组移动的气隙，该方法还包括：驱动音圈电机的外线圈模组产生外线圈电磁力；根据期望力指令，以及根据音圈电机的执行机构发送的力反馈信息，确定内线圈电流指令；根据内线圈电流指令，驱动音圈电机的内线圈模组产生内线圈电磁力；根据外线圈电磁力和内线圈电磁力，使执行机构产生电机作用力。
第二方面，本申请实施例还提供一种音圈电机控制装置，其中音圈电机由内线圈模组和外线圈模组构成，内线圈模组设置在外线圈模组内，内线圈模组与外线圈模组间形成可供内线圈模组移动的气隙；该音圈电机控制装置包括：外线圈控制单元，用于驱动音圈电机的外线圈模组产生外线圈电磁力；内线圈控制单元，用于根据期望力指令，以及根据音圈电机的执行机构发送的力反馈信息，确定内线圈电流指令；以及根据内线圈电流指令，驱动音圈电机的内线圈模组产生内线圈电磁力；执行单元，用于根据外线圈电磁力和内线圈电磁力，使执行机构产生电机作用力。
第三方面，本申请实施例还提供一种音圈电机，包括基座、可移动的内线圈模组、外线圈模组和执行机构；外线圈模组嵌设于基座上，内线圈模组设置在外线圈模组内，内线圈模组与外线圈模组间形成可供内线圈模组移动的气隙；执行机构与内线圈模组连接；外线圈模组可响应于如上的音圈电机控制装置而产生外线圈电磁力，内线圈模组可响应于如上的音圈电机控制装置而产生内线圈电磁力，从而使执行机构根据外线圈电磁力和内线圈电磁力产生电机作用力。
在一些实施例中，音圈电机中，执行机构的末端设置有力传感器，用于生成力反馈信息并发送给音圈电机控制装置。
本申请实施例采用的上述至少一个技术方案能够达到以下有益效果：舍弃永磁体，通过采用内外双线圈模组构成的音圈电机，解决了采用永磁体的电机在高温等环境中无法维持稳定的问题，并且通过获取音圈电机的执行机构发送的力反馈信息，联合期望力指令确定内线圈电流指令，最终实现了内线圈电磁力的闭环控制，提高了电机作用力的控制精度和控制范围，从而使得本申请控制的音圈电机能够应用到机器人手指等需要精密控制的场景中。
附图简要说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1示出了根据本申请一个实施例的一种音圈电机的结构示意图；
图2示出了根据本申请一个实施例的一种音圈电机控制方法的流程示意图；
图3示出了根据本申请一个实施例的一种音圈电机控制原理图；
图4示出了根据本申请一个实施例的音圈电机控制装置的结构示意图；
图5示出了根据本申请实施例的一种音圈电机控制系统的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅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。
本申请的技术构思在于，不采用有永磁体的音圈电机，利用电磁线圈模组实现磁场在多场景下的稳定性，并且通过力闭环来对内线圈模组产生的内线圈电磁力进行控制，提高了执行机构产生的电机作用力的控制精度和控制范围。
以下结合附图，详细说明本申请各实施例提供的技术方案。
图1示出了根据本申请一个实施例的一种音圈电机的结构示意图。如图1所示，音圈电机100包括基座110、可移动的内线圈模组、外线圈模组和执行机构140；其中，外线圈模组嵌设于基座110上，内线圈模组设置在外线圈模组内，内线圈模组与外线圈模组间形成气隙150，可供内线圈模组在其中进行无摩擦运动。执行机构140与内线圈模组连接。
在一些实施例中，外线圈模组和内线圈模组均由铁芯和缠绕在铁芯上的线圈构成，如图1所示，外线圈模组包括外线圈131和外线圈铁芯132，内线圈模组包括内线圈121和内线圈铁芯122。
执行机构140可连接到内线圈铁芯122的末端，由内线圈模组带动运动。在通电后，外线圈模组可产生外线圈电磁力，内线圈模组可产生内线圈电磁力，从而使执行机构140根据外线圈电磁力和内线圈电磁力对外施加电机作用力。 内线圈电磁力和外线圈电磁力可根据下面实施例示出的音圈电机控制方法和音圈电机控制装置来实现精确的控制。
在一些实施例中，音圈电机100中，执行机构140的末端设置有力传感器，用于生成力反馈信息并发送给音圈电机控制装置。
图2示出了根据本申请一个实施例的一种音圈电机控制方法的流程示意图，可用于控制上述实施例示出的音圈电机，该音圈电机控制方法可由音圈电机控制装置实现。如图2所示，音圈电机控制方法包括：
步骤S210，驱动音圈电机的外线圈模组产生外线圈电磁力。
在一些实施例中，可以使外线圈模组产生固定的外线圈电磁力，即使外线圈模组产生稳定的电磁场，由此克服了永磁体磁场在在高温、高热、撞击等场景中容易改变的问题。
在另一些实施例中，也可以使外线圈模组产生的外线圈电磁力与内线圈模组产生的内线圈电磁力相适应，以提高内线圈电磁力的控制精度。
步骤S220，根据期望力指令，以及根据音圈电机的执行机构发送的力反馈信息，确定内线圈电流指令。
期望力指令可以指示需要音圈电机产生的电机作用力的大小，即表征电机作用力的期望值。可以根据实际场景的需求来确定具体数值，例如，利用规划软件按照工艺需求来生成期望力指令，如利用的生成期望力指令可以得到一条随时间变化的力指令轨迹。
然而，执行机构产生的电机作用力很难与期望力指令完全匹配，可能存在一定误差，为了提高在精密需求场景下的控制精度，可以采用力闭环控制，即根据期望力指令和力反馈信息，来确定内线圈电流指令。
由于内线圈电磁力是根据内线圈电流大小而变化的，因此，确定了内线圈电流指令，也就能够执行步骤S230，根据内线圈电流指令，驱动音圈电机的内线圈模组产生内线圈电磁力。
步骤S240，根据外线圈电磁力和内线圈电磁力，使执行机构产生电机作用力。根据两类电磁力产生电机作用力的原理与音圈电机的作用原理相同，在此 不再赘述。
可见，图2所示的方法，能够对舍弃永磁体、采用内外双线圈模组构成的音圈电机进行有效控制，解决了采用永磁体的音圈电机在高温等环境中无法维持稳定的问题，并且通过获取音圈电机的执行机构发送的力反馈信息，联合期望力指令确定内线圈电流指令，最终实现了内线圈电磁力的闭环控制，提高了电机作用力的控制精度和控制范围，从而使得本申请控制的音圈电机能够应用到机器人手指等需要精密控制的场景中。
在一些实施例中，音圈电机控制方法中，步骤S210还包括：根据期望力指令确定外线圈力指令；根据外线圈力指令确定外线圈电流指令；获取外线圈电流反馈信息，根据外线圈电流指令和外线圈电流反馈信息确定外线圈驱动指令；根据外线圈驱动指令驱动外线圈模组产生外线圈电磁力。
图3示出了根据本申请一个实施例的控制原理图，其中，外线圈电磁力与内线圈电磁力的控制相互独立。
在外线圈电磁力的控制方面，需要先确定外线圈力指令，例如，外线圈力指令F o可由期望力指令F r计算得到：F o＝α·F r，其中，α表示转换系数，即表示外线圈电磁力的期望值与电机作用力的期望值的转换关系。在这种情况下，根据对电机作用力的需求不同，外线圈电磁场也会适应变化，从而方便内线圈电磁力的控制。
然后，将外线圈力指令输入到力开环控制器，生成外线圈电流指令，将生成的外线圈电流指令输入到外线圈电流控制器中，也就是基于与前述实施例相类似的考虑，通过外线圈电流反馈信息来对外线圈电流进行更精确的控制。
外线圈电流控制器根据外线圈电流指令和外线圈电流反馈信息，确定外线圈驱动指令，从而驱动外线圈模组产生外线圈电磁力。
具体地，在一些实施例中，音圈电机控制方法中，根据外线圈力指令确定外线圈电流指令包括：根据外线圈模组的线圈长度、圈数、磁极面积和磁导率，以及外线圈力指令，确定外线圈电流指令。
具体的，采用下述计算公式，来得到外线圈电流指令I o：
外线圈电流指令
Figure PCTCN2021131366-appb-000001
其中，F o为外线圈力指令，l表示外线圈模组的线圈长度，μ表示磁导率，A表示外线圈模组的磁极面积，N表示外线圈模组的线圈圈数。
在一些实施例中，音圈电机控制方法中，根据外线圈电流指令和外线圈电流反馈信息确定外线圈驱动指令包括：根据外线圈电流指令和外线圈电流反馈信息，确定外线圈电流差值；将外线圈电流差值分别与外线圈电流环比例增益、外线圈电流环积分增益及外线圈电流环微分增益进行相应运算，利用得到的各运算值确定外线圈驱动指令。
具体地，可以根据PID(比例、积分、微分)控制算法来确定外线圈驱动指令，即图3中的外线圈电流控制器可以包含比例控制器、积分控制器和微分控制器。例如，根据外线圈电流指令和外线圈电流反馈信息确定外线圈电流差值ΔI o，则可以采用下述计算公式，来得到外线圈驱动指令Uo：
外线圈驱动指令
Figure PCTCN2021131366-appb-000002
其中，
Figure PCTCN2021131366-appb-000003
为外线圈电流环比例增益，
Figure PCTCN2021131366-appb-000004
为外线圈电流环积分增益，
Figure PCTCN2021131366-appb-000005
为外线圈电流环微分增益。
在一些实施例中，音圈电机控制方法中，步骤S220还包括：根据期望力指令和力反馈信息确定力差值；将力差值分别与力闭环比例增益、力闭环积分增益及力闭环微分增益进行相应运算，利用得到的各运算值和期望力指令，确定内线圈电流指令。
参照图3，期望力指令和力反馈信息输入到力闭环控制器中，得到内线圈电流指令。具体地，力闭环控制器也可以包含比例控制器、积分控制器和微分控制器，根据期望力指令和力反馈信息确定力差值ΔF，则可以采用下述计算公式，来得到内线圈电流指令I i：
内线圈电流指令
Figure PCTCN2021131366-appb-000006
其中，J为预设的转换系数，F a为期望力指令，
Figure PCTCN2021131366-appb-000007
为力闭环比例增益，
Figure PCTCN2021131366-appb-000008
为力闭环积分增益，
Figure PCTCN2021131366-appb-000009
为力闭环微分增益。
在一些实施例中，音圈电机控制方法中，步骤S230还包括：获取内线圈电 流反馈信息；根据内线圈电流指令和内线圈电流反馈信息确定内线圈驱动指令；根据内线圈驱动指令，驱动音圈电机的内线圈模组产生内线圈电磁力。
参照图3，基于与前述实施例相类似的考虑，通过获取内线圈电流反馈信息，从而对内线圈电流进行更精确的控制，从而使得产生的内线圈电磁力更符合期望值。内线圈电流指令和内线圈电流反馈信息输入到内线圈电流控制器中，得到内线圈驱动指令，从而驱动音圈电机的内线圈模组产生内线圈电磁力。
具体地，在一些实施例中，音圈电机控制方法中，根据内线圈电流指令和内线圈电流反馈信息确定内线圈驱动指令包括：根据内线圈电流指令和内线圈电流反馈信息，确定内线圈电流差值；将内线圈电流差值分别与内线圈电流环比例增益、内线圈电流环积分增益及内线圈电流环微分增益进行相应运算，利用得到的各运算值确定内线圈驱动指令。
参照图3，内线圈电流控制器也可以包含比例控制器、积分控制器和微分控制器，根据内线圈电流指令和内线圈电流反馈信息，确定内线圈电流差值ΔI i；则可以采用下述计算公式，来得到内线圈驱动指令Ui：
内线圈驱动指令
Figure PCTCN2021131366-appb-000010
其中，
Figure PCTCN2021131366-appb-000011
为内线圈电流环比例增益，
Figure PCTCN2021131366-appb-000012
为内线圈电流环积分增益，
Figure PCTCN2021131366-appb-000013
为内线圈电流环微分增益。
根据图3可知，采用外线圈模组和内线圈模组电磁力同步控制的方式，通过控制外线圈电磁力大小，控制外线圈电磁场的磁感应强度，使内线圈电磁力能够处于外线圈电磁场的最优位置，从而提升电机作用力的准确性。
图4示出了根据本申请一个实施例的音圈电机控制装置的结构示意图，该音圈电机控制装置可以控制如上述实施例所述的音圈电机。如图4所示，音圈电机控制装置400包括：
外线圈控制单元410，用于驱动音圈电机的外线圈模组产生外线圈电磁力。
在一些实施例中，可以使外线圈模组产生固定的外线圈电磁力，即使外线圈模组产生稳定的电磁场，由此克服了永磁体磁场在在高温、高热、撞击等场景中容易改变的问题。
在另一些实施例中，也可以使外线圈模组产生的外线圈电磁力与内线圈模组产生的内线圈电磁力相适应，以提高内线圈电磁力的控制精度。
内线圈控制单元420，用于根据期望力指令，以及根据音圈电机的执行机构发送的力反馈信息，确定内线圈电流指令；以及根据内线圈电流指令，驱动音圈电机的内线圈模组产生内线圈电磁力。
期望力指令可以指示需要音圈电机产生的电机作用力的大小，即表征电机作用力的期望值。可以根据实际场景的需求来确定具体数值，例如，利用规划软件按照工艺需求来生成期望力指令，如利用的生成期望力指令可以得到一条随时间变化的力指令轨迹。
然而，执行机构产生的电机作用力很难与期望力指令完全匹配，可能存在一定误差，为了提高在精密需求场景下的控制精度，可以采用力闭环控制，即根据期望力指令和力反馈信息，来确定内线圈电流指令。
由于内线圈电磁力是根据内线圈电流大小而变化的，因此，确定了内线圈电流指令，也就能够驱动音圈电机的内线圈模组产生内线圈电磁力。
执行单元430，用于根据外线圈电磁力和内线圈电磁力，使执行机构产生电机作用力。
可见，图4所示的装置，能够对舍弃永磁体、采用内外双线圈模组构成的音圈电机进行有效控制，解决了采用永磁体的音圈电机在高温等环境中无法维持稳定的问题，并且通过获取音圈电机的执行机构发送的力反馈信息，联合期望力指令确定内线圈电流指令，最终实现了内线圈电磁力的闭环控制，提高了电机作用力的控制精度和控制范围，从而使得本申请控制的音圈电机能够应用到机器人手指等需要精密控制的场景中。
在一些实施例中，音圈电机控制装置中，外线圈控制单元410，用于根据期望力指令确定外线圈力指令；根据外线圈力指令确定外线圈电流指令；获取外线圈电流反馈信息，根据外线圈电流指令和外线圈电流反馈信息确定外线圈驱动指令；根据外线圈驱动指令驱动外线圈模组产生外线圈电磁力。
在一些实施例中，音圈电机控制装置中，外线圈控制单元410，用于根据外 线圈模组的线圈长度、圈数、磁极面积和磁导率，以及外线圈力指令，确定外线圈电流指令。
在一些实施例中，音圈电机控制装置中，外线圈控制单元410，用于根据外线圈电流指令和外线圈电流反馈信息，确定外线圈电流差值；将外线圈电流差值分别与外线圈电流环比例增益、外线圈电流环积分增益及外线圈电流环微分增益进行相应运算，利用得到的各运算值确定外线圈驱动指令。
在一些实施例中，音圈电机控制装置中，内线圈控制单元420，用于根据期望力指令和力反馈信息确定力差值；将力差值分别与力闭环比例增益、力闭环积分增益及力闭环微分增益进行相应运算，利用得到的各运算值和期望力指令，确定内线圈电流指令。
在一些实施例中，音圈电机控制装置中，内线圈控制单元420，用于获取内线圈电流反馈信息；根据内线圈电流指令和内线圈电流反馈信息确定内线圈驱动指令；根据内线圈驱动指令，驱动音圈电机的内线圈模组产生内线圈电磁力。
在一些实施例中，音圈电机控制装置中，内线圈控制单元420，用于根据内线圈电流指令和内线圈电流反馈信息，确定内线圈电流差值；将内线圈电流差值分别与内线圈电流环比例增益、内线圈电流环积分增益及内线圈电流环微分增益进行相应运算，利用得到的各运算值确定内线圈驱动指令。
能够理解，上述音圈电机控制装置，能够实现前述实施例中提供的音圈电机控制方法的各个步骤，关于音圈电机控制方法的相关阐释均适用于音圈电机控制装置，此处不再赘述。
图5示出了根据本申请实施例的一种音圈电机控制系统的结构示意图，如图5所示，音圈电机控制系统500包括用于产生期望力指令的指令规划单元510，控制器520，驱动器530，线圈模组540，执行机构550和力传感器560，其中控制器520包含外线圈控制器521和内线圈控制器522，驱动器530包括外线圈驱动器531和内线圈驱动器532，线圈模组540包括外线圈541和内线圈542。可以看出，外线圈控制器521与外线圈驱动器531形成图4中的外线圈控制单元410，内线圈控制器522与内线圈驱动器532形成图4中的内线圈控制单元 420。
综上所述，本申请的技术方案，能够对舍弃永磁体、采用内外双线圈模组构成的音圈电机进行有效控制，解决了采用永磁体的音圈电机在高温等环境中无法维持稳定的问题，并且通过获取音圈电机的执行机构发送的力反馈信息，联合期望力指令确定内线圈电流指令，最终实现了内线圈电磁力的闭环控制，提高了电机作用力的控制精度和控制范围，从而使得本申请控制的音圈电机能够应用到机器人手指等需要精密控制的场景中。而且，外线圈电磁场也可以根据实际需求进行控制，使得外线圈电磁力与内线圈电磁力相适应，进一步提高内线圈电磁力的控制精度。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (13)

  1. 一种音圈电机控制方法，其中，采用由内线圈模组和外线圈模组构成的音圈电机，将所述内线圈模组设置在所述外线圈模组内，在所述内线圈模组与所述外线圈模组间形成可供所述内线圈模组移动的气隙，该方法还包括：
    驱动音圈电机的外线圈模组产生外线圈电磁力；
    根据期望力指令，以及根据所述音圈电机的执行机构发送的力反馈信息，确定内线圈电流指令；
    根据所述内线圈电流指令，驱动所述音圈电机的内线圈模组产生内线圈电磁力；
    根据所述外线圈电磁力和所述内线圈电磁力，使所述执行机构产生电机作用力。
  2. 如权利要求1所述的方法，其中，所述驱动音圈电机的外线圈模组产生外线圈电磁力包括：
    根据所述期望力指令确定外线圈力指令；
    根据所述外线圈力指令确定外线圈电流指令；
    获取外线圈电流反馈信息，根据所述外线圈电流指令和外线圈电流反馈信息确定外线圈驱动指令；
    根据所述外线圈驱动指令驱动所述外线圈模组产生外线圈电磁力。
  3. 如权利要求2所述的方法，其中，所述根据所述外线圈力指令确定外线圈电流指令包括：
    根据外线圈模组的线圈长度、圈数、磁极面积和磁导率，以及所述外线圈力指令，确定外线圈电流指令。
  4. 如权利要求2所述的方法，其中，所述根据所述外线圈电流指令和外线圈电流反馈信息确定外线圈驱动指令包括：
    根据所述外线圈电流指令和外线圈电流反馈信息，确定外线圈电流差值；
    将所述外线圈电流差值分别与外线圈电流环比例增益、外线圈电流环积分增益及外线圈电流环微分增益进行相应运算，利用得到的各运算值确定外线圈驱动指令。
  5. 如权利要求1所述的方法，其中，所述根据期望力指令，以及根据所述音圈电机的执行机构发送的力反馈信息，确定内线圈电流指令包括：
    根据期望力指令和力反馈信息确定力差值；
    将所述力差值分别与力闭环比例增益、力闭环积分增益及力闭环微分增益进行相应运算，利用得到的各运算值和所述期望力指令，确定内线圈电流指令。
  6. 如权利要求1所述的方法，其中，所述根据所述内线圈电流指令，驱动所述音圈电机的内线圈模组产生内线圈电磁力包括：
    获取内线圈电流反馈信息；
    根据所述内线圈电流指令和所述内线圈电流反馈信息确定内线圈驱动指令；
    根据所述内线圈驱动指令，驱动所述音圈电机的内线圈模组产生内线圈电磁力。
  7. 如权利要求6所述的方法，其中，所述根据所述内线圈电流指令和所述内线圈电流反馈信息确定内线圈驱动指令包括：
    根据所述内线圈电流指令和所述内线圈电流反馈信息，确定内线圈电流差值；
    将所述内线圈电流差值分别与内线圈电流环比例增益、内线圈电流环积分增益及内线圈电流环微分增益进行相应运算，利用得到的各运算值确定内线圈驱动指令。
  8. 一种音圈电机控制装置，其中，所述音圈电机由内线圈模组和外线圈模组构成，所述内线圈模组设置在所述外线圈模组内，所述内线圈模组与所述外线圈模组间形成可供所述内线圈模组移动的气隙；该装置包括：
    外线圈控制单元，用于驱动音圈电机的外线圈模组产生外线圈电磁力；
    内线圈控制单元，用于根据期望力指令，以及根据所述音圈电机的执行机 构发送的力反馈信息，确定内线圈电流指令；以及根据所述内线圈电流指令，驱动所述音圈电机的内线圈模组产生内线圈电磁力；
    执行单元，用于根据所述外线圈电磁力和所述内线圈电磁力，使所述执行机构产生电机作用力。
  9. 如权利要求8所述的装置，其中，
    所述外线圈控制单元，用于根据期望力指令确定外线圈力指令；根据外线圈力指令确定外线圈电流指令；获取外线圈电流反馈信息，根据外线圈电流指令和外线圈电流反馈信息确定外线圈驱动指令；根据外线圈驱动指令驱动外线圈模组产生外线圈电磁力。
  10. 如权利要求8所述的装置，其中，
    所述内线圈控制单元，用于根据期望力指令和力反馈信息确定力差值；将力差值分别与力闭环比例增益、力闭环积分增益及力闭环微分增益进行相应运算，利用得到的各运算值和期望力指令，确定内线圈电流指令。
  11. 如权利要求8所述的装置，其中，
    所述内线圈控制单元，用于获取内线圈电流反馈信息；根据内线圈电流指令和内线圈电流反馈信息确定内线圈驱动指令；根据内线圈驱动指令，驱动音圈。
  12. 一种音圈电机，其中，包括基座、可移动的内线圈模组、外线圈模组和执行机构；
    所述外线圈模组嵌设于所述基座上，所述内线圈模组设置在所述外线圈模组内，所述内线圈模组与所述外线圈模组间形成可供所述内线圈模组移动的气隙；
    所述执行机构与所述内线圈模组连接；
    所述外线圈模组可响应于如权利要求8所述的音圈电机控制装置而产生外线圈电磁力，所述内线圈模组可响应于如权利要求8所述的音圈电机控制装置而产生内线圈电磁力，从而使所述执行机构根据所述外线圈电磁力和所述内线圈电磁力产生电机作用力。
  13. 如权利要求12所述的音圈电机，其中，所述执行机构的末端设置有力传感器，用于生成力反馈信息并发送给所述音圈电机控制装置。
PCT/CN2021/131366 2021-02-23 2021-11-18 音圈电机及其控制方法和控制装置 Ceased WO2022179201A1 (zh)

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