Determination of Transfer Function of Motor, Driving Method and System, Electronic Device

Abstract

The present application discloses a method and system for determining a transfer function of a motor, a driving method, and an electronic device; wherein the method for determining the transfer function includes: obtaining a second-order oscillation system characterizing the mechanical model of the motor and an initial transfer function of the second-order oscillation system; obtaining an output change characteristic of the second-order oscillation system; setting a modulation factorial coefficient corresponding to the output change characteristic; updating at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient to obtain an updated factorial coefficient; and determining an updated transfer function according to the updated factorial coefficient. The amplitude-frequency relationship curve corresponding to the above updated transfer function has monotonicity and no high-frequency frequency points, which can eliminate the negative impact generated by the high-frequency frequency points during the motor driving process, shorten the stable time of the motor driving process, and reduce the driving difficulty thereof.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control, and particularly relates to a method and system for determining the transfer function of a motor, a driving method, and an electronic device. Background Art

[0002] The functions of taking photos and videos are among the functions that users are most concerned about in electronic devices such as smart phones. The user experience brought by these functions often directly affects the sales performance of the corresponding electronic devices. Therefore, how to improve the photo-taking and video-taking effects of this type of electronic device has always been the focus of the corresponding manufacturers. The anti-shake function of the above-mentioned electronic device is a prerequisite for it to capture images and videos with excellent image quality. It usually uses a motor such as an OIS motor that can be approximately equivalent to a spring-damping system to drive devices such as image sensors to move according to the jitter characteristics, so as to perform reverse compensation for the occurring jitter, offset the side effects caused by the jitter, and ensure the shooting quality.

[0003] Reference Figure 1 As shown, the spring-damping system corresponding to the above-mentioned motor may include units such as a coil winding, a permanent magnet, a spring, and a damping module. The mechanical model of this spring-damping system is usually abstracted into a second-order oscillation system. The motor controls the driven object to generate displacement according to the transfer function of this second-order oscillation system, and then the reverse compensation for the jitter of the driven object can be realized. There are high-frequency frequency points in the amplitude-frequency relationship corresponding to the traditional transfer function. These high-frequency frequency points easily cause the motor to generate an oscillatory convergence movement trend during the process of responding to a step signal, increasing the difficulty of the motor to drive the corresponding driven object and increasing the stable time of the drive system. Summary of the Invention

[0004] In view of this, the present application provides a method and system for determining the transfer function of a motor, a driving method, and an electronic device, so as to solve the problem that there are high-frequency frequency points in the amplitude-frequency relationship corresponding to the traditional transfer function, which easily cause the motor to generate an oscillatory convergence movement trend during the process of responding to a step signal, increasing the difficulty of the motor to drive the corresponding driven object and increasing the stable time of the drive system.

[0005] The first aspect of the present application provides a method for determining the transfer function of a second-order oscillation system of a motor, including:

[0006] Obtain a second-order oscillation system characterizing the mechanical model of the motor and the initial transfer function of the second-order oscillation system; wherein, the second-order oscillation system uses the transfer function to characterize the action characteristics of the driving force of the corresponding motor; the initial transfer function includes a plurality of initial factorial coefficients;

[0007] Obtain the output change characteristics of the second-order oscillation system;

[0008] Set the modulation factorial coefficients corresponding to the output change characteristics;

[0009] Update at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient to obtain updated factorial coefficients; wherein, the transfer function determined according to the updated factorial coefficients enables the second-order oscillation system to operate in a critically damped state;

[0010] Determine an updated transfer function according to the updated factorial coefficients.

[0011] Optionally, the output change characteristics include multi-level characteristics; the step of updating at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient to obtain updated factorial coefficients includes:

[0012] Obtain the modulation factorial coefficients and initial factorial coefficients corresponding to each level of characteristics;

[0013] Update each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain respective updated factorial coefficients.

[0014] Optionally, the output change characteristics include a first-level characteristic, a second-level characteristic, and a third-level characteristic; the initial factorial coefficients include a zero-order initial coefficient, a first-order initial coefficient, and a second-order initial coefficient; the modulation factorial coefficients include a zero-order modulation coefficient, a first-order modulation coefficient, and a second-order modulation coefficient; the first-level characteristic is used to describe the increase and decrease characteristics of the output, corresponding to the zero-order initial coefficient and the zero-order modulation coefficient; the second-level characteristic is used to describe the first-order derivative characteristic of the output, corresponding to the first-order initial coefficient and the first-order modulation coefficient; the third-level characteristic is used to describe the second-order derivative characteristic of the output, corresponding to the second-order initial coefficient and the second-order modulation coefficient.

[0015] Optionally, the initial transfer function further includes an initial gain coefficient; the updated factorial coefficients include a zero-order updated coefficient, a first-order updated coefficient, and a second-order updated coefficient;

[0016] The step of updating each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain respective updated factorial coefficients includes:

[0017] Obtain a first update formula corresponding to the zero-order coefficient of the transfer function, a second update formula corresponding to the first-order coefficient, and a third update formula corresponding to the second-order coefficient; wherein, the first update formula is used to describe the relationship between the zero-order initial coefficient, the zero-order modulation coefficient, the initial gain coefficient, and the zero-order updated coefficient; the second update formula is used to describe the relationship between the first-order initial coefficient, the first-order modulation coefficient, the initial gain coefficient, and the first-order updated coefficient; the third update formula is used to describe the relationship between the second-order initial coefficient, the second-order modulation coefficient, the initial gain coefficient, and the second-order updated coefficient;

[0018] Calculate the zero - order update coefficient using the first update formula, calculate the first - order update coefficient using the second update formula, and calculate the second - order update coefficient using the third update formula.

[0019] Optionally, the transfer function includes a gain coefficient;

[0020] After obtaining the output change characteristics of the second - order oscillation system, the transfer function determination method further includes: setting a negative feedback coefficient for the output change characteristics;

[0021] Determining the updated transfer function according to the updated factorial coefficient includes: updating the gain coefficient using the negative feedback coefficient and the initial gain coefficient to obtain an updated gain coefficient; determining the updated transfer function according to the updated gain coefficient, the zero - order update coefficient, the first - order update coefficient, and the second - order update coefficient.

[0022] Optionally, the first update formula includes: q3 = p3 + n·k3, the second update formula includes: q2 = p2 + n·k2, the third update formula includes: q1 = p1 + n·k1; where p3 represents the zero - order initial coefficient, k3 represents the zero - order modulation coefficient, n represents the initial gain coefficient, q3 represents the zero - order update coefficient, the symbol · represents multiplication, p2 represents the first - order initial coefficient, k2 represents the first - order modulation coefficient, q2 represents the first - order update coefficient, p1 represents the second - order initial coefficient, k1 represents the second - order modulation coefficient, and q1 represents the second - order update coefficient.

[0023] Optionally, the process of determining the values of the negative feedback coefficient and each modulation factorial coefficient includes:

[0024] Obtain at least one constraint relation for making the second - order oscillation system operate in a critically damped state; where the constraint relation is used to describe the constraint relationship between the negative feedback coefficient, each modulation factorial coefficient, and the initial factorial coefficient;

[0025] Solve each constraint relation to obtain the values of the negative feedback coefficient and each modulation factorial coefficient.

[0026] Optionally, the constraint relation includes:

[0027]

[0028]

[0029]

[0030] Among them, p3 represents the zero-order initial coefficient, k3 represents the zero-order modulation coefficient, n represents the initial gain coefficient, the symbol · represents multiplication, p2 represents the first-order initial coefficient, k2 represents the first-order modulation coefficient, p1 represents the second-order initial coefficient, k1 represents the second-order modulation coefficient, and k0 represents the negative feedback coefficient.

[0031] The second aspect of the present application provides a driving method for a motor, including:

[0032] Determining the transfer function corresponding to the motor by using any of the above transfer function determination methods for the second-order oscillation system of the motor;

[0033] Driving the driven object of the motor according to the transfer function.

[0034] Optionally, the driving the driven object of the motor according to the transfer function includes:

[0035] Transforming the transfer function from the frequency domain to the time domain to obtain a driving function;

[0036] Determining a displacement control parameter according to the electrical signal received by the motor and the driving function, and driving the driven object to move by using the displacement control parameter.

[0037] The third aspect of the present application provides a transfer function determination system for a second-order oscillation system of a motor, including:

[0038] A first acquisition module, configured to acquire a second-order oscillation system characterizing the mechanical model of the motor, and an initial transfer function of the second-order oscillation system; wherein, the second-order oscillation system uses the transfer function to characterize the action characteristics of the driving force of the corresponding motor; the initial transfer function includes a plurality of initial factorial coefficients;

[0039] A second acquisition module, configured to acquire the output change characteristics of the second-order oscillation system;

[0040] A setting module, configured to set modulation factorial coefficients corresponding to the output change characteristics;

[0041] An update module, configured to update at least one factorial coefficient of the transfer function according to the modulation factorial coefficients and the initial factorial coefficients to obtain updated factorial coefficients; wherein, the transfer function determined according to the updated factorial coefficients enables the second-order oscillation system to operate in a critically damped state;

[0042] A first determination module, configured to determine an updated transfer function according to the updated factorial coefficients.

[0043] The fourth aspect of the present application provides a driving system for a motor, including:

[0044] A second determination module, configured to determine a transfer function corresponding to the motor by using the transfer function of any one of the above-mentioned motor second-order oscillation systems;

[0045] A driving module, configured to drive a driving object of the motor according to the transfer function.

[0046] A fifth aspect of the present application provides an electronic device, including a motor, a processor, and a storage medium; program code is stored on the storage medium; the processor is configured to call the program code stored in the storage medium to execute the transfer function determination method of any one of the above-mentioned motor second-order oscillation systems or the driving method of any one of the above-mentioned motors.

[0047] The transfer function determination, driving method and system, and electronic device of the motor provided by the present application obtain a second-order oscillation system representing the mechanical model of the motor, the corresponding initial transfer function and output change characteristics, set the modulation factorial coefficient corresponding to the output change characteristics, and update at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient, so as to obtain an updated factorial coefficient that enables the second-order oscillation system to operate in a critically damped state, and determine the updated transfer function according to the updated factorial coefficient. This updated transfer function can eliminate the oscillatory convergence motion in the step signal response process of the motor. The curve of the corresponding amplitude-frequency relationship has monotonicity and no high-frequency frequency points. Accordingly, the motor driving process has a shorter settling time, the driving difficulty is reduced, the driving performance is improved, and the shooting performance of the corresponding electronic device is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0049] Figure 1 is a schematic structural diagram of a spring-damping system;

[0050] Figure 2 is a schematic diagram of the amplitude-frequency relationship of the initial transfer function;

[0051] Figure 3 is a schematic flowchart of the method for determining the transfer function of the motor second-order oscillation system in an embodiment of the present application;

[0052] Figure 4 is a schematic structural diagram of a second-order oscillation system in an embodiment of the present application;

[0053] Figure 5 is a schematic diagram of the amplitude-frequency relationship of the updated transfer function in an embodiment of the present application;

[0054] Figure 6 It is a schematic structural diagram of a second - order oscillation system in another embodiment of the present application;

[0055] Figure 7 It is a schematic structural diagram of a second - order oscillation system in another embodiment of the present application;

[0056] Figure 8 It is a schematic diagram for comparing response results of an embodiment of the present application;

[0057] Figure 9 It is a schematic structural diagram of an electronic device in an embodiment of the present application. Detailed implementation manners

[0058] Figure 1 The traditional transfer function (i.e., the initial transfer function) corresponding to the spring - damping system shown includes: Wherein, G(s) represents the frequency - domain output parameter, s represents the frequency - domain input parameter, n represents the initial gain coefficient, p3 represents the zero - order initial coefficient, p2 represents the first - order initial coefficient, and p1 represents the second - order initial coefficient. The amplitude - frequency relationship corresponding to this traditional transfer function can be referred to Figure 2 as shown, Figure 2 In it, the abscissa represents the frequency, and the ordinate represents the amplitude. As Figure 2 shown, this amplitude - frequency relationship has a high - frequency frequency point, and this high - frequency frequency point easily causes the motor to generate an oscillatory convergence motion trend during the process of responding to a step signal, increasing the difficulty of the motor driving the corresponding driven object and increasing the stable time of the drive system.

[0059] In view of the above problems, in the transfer - function determination, driving method and system, and electronic device of the motor provided by the present application, updating the transfer function can eliminate the oscillatory convergence motion during the step - signal response process of the motor. The curve of the corresponding amplitude - frequency relationship has monotonicity, there is no high - frequency frequency point, the corresponding motor - driving process has a shorter stable time, reduces the driving difficulty of the motor, and improves the corresponding driving performance.

[0060] Next, in conjunction with the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application. Without conflict, the following various embodiments and their technical features can be combined with each other.

[0061] The first aspect of the present application provides a method for determining the transfer function of a motor second - order oscillation system. Referring to Figure 3 as shown, the above - mentioned method for determining the transfer function includes:

[0062] S110. Obtain a second-order oscillation system representing the mechanical model of the motor, and the initial transfer function of the second-order oscillation system; wherein, the second-order oscillation system uses the transfer function to represent the action characteristics of the driving force of the corresponding motor; the initial transfer function includes multiple initial factorial coefficients.

[0063] The transfer function of the above second-order oscillation system includes a numerator part num(s) and a denominator part den(s). The numerator part num(s) includes a gain coefficient, and the denominator part den(s) includes a polynomial composed of the products of multiple factorial coefficients and corresponding factorial variables; for example, for the initial transfer function The numerator part num(s) includes the initial gain coefficient n, and the denominator part den(s) includes p1·s 2 +p2·s + p3, where p3 represents the zero-order initial coefficient, which is the constant term of the denominator part den(s) and corresponds to the zero-order variable, p2 represents the first-order initial coefficient, s represents the first-order variable, and p1 represents the second-order initial coefficient, s 2 represents the second-order variable.

[0064] S120. Obtain the output change characteristics of the second-order oscillation system.

[0065] S130. Set the modulation factorial coefficients corresponding to the output change characteristics.

[0066] The structure of the above second-order oscillation system can be referred to Figure 4 as shown. The input is usually the electrical signal received by the motor (such as current control parameters or voltage control parameters, etc.), and the output is usually control parameters such as the displacement and / or angle of the motor driving the corresponding driven object to move. The above output change characteristics include at least one aspect change characteristic of the output of the second-order oscillation system. This change characteristic can include characteristics representing the increase or decrease of the output itself, characteristics representing the change of the increase or decrease amount of the output, and / or characteristics describing the output change from other aspects, etc. This step sets the modulation factorial coefficients corresponding to the above output change characteristics, so that the modulation factorial coefficients are associated with at least one aspect change characteristic of the output of the second-order oscillation system. In this way, updating the factorial coefficients of the transfer function according to the modulation factorial coefficients can make the corresponding second-order oscillation system possibly work in the critically damped state.

[0067] S140. Update at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient to obtain updated factorial coefficients; wherein, the transfer function determined according to the updated factorial coefficients enables the second-order oscillation system to work in the critically damped state.

[0068] The above steps can perform relevant operations on the modulation factorial coefficient and the initial factorial coefficient to obtain a new factorial coefficient; this operation process can be determined according to the setting process of the modulation factorial coefficient. For most second-order oscillation systems, there is a corresponding relationship among the modulation factorial coefficient, the initial factorial coefficient, and each-order variable. For example, the modulation factorial coefficient corresponding to the second-order variable corresponds to the second-order initial coefficient, the modulation factorial coefficient corresponding to the first-order variable corresponds to the first-order initial coefficient, and the modulation factorial coefficient corresponding to the zero-order variable corresponds to the zero-order initial coefficient. At this time, the modulation factorial coefficient and the corresponding initial factorial coefficient can be operated respectively according to the corresponding relationship between the initial factorial coefficient and the modulation factorial coefficient to obtain the corresponding updated factorial coefficient. In some cases, there is also a corresponding relationship between the output change characteristics and each-order variable. At this time, the modulation factorial coefficient and the corresponding initial factorial coefficient can also be operated respectively according to the output change characteristics, the setting characteristics of the modulation factorial coefficient, and / or the corresponding relationship between the modulation factorial coefficient and each-order variable to obtain the corresponding updated factorial coefficient.

[0069] In an example, if an output change characteristic includes various change characteristics of the output of a second-order oscillation system, at this time, at least one modulation factorial coefficient corresponding to the output change characteristic can be set, and the corresponding relationship between each modulation factorial coefficient and each initial factorial coefficient is determined to obtain multiple groups of modulation factorial coefficients and initial factorial coefficients. Addition, subtraction, multiplication, and / or division operations are performed on each group of modulation factorial coefficients and initial factorial coefficients to obtain the required updated factorial coefficients. Optionally, one modulation factorial coefficient corresponds to one or more initial factorial coefficients. If an initial factorial coefficient has a corresponding modulation factorial coefficient, the operation needs to be performed on this initial factorial coefficient and the corresponding modulation factorial coefficient to obtain the corresponding updated factorial coefficient; if an initial factorial coefficient does not have a corresponding modulation factorial coefficient, this initial factorial coefficient can be determined as the corresponding updated factorial coefficient to improve the determination efficiency of this updated factorial coefficient.

[0070] In another example, the output change characteristic can include a first change characteristic and a second change characteristic. The first change characteristic includes at least two aspects of the output of the second-order oscillation system, corresponding to the first-order variable and the second-order variable. The second change characteristic includes another aspect of the output of the second-order oscillation system, corresponding to the zero-order variable. The updated factorial coefficient includes a zero-order updated coefficient, a first-order updated coefficient, and a second-order updated coefficient. The zero-order updated coefficient corresponds to the zero-order initial coefficient, the first-order updated coefficient corresponds to the first-order initial coefficient, and the second-order updated coefficient corresponds to the second-order initial coefficient. At this time, the first modulation factorial coefficient corresponding to the first change characteristic and the second modulation factorial coefficient corresponding to the second change characteristic can be set. The first-order updated coefficient is calculated according to the first modulation factorial coefficient and the first-order initial coefficient, the second-order updated coefficient is calculated according to the first modulation factorial coefficient and the second-order initial coefficient, and the zero-order updated coefficient is calculated according to the second modulation factorial coefficient and the zero-order initial coefficient to accurately determine each updated factorial coefficient.

[0071] S150. Determine an updated transfer function according to the updated factorial coefficient.

[0072] The second-order oscillation system operates in a critically damped state, and the corresponding amplitude-frequency relationship can be referred to Figure 5 as shown. Figure 5 In [the figure], the abscissa represents frequency and the ordinate represents amplitude. As Figure 5 shown, the curve characterizing this amplitude-frequency relationship has monotonicity and there are no high-frequency frequency points. Therefore, the updated transfer function has the following advantages: eliminating the negative impacts generated by high-frequency frequency points during the motor driving process; effectively shortening the stabilization time of the motor driving process; eliminating the oscillatory convergence movement of the motor during the step signal response process and reducing the difficulty of driving the corresponding driven object.

[0073] In one embodiment, the output change characteristics include multi-level characteristics; the updating of at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient to obtain an updated factorial coefficient includes: obtaining the modulation factorial coefficient and the initial factorial coefficient corresponding to each level of characteristics; updating each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain each updated factorial coefficient.

[0074] Among them, the multi-level characteristics of the output change characteristics can respectively describe the change characteristics of one or more aspects of the output. For example, the first-level characteristic is used to describe the change of the output itself, the second-level characteristic is used to describe the change of the first-level characteristic (the change of the change of the output itself), and / or the third-level characteristic is used for the change of the second-level characteristic, etc. Each level of characteristics has a corresponding relationship with each order variable, and thus each level of characteristics has a corresponding relationship with the modulation factorial coefficient and the initial factorial coefficient respectively. In this embodiment, obtaining the modulation factorial coefficient and the initial factorial coefficient corresponding to each level of characteristics and updating the corresponding factorial coefficient according to each group of modulation factorial coefficients and initial factorial coefficients can improve the orderliness of the factorial coefficient updating process, thereby ensuring the accuracy of the obtained factorial coefficients.

[0075] Specifically, the output change features include first-level features, second-level features, and third-level features; the initial factorial coefficients include zero-order initial coefficients, first-order initial coefficients, and second-order initial coefficients; the modulation factorial coefficients include zero-order modulation coefficients, first-order modulation coefficients, and second-order modulation coefficients; the first-level features are used to describe the increasing and decreasing features of the output, corresponding to the zero-order initial coefficient and the zero-order modulation coefficient, that is, corresponding to the constant term (zero-order variable) of the denominator part den(s); the second-level features are used to describe the first-order derivative features of the output, corresponding to the first-order initial coefficient and the first-order modulation coefficient, that is, corresponding to the first-order variable of the denominator part den(s); the third-level features are used to describe the second-order derivative features of the output, corresponding to the second-order initial coefficient and the second-order modulation coefficient, that is, corresponding to the second-order variable of the denominator part den(s). At this time, the structure of the second-order oscillation system can be referred to Figure 5 as shown. k3 represents the zero-order modulation coefficient, k2 represents the first-order modulation coefficient, and the corresponding first-order derivative feature is determined by taking the first derivative of the output. k1 represents the second-order modulation coefficient, and the corresponding second-order derivative feature is determined by taking the second derivative of the output.

[0076] In some second-order oscillation systems, the corresponding initial transfer function is as also includes an initial gain coefficient n; the updated factorial coefficients include zero-order updated coefficients, first-order updated coefficients, and second-order updated coefficients;

[0077] Updating each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain each updated factorial coefficient includes: obtaining a first update formula corresponding to the zero-order coefficient of the transfer function, a second update formula corresponding to the first-order coefficient, and a third update formula corresponding to the second-order coefficient; wherein, the first update formula is used to describe the relationship between the zero-order initial coefficient, the zero-order modulation coefficient, the initial gain coefficient, and the zero-order updated coefficient; the second update formula is used to describe the relationship between the first-order initial coefficient, the first-order modulation coefficient, the initial gain coefficient, and the first-order updated coefficient; the third update formula is used to describe the relationship between the second-order initial coefficient, the second-order modulation coefficient, the initial gain coefficient, and the second-order updated coefficient; using the first update formula to calculate the zero-order updated coefficient, using the second update formula to calculate the first-order updated coefficient, and using the third update formula to calculate the second-order updated coefficient.

[0078] The above first update formula, second update formula, third update formula and their related parameters can be determined through relevant tests and / or system identification methods respectively, so that each update formula can accurately describe the relationship between the corresponding parameters. In one example, the first update formula includes: q3 = p3 + n·k3, the second update formula includes: q2 = p2 + n·k2, and the third update formula includes: q1 = p1 + n·k1; where p3 represents the zero-order initial coefficient, k3 represents the zero-order modulation coefficient, n represents the initial gain coefficient, q3 represents the zero-order update coefficient, the symbol · represents multiplication, p2 represents the first-order initial coefficient, k2 represents the first-order modulation coefficient, q2 represents the first-order update coefficient, p1 represents the second-order initial coefficient, k1 represents the second-order modulation coefficient, and q1 represents the second-order update coefficient.

[0079] Here, each update formula is used to describe the relationship between the initial factorial coefficient, modulation factorial coefficient, initial gain coefficient and update factorial coefficient. Each update formula corresponds to the first-level feature of the output change characteristic. In addition to covering the corresponding initial factorial coefficient, modulation factorial coefficient, and update factorial coefficient, it is also based on the initial gain coefficient, with a more comprehensive update basis and higher accuracy of the update result.

[0080] Further, the transfer function of the second-order oscillation system includes a gain coefficient. After obtaining the output change characteristic of the second-order oscillation system, as Figure 6 shown, the transfer function determination method further includes: setting the negative feedback coefficient k0 of the output change characteristic; this negative feedback coefficient can be determined according to the setting characteristics of each modulation factorial coefficient, or can be determined together with each modulation factorial coefficient according to the corresponding system identification.

[0081] Correspondingly, determining the updated transfer function according to the updated factorial coefficient includes: using the negative feedback coefficient k0 and the initial gain coefficient n to update the gain coefficient to obtain an updated gain coefficient q0; determining the updated transfer function according to the updated gain coefficient q0, the zero-order update coefficient q3, the first-order update coefficient q2 and the second-order update coefficient q1. At this time, the corresponding updated transfer function is:

[0082] Optionally, q0 = n·k0; at this time, the specific form of the updated transfer function includes:

[0083]

[0084] Converting the above formula gives:

[0085]

[0086] Among them, is the damping coefficient of the equivalent spring-damping system of the motor, and T is the time constant. For the above update process, only by modulating the coefficients k0, k1, k2, and k3, the transfer relationship of the motor required for any amplitude-frequency response needed in engineering can be obtained, ensuring the corresponding driving effect. After determining reasonable coefficients k0, k1, k2, and k3, the updated transfer function eliminates high-frequency frequency points, and the overall amplitude-frequency response result can be equivalent to a second-order low-pass filter. The corresponding driving process has the advantages of simplicity, accuracy, and high efficiency.

[0087] In one example, input into the corresponding motor drive system Figure 7 the step signal corresponding to the curve shown in Step, where the curve shown by VCM0 is the result of the response using the initial transfer function, and the curve shown by VCM1 is the result of the response using the updated transfer function. By comparing the two, it is not difficult to find that when using the updated transfer function for the corresponding motor in the response to the step signal, there are the following advantages: (1) The updated transfer function can eliminate the negative impact of the corresponding high-frequency frequency points on the driving process of the motor; (2) The updated transfer function can shorten the stabilization time of the OIS motor; (3) The updated transfer function can eliminate the oscillatory convergence motion during the response to the step signal.

[0088] In one embodiment, the process of determining the values of the negative feedback coefficient and each modulation factorial coefficient includes:

[0089] Obtain at least one constraint relation for making the second-order oscillation system work in a critically damped state; where the constraint relation is used to describe the constraint relation between the negative feedback coefficient, each modulation factorial coefficient, and the initial factorial coefficient;

[0090] Solve each constraint relation to obtain the values of the negative feedback coefficient and each modulation factorial coefficient.

[0091] In this embodiment, the constraint relation can be determined based on the coefficient relation required for the second-order oscillation system to work in a critically damped state, the output change characteristics associated with the modulation factorial coefficient, the setting characteristics of the modulation factorial coefficient, and / or the setting characteristics of the negative feedback coefficient, so that each group of coefficients that satisfy the constraint relation can make the corresponding second-order oscillation system work in a critically damped state. The negative feedback coefficient and each modulation factorial coefficient obtained by solving each constraint relation make the updated transfer function become a monotonic second-order low-pass filter, which can eliminate the negative impact caused by the corresponding high-frequency frequency points in the motor process, make the driving process easier to control, and can also shorten the driving stabilization time, reduce response oscillation, and improve the driving performance.

[0092] Specifically, the constraint relation includes:

[0093]

[0094]

[0095]

[0096] Among them, p3 represents the zero-order initial coefficient, k3 represents the zero-order modulation coefficient, n represents the initial gain coefficient, the symbol · represents multiplication, p2 represents the first-order initial coefficient, k2 represents the first-order modulation coefficient, p1 represents the second-order initial coefficient, k1 represents the second-order modulation coefficient, and k0 represents the negative feedback coefficient. According to the above various constraint relations and initial factorial coefficients, the negative feedback coefficient and each modulation factorial coefficient can be calculated quickly and accurately, so as to ensure the acquisition efficiency and function performance of the updated transfer function.

[0097] The above method for determining the transfer function of the motor second-order oscillation system obtains the second-order oscillation system representing the motor mechanical model, the corresponding initial transfer function and output change characteristics, sets the modulation factorial coefficients corresponding to the output change characteristics, updates at least one factorial coefficient of the transfer function according to the modulation factorial coefficients and the initial factorial coefficients, and obtains the updated factorial coefficients that make the second-order oscillation system work in the critically damped state, so as to determine the updated transfer function according to the updated factorial coefficients. The updated transfer function can eliminate the oscillatory convergence movement in the step signal response process of the motor, and the curve of the corresponding amplitude-frequency relationship has monotonicity and no high-frequency frequency points. Accordingly, the motor drive process has a shorter settling time, the drive difficulty is reduced, and the drive performance is improved.

[0098] The present application provides a driving method for a motor in a second aspect, including:

[0099] Determining the transfer function corresponding to the motor by using the method for determining the transfer function of the motor second-order oscillation system described in any one of the above embodiments;

[0100] Driving the driving object of the motor according to the transfer function.

[0101] The above driving object may include a image sensor or a lens in the shooting component of an electronic device and other small devices that are affected by the micro-movement (such as jitter) of the electronic device and affect the shooting quality. The motor drives these driving objects according to the corresponding transfer function, can perform reverse compensation on the corresponding micro-movement, eliminate the negative impact of the micro-movement on the shooting process, and improve the shooting quality.

[0102] Specifically, driving the driving object of the motor according to the transfer function includes: transforming the transfer function from the frequency domain to the time domain to obtain a driving function; determining a displacement control parameter according to the electrical signal received by the motor and the driving function, and driving the driving object to move by using the displacement control parameter to reversely compensate for the running effects such as the jitter of the driving object, ensure the driving performance of the motor, and thus improve the shooting quality of the corresponding electronic device.

[0103] In a third aspect, the present application provides a system for determining the transfer function of a motor second-order oscillation system. Referring to Figure 8 as shown, the transfer function determination system includes:

[0104] A first acquisition module 210, configured to acquire a second-order oscillation system characterizing the motor mechanical model and an initial transfer function of the second-order oscillation system; wherein, the second-order oscillation system uses the transfer function to characterize the action characteristics of the driving force of the corresponding motor; the initial transfer function includes a plurality of initial factorial coefficients;

[0105] A second acquisition module 220, configured to acquire the output change characteristics of the second-order oscillation system;

[0106] A setting module 230, configured to set modulation factorial coefficients corresponding to the output change characteristics;

[0107] An update module 240, configured to update at least one factorial coefficient of the transfer function according to the modulation factorial coefficients and the initial factorial coefficients to obtain updated factorial coefficients; wherein, the transfer function determined according to the updated factorial coefficients enables the second-order oscillation system to operate in a critically damped state;

[0108] A first determination module 250, configured to determine an updated transfer function according to the updated factorial coefficients.

[0109] For the specific limitations of the system for determining the transfer function of the motor second-order oscillation system, reference can be made to the limitations of the method for determining the transfer function of the motor second-order oscillation system in the foregoing text, which will not be elaborated here. Each module in the above system for determining the transfer function of the motor second-order oscillation system can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the arithmetic module in the computer device in the form of hardware or be independent of it, or can be stored in the memory of the computer device in the form of software, so that the arithmetic module of the computer device can call and execute the operations corresponding to the above modules.

[0110] In a fourth aspect, the present application provides a driving system for a motor, including:

[0111] A second determination module, configured to determine the transfer function corresponding to the motor by using the system for determining the transfer function of the motor second-order oscillation system provided in any one of the foregoing embodiments;

[0112] A driving module, configured to drive the driving object of the motor according to the transfer function.

[0113] For the specific limitations of the driving system of the motor, reference may be made to the limitations of the driving method of the motor in the foregoing text, which will not be elaborated herein. Each module in the above-mentioned driving system of the motor can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the arithmetic module of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the arithmetic module of the computer device can call and execute the operations corresponding to the above-mentioned modules.

[0114] In a fifth aspect, the present application provides an electronic device. Referring to Figure 9 as shown, the electronic device includes a motor 610, a processor 620, and a storage medium 630; program code is stored on the storage medium 630; the processor 620 is configured to call the program code stored in the storage medium 630 to execute the transfer function determination method of the motor second-order oscillation system provided in any of the foregoing embodiments or the driving method of the motor provided in any of the foregoing embodiments.

[0115] The above-mentioned electronic device can be a handheld terminal with a photographing function. By using the transfer function determination method of the motor second-order oscillation system provided in any of the foregoing embodiments and controlling the motor to drive the corresponding driving object according to the transfer function, the driving performance of the motor can be improved, thereby enhancing the photographing performance of the electronic device.

[0116] Although the present application has been shown and described with respect to one or more implementations, those skilled in the art will conceive of equivalent variations and modifications based on reading and understanding this specification and the drawings. The present application includes all such modifications and variations and is limited only by the scope of the appended claims. In particular, with respect to the various functions performed by the above components, the terms used to describe such components are intended to correspond to any component (unless otherwise indicated) that performs the specified function of the component (i.e., it is functionally equivalent), even if it is not structurally equivalent to the disclosed structure that performs the functions in the exemplary implementations of the present specification shown herein.

[0117] That is, the above are only embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, such as the mutual combination of technical features between the embodiments, or direct or indirect application in other related technical fields, are equally included in the patent protection scope of the present application.

[0118] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0119] The above description is given so that any person skilled in the art can make and use this application. In the above description, various details are set forth for purposes of explanation. It should be understood that those of ordinary skill in the art can recognize that this application can be implemented without the use of these specific details. In other embodiments, well-known processes will not be elaborated in detail so as not to obscure the description of this application with unnecessary details. Therefore, this application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

Claims

1. A method for determining the transfer function of a motor second-order oscillation system, characterized in that The method for determining the transfer function includes: Obtaining a second-order oscillation system characterizing the motor mechanical model and an initial transfer function of the second-order oscillation system; wherein, the second-order oscillation system uses the transfer function to characterize the action characteristics of the driving force of the corresponding motor; the initial transfer function includes a plurality of initial factorial coefficients; Obtaining the output change characteristics of the second-order oscillation system; Setting modulation factorial coefficients corresponding to the output change characteristics; Updating at least one factorial coefficient of the transfer function according to the modulation factorial coefficients and the initial factorial coefficients to obtain updated factorial coefficients; wherein, the transfer function determined according to the updated factorial coefficients enables the second-order oscillation system to operate in a critically damped state, and the factorial coefficient includes a coefficient multiplied by each-order variable; Determining an updated transfer function according to the updated factorial coefficients; The output change characteristics include multi-level characteristics; the step of updating at least one factorial coefficient of the transfer function according to the modulation factorial coefficients and the initial factorial coefficients to obtain updated factorial coefficients includes: obtaining modulation factorial coefficients and initial factorial coefficients corresponding to each level of characteristics; updating each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain each updated factorial coefficient; The initial transfer function further includes an initial gain coefficient; the updated factorial coefficients include a zero-order updated coefficient, a first-order updated coefficient, and a second-order updated coefficient; the step of updating each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain each updated factorial coefficient includes: obtaining a first update formula corresponding to the zero-order coefficient of the transfer function, a second update formula corresponding to the first-order coefficient, and a third update formula corresponding to the second-order coefficient; The first update formula includes: q3 = p3 + n·k3, the second update formula includes: q2 = p2 + n·k2, and the third update formula includes: q1 = p1 + n·k1; wherein, p3 represents the zero-order initial coefficient, k3 represents the zero-order modulation coefficient, n represents the initial gain coefficient, q3 represents the zero-order updated coefficient, the symbol · represents multiplication, p2 represents the first-order initial coefficient, k2 represents the first-order modulation coefficient, q2 represents the first-order updated coefficient, p1 represents the second-order initial coefficient, k1 represents the second-order modulation coefficient, and q1 represents the second-order updated coefficient; Calculating the zero-order updated coefficient using the first update formula, calculating the first-order updated coefficient using the second update formula, and calculating the second-order updated coefficient using the third update formula.

2. The method for determining the transfer function of the motor second-order oscillation system according to claim 1, characterized in that, The output change characteristics include a first-level characteristic, a second-level characteristic, and a third-level characteristic; The initial factorial coefficients include a zero-order initial coefficient, a first-order initial coefficient, and a second-order initial coefficient; The modulation factorial coefficients include a zero-order modulation coefficient, a first-order modulation coefficient, and a second-order modulation coefficient; the first-level characteristic is used to describe the increase or decrease characteristic of the output, corresponding to the zero-order initial coefficient and the zero-order modulation coefficient; the second-level characteristic is used to describe the first-order derivative characteristic of the output, corresponding to the first-order initial coefficient and the first-order modulation coefficient; the third-level characteristic is used to describe the second-order derivative characteristic of the output, corresponding to the second-order initial coefficient and the second-order modulation coefficient.

3. The method for determining the transfer function of the motor second-order oscillation system according to claim 2, characterized in that, The first update formula is used to describe the relationship between the zero-order initial coefficient, the zero-order modulation coefficient, the initial gain coefficient, and the zero-order update coefficient; The second update formula is used to describe the relationship between the first-order initial coefficient, the first-order modulation coefficient, the initial gain coefficient, and the first-order update coefficient; The third update formula is used to describe the relationship between the second-order initial coefficient, the second-order modulation coefficient, the initial gain coefficient, and the second-order update coefficient.

4. The method for determining the transfer function of the motor second-order oscillation system according to claim 3, characterized in that, The transfer function includes a gain coefficient; After obtaining the output change characteristics of the second-order oscillation system, the transfer function determination method further includes: setting a negative feedback coefficient of the output change characteristics; Determining the updated transfer function according to the updated factorial coefficient includes: updating the gain coefficient by using the negative feedback coefficient and the initial gain coefficient to obtain an updated gain coefficient; determining the updated transfer function according to the updated gain coefficient, the zero-order update coefficient, the first-order update coefficient, and the second-order update coefficient.

5. The method for determining the transfer function of the second-order oscillation system of the motor according to claim 4, characterized in that, The determination process of the values of the negative feedback coefficient and each modulation factorial coefficient includes: Obtaining at least one constraint relation for making the second-order oscillation system operate in a critically damped state; wherein the constraint relation is used to describe the constraint relation between the negative feedback coefficient, each modulation factorial coefficient, and the initial factorial coefficient; Solving each constraint relation to obtain the values of the negative feedback coefficient and each modulation factorial coefficient.

6. The method for determining the transfer function of the motor second-order oscillation system according to claim 5, characterized in that, The constraint relation includes: Wherein, p3 represents the zero-order initial coefficient, k3 represents the zero-order modulation coefficient, n represents the initial gain coefficient, the symbol · represents multiplication, p2 represents the first-order initial coefficient, k2 represents the first-order modulation coefficient, p1 represents the second-order initial coefficient, k1 represents the second-order modulation coefficient, and k0 represents the negative feedback coefficient.

7. A driving method of a motor, characterized in that, The driving method includes: Determining the transfer function corresponding to the motor by using the transfer function determination method of the motor second-order oscillation system according to any one of claims 1 to 6; Driving the driven object of the motor according to the transfer function.

8. The driving method of the motor according to claim 7, characterized in that, Driving the driven object of the motor according to the transfer function includes: Transforming the transfer function from the frequency domain to the time domain to obtain a driving function; Determining a displacement control parameter according to the electrical signal received by the motor and the driving function, and driving the driven object to move by using the displacement control parameter.

9. A system for determining the transfer function of a motor second-order oscillation system, characterized in that, The transfer function determination system includes: A first acquisition module, configured to acquire a second-order oscillation system characterizing the mechanical model of the motor, and an initial transfer function of the second-order oscillation system; wherein, the second-order oscillation system uses the transfer function to characterize the action characteristics of the driving force of the corresponding motor; the initial transfer function includes a plurality of initial factorial coefficients; A second acquisition module, configured to acquire the output change characteristics of the second-order oscillation system; A setting module, configured to set the modulation factorial coefficient corresponding to the output change characteristics; An update module, configured to update at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient to obtain updated factorial coefficients; wherein, the transfer function determined based on the updated factorial coefficients enables the second-order oscillation system to operate in a critically damped state, and the factorial coefficients include coefficients multiplied by variables of each order. A first determination module, configured to determine an updated transfer function according to the updated factorial coefficients. The output change characteristics include multi-level characteristics; the step of updating at least one factorial coefficient of the transfer function according to the modulation factorial coefficient and the initial factorial coefficient to obtain updated factorial coefficients includes: obtaining the modulation factorial coefficients and initial factorial coefficients corresponding to each level of characteristics; updating each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain each updated factorial coefficient. The initial transfer function further includes an initial gain coefficient; the updated factorial coefficients include a zero-order updated coefficient, a first-order updated coefficient, and a second-order updated coefficient; the step of updating each factorial coefficient of the transfer function according to each group of modulation factorial coefficients and initial factorial coefficients to obtain each updated factorial coefficient includes: obtaining a first update formula corresponding to the zero-order coefficient of the transfer function, a second update formula corresponding to the first-order coefficient, and a third update formula corresponding to the second-order coefficient. The first update formula includes: q3 = p3 + n·k3, the second update formula includes: q2 = p2 + n·k2, and the third update formula includes: q1 = p1 + n·k1; where p3 represents the zero-order initial coefficient, k3 represents the zero-order modulation coefficient, n represents the initial gain coefficient, q3 represents the zero-order updated coefficient, the symbol · represents multiplication, p2 represents the first-order initial coefficient, k2 represents the first-order modulation coefficient, q2 represents the first-order updated coefficient, p1 represents the second-order initial coefficient, k1 represents the second-order modulation coefficient, and q1 represents the second-order updated coefficient. The zero-order updated coefficient is calculated using the first update formula, the first-order updated coefficient is calculated using the second update formula, and the second-order updated coefficient is calculated using the third update formula.

10. A driving system for a motor, characterized in that, The drive system includes: A second determination module, configured to determine the transfer function corresponding to the motor by using the transfer function of the motor second-order oscillation system described in claim 9. A drive module, configured to drive the drive object of the motor according to the transfer function.

11. An electronic device, characterized in that, Including a motor, a processor, and a storage medium; program code is stored on the storage medium; the processor is configured to call the program code stored in the storage medium to execute the method for determining the transfer function of the motor second-order oscillation system according to any one of claims 1 to 6 or the method for driving the motor according to claim 7 or 8.

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