CN113727262B - Voice coil driver force output type displacement control method based on matching disturbance compensation - Google Patents
Voice coil driver force output type displacement control method based on matching disturbance compensation Download PDFInfo
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- CN113727262B CN113727262B CN202110992029.2A CN202110992029A CN113727262B CN 113727262 B CN113727262 B CN 113727262B CN 202110992029 A CN202110992029 A CN 202110992029A CN 113727262 B CN113727262 B CN 113727262B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims description 6
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- 238000013178 mathematical model Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000013017 mechanical damping Methods 0.000 claims description 3
- 238000002347 injection Methods 0.000 abstract description 7
- 239000007924 injection Substances 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 230000015556 catabolic process Effects 0.000 abstract description 3
- 238000006731 degradation reaction Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000009661 fatigue test Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R9/00—Transducers of moving-coil, moving-strip, or moving-wire type
- H04R9/06—Loudspeakers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R9/00—Transducers of moving-coil, moving-strip, or moving-wire type
- H04R9/02—Details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R2400/00—Loudspeakers
- H04R2400/11—Aspects regarding the frame of loudspeaker transducers
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Abstract
A voice coil driver force output type displacement control method based on matching disturbance compensation can realize real-time online estimation and active compensation on time-varying nonlinear load and system model uncertainty dynamics, and is more suitable for displacement control of voice coil drivers dragging wide dynamic range complex time-varying nonlinear load. By the method of online estimation and active compensation, equivalent matching injection disturbance including uncertainty dynamics of a time-varying nonlinear load and a system model can be counteracted, so that the compensated system is transformed into a typical second-order system by a feedback method, and the system has more ideal dynamic characteristics. A finite time convergence law is introduced on the basis of counteracting the equivalent injection disturbance. The phase difference between the output displacement and the reference displacement can be reduced, and meanwhile, the switching control quantity is effectively reduced, and the degradation of the system control quality caused by the shake effect is avoided.
Description
Technical Field
The invention relates to the technical field of voice coil drivers, in particular to a voice coil driver force output type displacement control method based on matching disturbance compensation.
Background
The voice coil type driver can realize theoretically infinitely small positioning resolution because the transmission device can be omitted and a camera mechanism is not required to be replaced. The device can drag a load to realize high-frequency motion in a larger dynamic range by applying the quick response characteristic of the voice coil type driver, and is widely applied to scenes such as mechanical hard disks, lens focusing, mechanical arm end effectors, fatigue testing devices and the like. However, in actual operation, with the increase of the abrasion process between the mover and the stator of the voice coil type driver, a significant change process occurs in the friction coefficient; the dragged load itself also varies over a wide range due to different operating conditions. At the device level, the drive operating resistance exhibits strong non-linear and time-varying characteristics with respect to position and speed. Furthermore, there are two moments when the displacement speed is zero during each minimum movement period during the reciprocating movement. When the rotor moves to the corresponding positions at the moments, the running resistance can change from dynamic friction to static friction to dynamic friction, so that the running resistance curve shows the characteristic of periodic impact. The existence of the above phenomenon makes it difficult for the conventional method employed in industrial control to ensure positioning accuracy throughout the operating cycle of the apparatus. In recent years, three types of methods are mainly proposed around the problem of positioning the voice coil driver: the first class uses a robust control method to design controllers for the upper and lower bounds of system uncertainty. The stability of the closed loop system can be ensured, but the positioning accuracy is sacrificed to a certain extent. The second category uses a nonlinear control method to design controllers for the nonlinear dynamics and uncertainty upper and lower bounds of the known system, but cannot fully exert their advantages for complex frictional loads. The third class uses the off-line disturbance compensation method, has better effect on the application scenes such as voice coil type positioning platform and automatic focusing module with relatively fixed working conditions, but cannot adapt to the application scenes of the fatigue test device with wide working condition variation range, the mechanical arm end effector and the like dragging time-varying load.
Disclosure of Invention
In order to overcome the defects of the technology, the invention provides a method for on-line estimation of equivalent matching injection disturbance including time-varying nonlinear load and uncertainty dynamic of a system model, active cancellation is carried out on the disturbance through the input end of the system, and further control precision of the system is improved.
The technical scheme adopted for overcoming the technical problems is as follows:
a voice coil driver force output type displacement control method based on matching disturbance compensation comprises the following steps:
a) By the formula
Establishing a mathematical model comprising a voice coil driver with equivalent matching injected disturbance forces of force dimension, wherein +.>
Acceleration of moving parts in the voice coil driver, M is total mass of moving parts in the voice coil driver, F a F for electromagnetic force acting on voice coil d Disturbance forces are injected for equivalent matching with force dimensions,
c is the mechanical damping coefficient of the voice coil driver, < >>
The speed of the moving part in the voice coil driver is k is the elastic coefficient of the plate spring in the voice coil driver, x is the displacement of the voice coil relative to the balance position, F f Is the running resistance acting on the voice coil;
b) By the formula
Calculating to obtain the disturbance force F d Estimate of +.>
Wherein D is a constant matrix. D= [0 1 ]]L is a disturbance observer parameter vector, +.>
Vector element L 1 And L 2 Are all the parameters which can be adjusted,
is->
Differential of->
c) By the formula
Calculating to obtain equivalent control force F eq Wherein k is 1 And k 2 The proportional parameter of the constructed linear output function is f, the simple harmonic motion frequency and t, the time;
d) By the formula
Calculating to obtain finite time convergence force F con K in the formula λ For adjustable parameters, K λ ＞0；
e) According to the formula
Calculating a desired control force F des ；
f) By the formula
Calculate the voice coil current i to operate the voice coil driver des ，K s Is a motor constant;
g) The voice coil type driver is established with current closed-loop control based on PI control, and the current i is passed through the voice coil des The voice coil driver is driven to operate.
Further, the moving part of the voice coil driver in the step a) includes a link of the voice coil driver and a voice coil of the voice coil driver.
The beneficial effects of the invention are as follows: different from the existing control method that does not make explicit treatment or adopts a fixed parameter model to make active compensation on the time-varying nonlinear load, the invention can realize real-time online estimation and active compensation on the uncertainty dynamics of the time-varying nonlinear load and the system model, and is more suitable for displacement control of a voice coil driver dragging a wide dynamic range complex time-varying nonlinear load. By the method of online estimation and active compensation, equivalent matching injection disturbance including uncertainty dynamics of a time-varying nonlinear load and a system model can be counteracted, so that the compensated system is transformed into a typical second-order system by a feedback method, and the system has more ideal dynamic characteristics. A finite time convergence law is introduced on the basis of counteracting the equivalent injection disturbance. The phase difference between the output displacement and the reference displacement can be reduced, and meanwhile, the switching control quantity is effectively reduced, and the degradation of the system control quality caused by the shake effect is avoided. Unlike conventional model-based control methods, the present invention does not require extensive testing of the control object for modeling. The only parameter of the total mass of the moving part to be acquired can be measured in a weighing mode, and great convenience is provided for the practical implementation of the method.
Drawings
FIG. 1 is a block diagram of a control system of the present invention;
fig. 2 is a schematic diagram of the method of the present invention.
Detailed Description
The invention is further described with reference to fig. 1 and 2.
As shown in fig. 2, a voice coil driver force output type displacement control method based on matching disturbance compensation comprises the following steps:
a) By the formula
Establishing a mathematical model comprising a voice coil driver with equivalent matching injected disturbance forces of force dimension, wherein +.>
Acceleration of moving parts in the voice coil driver, M is total mass of moving parts in the voice coil driver, F a F for electromagnetic force acting on voice coil d Disturbance forces are injected for equivalent matching with force dimensions,
c is the mechanical damping coefficient of the voice coil driver, < >>
The speed of the moving part in the voice coil driver is k is the elastic coefficient of the plate spring in the voice coil driver, x is the displacement of the voice coil relative to the balance position, F f Is the running resistance acting on the voice coil;
b) By the formula
Calculating to obtain the disturbance force F d Estimate of +.>
Wherein D is a constant matrix. D= [0 1 ]]L is a disturbance observer parameter vector, +.>
Vector element L 1 And L 2 Are all the parameters which can be adjusted,
is->
Differential of->
c) By the formula
Calculating to obtain equivalent control force F eq Wherein k is 1 And k 2 The proportional parameter of the constructed linear output function is f, the simple harmonic motion frequency and t, the time;
d) By the formula
Calculating to obtain finite time convergence force F con K in the formula λ For adjustable parameters, K λ ＞0；
e) According to the formula
Calculating a desired control force F des ；
f) By the formula
Calculate the voice coil current i to operate the voice coil driver des ，K s Is a motor constant;
g) The voice coil type driver is established with current closed-loop control based on PI control, and the current i is passed through the voice coil des The voice coil driver is driven to operate.
As shown in figure 1, the hardware part of the invention mainly comprises a displacement sensor, an embedded controller, a direct current stabilized power supply and a current regulator. The displacement sensor is obtained by a linear orthogonal encoder or an LVDT. The embedded controller can be a digital signal processor or ARM microcontroller chip. The current regulator circuit topology is a two-phase full-bridge IGBT or PowerMOSFET. The direct current stabilized power supply uses a linear analog power supply or a switching power supply. The signal from the embedded controller to the current regulator circuit is a pulse width modulated signal.
Different from the existing control method that does not make explicit treatment or adopts a fixed parameter model to make active compensation on the time-varying nonlinear load, the invention can realize real-time online estimation and active compensation on the uncertainty dynamics of the time-varying nonlinear load and the system model, and is more suitable for displacement control of a voice coil driver dragging a wide dynamic range complex time-varying nonlinear load. By the method of online estimation and active compensation, equivalent matching injection disturbance including uncertainty dynamics of a time-varying nonlinear load and a system model can be counteracted, so that the compensated system is transformed into a typical second-order system by a feedback method, and the system has more ideal dynamic characteristics. A finite time convergence law is introduced on the basis of counteracting the equivalent injection disturbance. The phase difference between the output displacement and the reference displacement can be reduced, and meanwhile, the switching control quantity is effectively reduced, and the degradation of the system control quality caused by the shake effect is avoided. Unlike conventional model-based control methods, the present invention does not require extensive testing of the control object for modeling. The only parameter of the total mass of the moving part to be acquired can be measured in a weighing mode, and great convenience is provided for the practical implementation of the method.
Further, the moving part of the voice coil driver in the step a) includes a link of the voice coil driver and a voice coil of the voice coil driver.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A voice coil driver force output type displacement control method based on matching disturbance compensation is characterized by comprising the following steps:
a) By the formula
Establishing a mathematical model comprising a voice coil driver with equivalent matching injected disturbance forces of force dimension, wherein +.>
Acceleration of moving parts in the voice coil driver, M is total mass of moving parts in the voice coil driver, F a F for electromagnetic force acting on voice coil d Disturbance forces are injected for equivalent matching with force dimensions,
c is the mechanical damping coefficient of the voice coil driver, < >>
For the speed of the moving parts in the voice coil actuator, k is the spring constant of the leaf springs inside the voice coil actuator, x is the position of the voice coil relative to the equilibrium positionShift amount F f Is the running resistance acting on the voice coil;
b) By the formula
Calculating to obtain the disturbance force F d Estimate of +.>
Wherein D is a constant matrix; d= [0 1 ]]L is a disturbance observer parameter vector, +.>
Vector element L 1 And L 2 Are all adjustable parameters, and are->
Is->
Differential of->
c) By the formula
Calculating to obtain equivalent control force F eq Wherein k is 1 And k 2 The proportional parameter of the constructed linear output function is f, the simple harmonic motion frequency and t, the time;
d) By the formula
Calculating to obtain finite time convergence force F con K in the formula λ For adjustable parameters, K λ ＞0；
e)According to the formula
Calculating a desired control force F des ；
f) By the formula
Calculate the voice coil current i to operate the voice coil driver des ，K s Is a motor constant;
g) The voice coil type driver is established with current closed-loop control based on PI control, and the current i is passed through the voice coil des The voice coil driver is driven to operate.
2. The voice coil driver force output type displacement control method based on matching disturbance compensation according to claim 1, wherein: the moving part of the voice coil driver in step a) includes a link of the voice coil driver and a voice coil of the voice coil driver.
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| CN115327924B (en) * | 2022-09-08 | 2025-04-18 | 山东省人工智能研究院 | A method for suppressing periodic load fluctuation of voice coil actuator based on equivalent resonance embedding |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2799919A1 (en) * | 1999-10-19 | 2001-04-20 | Sagem | PERMANENT MAGNET ACTUATOR AND DRIVE ELECTRICAL COIL, ESPECIALLY MOBILE PHONE SPEAKER |
| CN101795110A (en) * | 2010-02-05 | 2010-08-04 | 桂林电子科技大学 | Intelligent compensation method and control system for nonlinear characteristics of linear voice coil motor |
| WO2020029962A1 (en) * | 2018-08-07 | 2020-02-13 | 张永春 | Speaker unit and speaker device |
| CN111158376A (en) * | 2020-01-14 | 2020-05-15 | 山东省人工智能研究院 | Coordinated control method for trajectory tracking of rocker rocker-type planetary vehicle in soft and rough terrain |
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- 2021-08-27 CN CN202110992029.2A patent/CN113727262B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2799919A1 (en) * | 1999-10-19 | 2001-04-20 | Sagem | PERMANENT MAGNET ACTUATOR AND DRIVE ELECTRICAL COIL, ESPECIALLY MOBILE PHONE SPEAKER |
| CN101795110A (en) * | 2010-02-05 | 2010-08-04 | 桂林电子科技大学 | Intelligent compensation method and control system for nonlinear characteristics of linear voice coil motor |
| WO2020029962A1 (en) * | 2018-08-07 | 2020-02-13 | 张永春 | Speaker unit and speaker device |
| CN111158376A (en) * | 2020-01-14 | 2020-05-15 | 山东省人工智能研究院 | Coordinated control method for trajectory tracking of rocker rocker-type planetary vehicle in soft and rough terrain |
Non-Patent Citations (2)
| Title |
|---|
| 带有非线性扰动的分数阶系统控制;彭雨豪;黄姣茹;陈超波;;计算机应用与软件(第05期);全文 * |
| 音圈电机位置控制的自抗扰算法研究;李振华;陈桂;周磊;;南京工程学院学报(自然科学版)(第04期);全文 * |
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