WO2023005283A1 - 一种非传感器式闭环防抖控制算法及其应用电路 - Google Patents

一种非传感器式闭环防抖控制算法及其应用电路 Download PDF

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WO2023005283A1
WO2023005283A1 PCT/CN2022/088493 CN2022088493W WO2023005283A1 WO 2023005283 A1 WO2023005283 A1 WO 2023005283A1 CN 2022088493 W CN2022088493 W CN 2022088493W WO 2023005283 A1 WO2023005283 A1 WO 2023005283A1
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shake
closed
loop
motor
shake control
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PCT/CN2022/088493
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English (en)
French (fr)
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麦练智
朱怡宗
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高瞻创新科技有限公司
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/646—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for small deviations, e.g. due to vibration or shake
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • 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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
    • G03B2205/0007—Movement of one or more optical elements for control of motion blur
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B2217/00—Details of cameras or camera bodies; Accessories therefor
    • G03B2217/005—Blur detection

Definitions

  • the invention relates to an anti-shake control algorithm and its application circuit, in particular to a non-sensor type closed-loop anti-shake control algorithm and its application circuit.
  • the device includes at least one zoom (zoom), auto-focus (Auto-Focus) or fixed-focus (Fixed-Focus) compact camera module. Therefore, the market for said modules is large and the growth is steadily increasing.
  • the photos and videos taken by the device may be blurred or shaken due to external vibrations, which will affect the quality of the photos and videos. This problem is exacerbated when the vibrations are intense, or in low light situations.
  • the existing mainstream technology reads the vibration sensor (such as gyroscope and acceleration sensor), calculates the vibration waveform and the required compensation angle, and drives and controls the Optical Image Stabilizer (OIS) and the translation sensor (Sensor- Shift Stabilizer (SSS) or gimbal stabilizer (Gimbal Stabilizer, GS) motor, which compensates for image blur and shaking caused by vibration, and achieves the effect of improving image quality.
  • the vibration sensor such as gyroscope and acceleration sensor
  • SSS Sensor- Shift Stabilizer
  • GS gimbal stabilizer
  • the first type of anti-shake control method uses a sensor-type closed-loop anti-shake control algorithm and circuit, and needs to add a position sensor (such as a Hall sensor) to the motor.
  • the algorithm and circuit read the position sensor and perform closed-loop anti-shake control to achieve excellent anti-shake effect and reduce the chance of resonance of the anti-shake motor caused by external vibration and the risk of image blur caused by resonance.
  • the second type of anti-shake control method adopts an open-loop anti-shake control algorithm and circuit, which does not need to add a position sensor to the motor, simplifies the anti-shake motor and camera module, and reduces the size of the motor and module and cost.
  • the purpose of the invention is to solve existing:
  • the second type of anti-shake control method adopts open-loop control, so it is easy to cause resonance or unnecessary movement of the anti-shake motor due to external vibration, which increases the risk of image blur caused by the resonance or movement.
  • To provide a better anti-shake control and anti-shake effect without adding an additional sensor to the motor reduce the risk of image blur caused by resonance, and simplify the anti-shake motor and camera module, reducing the The sensorless closed-loop anti-shake control algorithm and its application circuit for the size and cost of the motor and module.
  • a non-sensor type closed-loop anti-shake control algorithm comprising:
  • V i, k is the voltage of coil group i at time step k
  • I i, k is the current of coil group i at time step k
  • R i, k is the resistance of coil group i at time step k
  • V k
  • ⁇ j, k is the jth axis when The anti-shake compensation angle or/and distance at step k, F i, k is the closed-loop control output to the drive circuit and coil group i at time step k, and a i is the corresponding coil group i in the closed-loop anti-shake control Gain, the main equations in all the closed-loop anti-shake control modules are as follows:
  • G i ( ⁇ k ) in Equation 9 is a function of ⁇ k , and its function is to calculate the open-loop control output to the driving circuit and coil group i when compensating ⁇ k .
  • a i E i, k-1 in Equation 9 is to add closed-loop control components on the basis of open-loop control to achieve the effect of closed-loop control, change the characteristics of the anti-shake motor, improve the performance of anti-shake and reduce the image caused by resonance Risk of ambiguity.
  • An application circuit using the above-mentioned non-sensor closed-loop anti-shake control algorithm includes a drive circuit, an induction circuit and a multi-axis anti-shake motor; the drive circuit outputs anti-shake according to the non-sensor closed-loop anti-shake control algorithm Shake control command to drive the corresponding multi-axis anti-shake motor; the induction circuit detects all voltages and currents output from the drive circuit to the multi-axis anti-shake motor, and outputs to the non-sensor closed-loop anti-shake control algorithm; the non-sensor The sensor-type closed-loop anti-shake control algorithm calculates and outputs the closed-loop anti-shake control module according to the input anti-shake compensation angle and the voltage and current.
  • the multi-axis anti-shake motor is a voice coil motor or a servo motor, which is composed of multiple sets of coils and magnets.
  • non-sensor closed-loop anti-shake control algorithm stores the output voltage V k or current I k in at least one memory of the closed-loop anti-shake control module for use by the algorithm in the next time step.
  • the multi-axis anti-shake motor is also equipped with a spring oscillator system, by adjusting the gain a i in the closed-loop anti-shake control module, the damping of part of the spring oscillator system in the multi-axis anti-shake motor
  • the ratio is between 0.4 and 1.4.
  • the application circuit is also provided with a control chip, and the control chip is also provided with a microcontroller, a control circuit and a sensing circuit; the control chip includes the non-sensor closed-loop anti-shake control algorithm.
  • control chip is also provided with an amplifier and an analog-to-digital converter to form an induction circuit.
  • At least one resistor is provided outside the control chip to form at least one induction circuit
  • control chip is externally provided with at least one resistor and capacitor to form at least one sensing circuit.
  • the anti-shake motor and camera module can be simplified, and the size and cost of the motor and module can be reduced.
  • Fig. 1 is the block diagram of the operation steps of algorithm described in this scheme
  • Fig. 2 is the application circuit one of algorithm described in this scheme
  • Fig. 3 is the application circuit two of algorithm described in this scheme.
  • Fig. 4 is the application circuit three of the algorithm described in this scheme.
  • Fig. 5 is the application circuit 4 of the algorithm described in this scheme.
  • a non-sensor closed-loop anti-shake control algorithm in Embodiment 1 of this solution includes: a resistance calculation module, a counter electromotive force calculation module and a closed-loop anti-shake control module.
  • Embodiment 1 also includes the application circuit of the algorithm, including: a drive circuit, an induction circuit, and a multi-axis anti-shake motor; the one drive circuit outputs anti-shake control according to the algorithm, Driving the one multi-axis anti-shake motor; the one sensing circuit detects all the voltages and currents output from the one drive circuit to the one multi-axis anti-shake motor, and outputs to the algorithm; the algorithm is based on the input The anti-shake compensation angle and the voltage and current are used to calculate and output the closed-loop anti-shake control.
  • the moving speed of the multiple coils of the multi-axis anti-shake motor relative to the magnet in Example 1 It will affect the counter electromotive force E k in the driving circuit, and the relationship between the voltage V k and the current I k .
  • the absolute value of the back electromotive force will also increase.
  • the algorithm and application circuit in Embodiment 1 can drive the one multi-axis anti-shake motor to perform anti-shake movement, compensate image blur caused by vibration, and improve image clarity.
  • Embodiment 2 is a non-sensor closed-loop anti-shake control algorithm and its application circuit in Embodiment 2 of the present invention.
  • Embodiment 2 adds an anti-shake compensation angle calculation module, reads the signal of the vibration sensor, calculates the multi-axis anti-shake compensation angle and/or distance, and outputs it to the closed-loop anti-shake control module.
  • a non-sensor closed-loop anti-shake control algorithm in Embodiment 2 includes a memory, which can store the control signal (current or voltage) of the closed-loop anti-shake control module for the next time step resistance calculation module and back electromotive force calculation The use of the module eliminates the need to read relevant signals through the sensing circuit, resulting in a more simplified sensing circuit.
  • the application circuit corresponds to the algorithm in Embodiment 2, and includes a current drive circuit, two induction circuits, a microcontroller, and a vibration sensor , and a multi-axis anti-shake motor;
  • the induction circuit 1 includes a plurality of resistors and capacitors, which form a plurality of low-pass filters, connect the output of the current drive circuit, and filter the high-frequency noise in the output;
  • the one current drive circuit , sensing circuit 1 and a microcontroller are integrated in an anti-shake control chip;
  • said sensing circuit 2 includes a plurality of amplifiers and a multi-channel analog-to-digital converter (Multi-Channel Analog-to-Digital Converter); said sensing circuit
  • the input of 2 is connected to the filtered output in the sensing circuit 1;
  • the output of the sensing circuit 2 is connected to the input of the microcontroller; through the sensing circuits 1 and 2, the microcontroller can read the current drive circuit
  • Embodiment 4 of the present invention As shown in Figure 5, it is the application circuit in Embodiment 4 of the present invention, which is similar to the application circuit in Embodiment 3, except that Embodiment 4 uses a voltage drive circuit, different combinations of capacitance and resistance of the sensing circuit 1, and micro-control
  • the device reads a plurality of currents of the voltage driving circuit through the sensing circuits 1 and 2, and the microcontroller calculates and outputs the driving voltage, and stores the relevant signals to the memory in the microcontroller.
  • Embodiments 3 and 4 are close to the popular control chips currently on the market, when applying the algorithms and circuits in Embodiments 3 and 4, traditional anti-shake control chips can be used to simplify external electronic parts and circuits , Reduce cost and size.
  • the damping of the spring vibrator system in the multi-axis anti-shake motor can be changed by adjusting the a i of equation 9 (the gain of the corresponding coil group i in the closed-loop anti-shake control) in the non-sensor type closed-loop anti-shake control algorithm in the microprocessor coefficient.
  • a i the gain of the corresponding coil group i in the closed-loop anti-shake control
  • the multi-axis anti-shake motor can achieve a good anti-shake effect and reduce the risk of image blur caused by resonance .
  • the algorithm and its application circuit in the embodiment do not require additional sensors to be added to the motor, the motor and the module can be effectively simplified, and the size and cost of the motor and the module can be reduced.
  • the relevant resistances in the drive circuit and the induction circuit when calculating the coil resistance R k-1 , add the relevant resistances in the drive circuit and the induction circuit; change the number of multi-axis anti-shake motors or the number of input channels; do not store the control output signal to the memory; change the resistance calculation module 1.
  • the number and combination of counter electromotive force calculation modules or closed-loop anti-shake control modules change the number and combination of sensing circuits or driving circuits; change the number and combination of analog-to-digital converters, amplifiers, resistors or capacitors in the sensing circuit; remove all capacitors in the sensing circuit; And removing the vibration sensor is also within the protection scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Adjustment Of Camera Lenses (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

提供一种非传感器式闭环防抖控制算法，算法的步骤包括：1、通过电阻计算模块读取驱动一个多轴防抖马达所有电压V k-1及电流I k-1；2、通过步骤1.1中计算及输出一个多轴防抖马达中的所有线圈电阻R k-1；3、通过反电动势计算模块读取上述步骤1和2中所有电阻、电压及电流，计算及输出一个多轴防抖马达中的所有线圈的反电动势E k-1；4、通过一个闭环防抖控制模块读取防抖补偿角度θ k，以及每个线圈电阻及反电动势，并计算及输出闭环防抖控制F k；5、接着等待一个时步k＝k+1，并重复上述1至4中的步骤。在没有传感器的马达中加入闭环控制元素，达到优良的防抖效果及减低因共振造成影像模糊的风险。

Description

一种非传感器式闭环防抖控制算法及其应用电路 技术领域
本发明涉及一种防抖控制算法及其应用电路，特别是一种非传感器式闭环防抖控制算法及其应用电路。
背景技术
近年来具有拍摄功能的小型移动装置十分普及，应用范围亦不断扩展，包括智能手机﹑智能眼镜﹑运动相机﹑执法记录仪及行车记录仪。在所述装置中，包含至少一颗变焦(zoom)﹑自动对焦(Auto-Focus)或定焦(Fixed-Focus)小型相机模组(Compact camera module)。因此，所述模组的市场很庞大，增长亦稳步上扬。
在拍照及拍影片时，所述装置拍出来的照片及影片很可能因为外来振动而出现模糊或晃动，影响照片及影片质素。当振动比较激烈，或在低光情况下，这问题会更加严重。
为了解决上述问题，市场上已经出现很多不同的防抖技术。现有主流技术通过读取振动传感器(例如陀螺仪及加速传感器)，计算振动波形及所需的补偿角度，通过驱动及控制光学防抖(Optical Image Stabilizer,OIS)﹑平移传感器防抖(Sensor-Shift Stabilizer,SSS)或防抖云台(Gimbal Stabilizer,GS)马达，补偿因振动造成的图像模糊及晃动，达致改进图像质素的效果。
第一类防抖控制方式(参考专利：CN102749697B及CN110892704A)采用传感器式闭环防抖控制算法及电路，需要在马达中加入位置传感器(例如霍尔传感器)。所述算法及电路通过读取位 置传感器，进行闭环防抖控制，达致优秀的防抖效果，并降低因为外来振动导致防抖马达出现共振的机会及因共振造成影像模糊的风险。
第二类防抖控制方式(参考专利：CN102798959B及CN107340667B)采用开环防抖控制算法及电路，不需要在马达中加入位置传感器，简化防抖马达及相机模组，减低马达及模组的尺寸和成本。
发明内容
本发明的目的是在于解决现有：
1、第一类防抖控制方式中，需要在马达中加入位置传感器及额外的插脚，导致防抖马达及模组驱动电路和芯片更复杂，提高马达及模组的尺寸和成本；
2、第二类防抖控制方式因为采用开环控制，所以容易出现因为外来振动导致防抖马达出现共振或不需要的运动，增加因所述共振或运动造成影像模糊的风险。而提供一种在不需要在马达中加入额外传感器的情况下，可以达到较好的防抖控制和防抖效果，减低因共振造成影像模糊的风险，以及简化防抖马达及相机模组，降低马达及模组的尺寸和成本的非传感器式闭环防抖控制算法及其应用电路。
一种非传感器式闭环防抖控制算法，所述算法的步骤包括：
1.1、通过电阻计算模块读取驱动一个多轴防抖马达所有电压V k-1及电流I k-1；
1.2、通过步骤1.1中计算及输出一个多轴防抖马达中的所有线圈电 阻R k-1；
1.3、通过反电动势计算模块读取上述步骤1.1和1.2中所有电阻、电压及电流，计算及输出一个多轴防抖马达中的所有线圈的反电动势E k-1；
1.4、通过一个闭环防抖控制模块读取防抖补偿角度θ k，以及所述的每个线圈电阻及反电动势，并计算及输出闭环防抖控制F k；
1.5、接着等待一个时步k＝k+1，并重复上述1.1至1.4中的步骤。
当n是所述所有多轴防抖马达中的线圈组数目、V i，k是线圈组i在时步k时的电压、I i，k是线圈组i在时步k时的电流、以及R i，k是线圈组i在时步k时电阻，所述所有电阻计算模块中的主要方程式如下：
V k＝|V 1.k，…，V i.k，…，V n.k|    (方程式1)
I k＝|I 1，k，…，I i，k，…，I n，k|    (方程式2)
R k-[R 1，k，…，R i，k，…，R n，k]   (方程式3)
Figure PCTCN2022088493-appb-000001
当E i，k是线圈组i在时步k时的反电动势，所述所有反电动势模块中的主要方程式如下：
E k＝|E 1，k，…，E i，k，…，E n，k|     (方程式5)
E i，k-1-V i，k-1-I i，k-1R i，k-1     (方程式6)
当m是所述多轴防抖马达中的防抖补偿轴(可以包含3轴倾斜方向及2轴平移方向，但不包含沿光轴平移方向)数目、θ j，k是第j轴在时步k时的防抖补偿角度或/及距离、F i，k是输出至驱动电路及线圈组i在时步k时的闭环控制、以及a i是闭环防抖控制中的对应线圈组i的增益，所述所有闭环防抖控制模块中的主要方程式如下：
F k＝[F 1，k，…，F i，k，…，F n，k]    (方程式7)
θ k＝[θ 1，k，…，θ j，k，…，θ m，k]     (方程式8)
F i，k＝G i(θ k)-a iE i，k-1     (方程式9)
方程式9中的G i(θ k)是θ k的函数，作用是计算补偿θ k时输出至驱动电路及线圈组i的开环控制。方程式9中的a iE i，k-1是在开环控制的基础上加入闭环控制的成分，达致闭环控制的效果，改变防抖马达的特性，提高防抖表现及减低因共振造成影像模糊的风险。
采用如上述的一种非传感器式闭环防抖控制算法的应用电路，所述应用电路包括驱动电路、感应电路和多轴防抖马达；所述驱动电路根据非传感器式闭环防抖控制算法输出防抖控制指令，驱动对应的多轴防抖马达；所述感应电路侦测驱动电路输出至多轴防抖马达的所有电压及电流，并输出至所述非传感器式闭环防抖控制算法；所述非传感器式闭环防抖控制算法根据输入的防抖补偿角度及所述电压及电流，计算及输出闭环防抖控制模块。
进一步的，所述多轴防抖马达是音圈马达或伺服马达，由多组线圈及磁石组成。
进一步的，所述闭环防抖控制模块输出的防抖控制是电压F k＝V k，即是用电压驱动多轴防抖马达进行防抖运动。
进一步的，所述闭环防抖控制模块输出的防抖控制是电流F k＝I k即是用电流驱动多轴防抖马达进行防抖运动。
进一步的，所述非传感器式闭环防抖控制算法储存闭环防抖控制模块中的输出电压V k或电流I k至少一个记忆体中，供下一个时步时所述算法计算使用。
进一步的，所述的多轴防抖马达还设有弹簧振子系统，通过调整所述的闭环防抖控制模块中的增益a i，所述的多轴防抖马达中部份弹簧振子系统的阻尼比在0.4及1.4之间。
进一步的，所述的应用电路还设有控制芯片，所述的控制芯片还设有微控制器、控制电路和感应电路；所述控制芯片包含所述的非传感器式闭环防抖控制算法。
进一步的，所述控制芯片还设有放大器和模拟数字转换器，构成一个感应电路。
进一步的，所述控制芯片外设有至少一个电阻，构成至少一个感应电路；
进一步的，所述控制芯片外设有至少一个电阻和电容，构成至少一个感应电路。
采用上述技术方案的有益效果是：
首先，能在没有传感器的马达中加入闭环控制元素，达到优良的防抖效果及减低因共振造成影像模糊的风险。
其次，由于本发明不需要在马达中加入额外的传感器，所以可以 简化防抖马达及相机模组，减低马达及模组的尺寸和成本。
再次，因为本发明所需的微控制器、驱动电路、放大器、以及模拟数字转换器在传统防抖控制芯片中是常见的，所以应用本发明的算法及电路时，可以采用传统防抖控制芯片，简化外置电子零件及电路，减低成本及体积。
附图说明
图1为本方案中所述算法的操作步骤的框图；
图2为本方案中所述算法的应用电路一；
图3为本方案中所述算法的应用电路二；
图4为本方案中所述算法的应用电路三；
图5为本方案中所述算法的应用电路四。
具体实施方式
以下结合附图和本发明优选的具体实施例对本发明的内容作进一步地说明。所举实例只用于解释本发明，并非用于限定本发明的范围。
如图1至5中所示，本方案的实施例1中的一种非传感器式闭环防抖控制算法，包括：电阻计算模块、反电动势计算模块和闭环防抖控制模块。
如图一所示，实施例1中的一种非传感器式闭环防抖控制算法的步骤包括：所述一个电阻计算模块读取驱动一个多轴防抖马达所有电压V k-1及电流I k-1，计算及输出一个多轴防抖马达中的所有线圈电阻 R k-1；所述一个反电动势计算模块读取所述所有电阻、电压及电流，计算及输出一个多轴防抖马达中的所有线圈的反电动势E k-1；所述一个闭环防抖控制模块读取防抖补偿角度或/及距离θ k、以及所述的每个线圈电阻及反电动势，并计算及输出闭环防抖控制F k，之后等待一个时步k＝k+1，并不断重复以上步骤。
如图二所示，实施例1还包含所述算法的应用电路，包括：一个驱动电路、一个感应电路、以及一个多轴防抖马达；所述一个驱动电路根据所述算法输出防抖控制，驱动所述一个多轴防抖马达；所述一个感应电路侦测所述一个驱动电路输出至所述一个多轴防抖马达的所有电压及电流，并输出至所述算法；所述算法根据输入的防抖补偿角度及所述电压及电流，计算及输出闭环防抖控制。
实施例1中多轴防抖马达多个线圈相对于磁石的移动速度
Figure PCTCN2022088493-appb-000002
会影响驱动电路中的反电动势E k，以及电压V k及电流I k之间的关系。当移动速度上升，反电动势的绝对值亦会提升。
实施例1中的算法及应用电路可以驱动所述一个多轴防抖马达进行防抖运动，补偿因振动造成的图像模糊，提高图像清晰度。
如图三所示，为本发明的实施例2中的一种非传感器式闭环防抖控制算法及其应用电路。和实施例1不同，实施例2加入防抖补偿角度计算模块，读取振动传感器的信号，计算多轴防抖补偿角度及/或 距离，并输出至闭环防抖控制模块。另外，实施例2中的一种非传感器式闭环防抖控制算法包含记忆体，可以储存闭环防抖控制模块的控制信号(电流或电压)，供下个时步时电阻计算模块及反电动势计算模块使用，无需再通过感应电路读取相关信号，达致更简化的感应电路。
如图四所示，为本发明的实施例3中的应用电路，所述应用电路对应实施例2中的算法，并包含一个电流驱动电路、两个感应电路、一个微控制器、一个振动传感器、以及一个多轴防抖马达；所述感应电路1包含多个电阻及电容，组成多个低通滤波器，连接电流驱动电路的输出，过滤输出中的高频噪音；所述一个电流驱动电路、感应电路1及一个微控制器集成在一个防抖控制芯片中；所述感应电路2包含多个放大器及多通道模拟数字转换器(Multi-Channel Analog-to-Digital Converter)；所述感应电路2的输入连接所述感应电路1中的过滤后输出；所述感应电路2的输出连接微控制器的输入；通过所述感应电路1及2，所述微控制器能读取电流驱动电路的多个输出电压；通过记忆体，所述微控制器多轴防抖马达于上一个时步的电流；所述微控制器读取振动传感器和进行所述的防抖补偿角度计算算法及非传感器式闭环防抖控制算法后，计算及输出控制信号至所述电流驱动电路，并储存所述电流于所述微控制器中的记忆体，供所述两个算法于下一个时步使用。
如图五所示，为本发明的实施例4中的应用电路，和实施例3中的应用电路相近，除了实施例4采用电压驱动电路、不同的感应电路 1的电容及电阻组合、微控制器通过感应电路1及2读取电压驱动电路的多个电流、以及微控制器计算及输出驱动电压，并储存相关信号至微控制器中的记忆体。
因为实施例3及4中的防抖控制芯片接近目前市面上流行的控制芯片，所以应用实施例3及4中的算法及电路时，可以采用传统防抖控制芯片，简化外置电子零件及电路，减低成本及体积。
通过调整在微处理器中非传感器式闭环防抖控制算法中方程式9的a i(闭环防抖控制中的对应线圈组i的增益)，能改变多轴防抖马达中的弹簧振子系统的阻尼系数。通过提高a i，能达致较大的阻尼系数及阻尼比。
优选地，当阻尼比被调较为0.4及1.4之间(接近临界阻尼状态/Near Critical Damping)时，所述多轴防抖马达可达致接近优良防抖效果，减低因共振造成影像模糊的风险。
由于实施例中的算法及其应用电路不需要在所述马达中加入额外传感器，所以能有效简化所述马达及模组，减低马达及模组的尺寸和成本。
在其它实施例中，计算线圈电阻R k-1时加入驱动电路及感应电路中的相关电阻；改变多轴防抖马达数目或输入通道数目；不储存控制输出信号至记忆体；改变电阻计算模块、反电动势计算模块或闭环防抖控制模块数目及组合；改变感应电路或驱动电路数目及组合；改变感应电路中模拟数字转换器、放大器、电阻或电容数目及组合；去 掉感应电路中所有电容；以及去掉振动传感器，亦在本发明的保护范围之内。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种非传感器式闭环防抖控制算法，其特征在于，所述算法的步骤包括：
    1.1、通过电阻计算模块读取驱动一个多轴防抖马达所有电压V k-1及电流I k-1；
    1.2、通过步骤1.1中计算及输出一个多轴防抖马达中的所有线圈电阻R k-1；
    1.3、通过反电动势计算模块读取上述步骤1.1和1.2中所有电阻、电压及电流，计算及输出一个多轴防抖马达中的所有线圈的反电动势E k-1；
    1.4、通过一个闭环防抖控制模块读取防抖补偿角度θ k，以及所述的每个线圈电阻及反电动势，并计算及输出闭环防抖控制F k；
    1.5、接着等待一个时步k＝k+1，并重复上述1.1至1.4中的步骤。
  2. 采用如权利要求1所述的一种非传感器式闭环防抖控制算法的应用电路，其特征在于：所述应用电路包括驱动电路、感应电路和多轴防抖马达；所述驱动电路根据非传感器式闭环防抖控制算法输出防抖控制指令，驱动对应的多轴防抖马达；所述感应电路侦测驱动电路输出至多轴防抖马达的所有电压及电流，并输出至所述非传感器式闭环防抖控制算法；所述非传感器式闭环防抖控制算法根据输入的防抖补偿角度及所述电压及电流，计算及输出闭环防抖控制模块。
  3. 根据权利要求2中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述多轴防抖马达是音圈马达或伺服马达，由多组线圈及磁石组成。
  4. 根据权利要求2中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述闭环防抖控制模块输出的防抖控制是电压F k＝V k，即是用电压驱动多轴防抖马达进行防抖运动。
  5. 根据权利要求2中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述闭环防抖控制模块输出的防抖控制是电流F k＝I k，即是用电流驱动多轴防抖马达进行防抖运动。
  6. 根据权利要求2中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述非传感器式闭环防抖控制算法储存闭环防抖控制模块中的输出电压V k或电流I k至少一个记忆体中，供下一个时步时所述算法计算使用。
  7. 根据权利要求2中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述的多轴防抖马达还设有弹簧振子系统，通过调整所述的闭环防抖控制模块中的增益a i，所述的多轴防抖马达中部份弹簧振子系统的阻尼比在0.4及1.4之间。
  8. 根据权利要求2中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述的应用电路还设有控制芯片，所述的控制芯片还设有微控制器、控制电路和感应电路；所述控制芯片包含所述的非 传感器式闭环防抖控制算法。
  9. 根据权利要求8中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述控制芯片还设有放大器和模拟数字转换器，构成一个感应电路。
  10. 根据权利要求8中所述的非传感器式闭环防抖控制算法的应用电路，其特征在于：所述控制芯片外设有至少一个电阻，构成至少一个感应电路。
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