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A Motion Control Method of Nonlinear Voice Coil Motor Based on Frequency Domain Index

A frequency domain index, voice coil motor technology, applied in the direction of AC motor control, control system, electrical components, etc., to achieve the effect of intuitive process, good robustness, and speeding up the tuning work

Active Publication Date: 2021-08-10
济南益华摩擦学测试技术有限公司
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Problems solved by technology

There is no suitable solution for the control problem of the voice coil motor used in tribological testing equipment to drive the sample to do linear reciprocating motion within a wide frequency band

Method used

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  • A Motion Control Method of Nonlinear Voice Coil Motor Based on Frequency Domain Index
  • A Motion Control Method of Nonlinear Voice Coil Motor Based on Frequency Domain Index
  • A Motion Control Method of Nonlinear Voice Coil Motor Based on Frequency Domain Index

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with accompanying drawing by non-limiting embodiment:

[0030] A non-linear voice coil motor motion control method based on frequency domain indicators applied to tribological testing equipment, which comprises the following steps:

[0031] (1) Digitally filter the feedback displacement signal to eliminate the impact of high-frequency noise on the closed-loop control system. The filter used is a 9th-order direct type II elliptic filter with a sampling frequency of 4000Hz. The cutoff frequency is 100Hz, the stopband gain is set to -80dB, and the passband ripple is 1dB;

[0032] In the present invention, aiming at the application scenario of the control method, an infinite impulse response type low-pass digital filter is selected in consideration of saving computing resources. Specific to the filter design method, the elliptic filter algorithm is used. Compared with other types of filters, under the pr...

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Abstract

The invention discloses a motion control method of a nonlinear voice coil motor based on a frequency domain index. It includes the following steps: (1) digitally filter the feedback displacement signal first; (2) send the frequency of the reference displacement signal and the displacement feedback signal processed by digital filtering in the previous step into the short-time Fourier transform module Perform processing to calculate the sine wave amplitude a corresponding to the frequency in the displacement feedback signal; (3) make a difference between the feedback signal amplitude a obtained in the previous step and the reference signal amplitude to obtain the amplitude error signal e a , will e a Send it to the PI controller in the controller amplitude control sub-module to obtain the amplitude of the sinusoidal voltage signal u that the controller acts on the two poles of the motor; (4) Introduce the gain scheduling method. The present invention can convert the real-time trajectory tracking problem of the voice coil motor in the time domain into the amplitude stabilization problem of a specific frequency component in the frequency domain, and can ensure that the testing machine can obtain satisfactory trajectory control accuracy in an extremely wide frequency range .

Description

technical field [0001] The invention relates to a motion control method of a nonlinear voice coil motor, in particular to a motion control method of a nonlinear voice coil motor applied to tribology testing equipment. Background technique [0002] As a direct-drive DC motor, the voice coil motor has a structure and working principle similar to that of a moving coil loudspeaker, and exhibits good static and dynamic characteristics. Since there is no commutation mechanism, the voice coil motor has a theoretically infinitely small positioning resolution and can be used in scenarios that require high-precision positioning. Typical application scenarios include autofocus modules of digital cameras and high-precision positioning platforms. As a direct drive motor, it can cancel transmission mechanisms such as gearboxes and cams, and can effectively reduce problems such as positioning errors caused by mechanical clearances. With the fast response speed of the voice coil motor, it...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P25/034
CPCH02P25/034
Inventor 王若同蒋林肖华
Owner 济南益华摩擦学测试技术有限公司
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