Control tool, production station and method for configuring PID parameters of camera motor

Abstract

The application provides a control tool, a production station and a method for configuring PID parameters of a camera motor. The control tool is electrically connected with a motor to be configured and comprises a controller or a controller and a memory electrically connected, which is used to output a motor driving instruction to the motor to control the motor to perform a step response characteristic test after receiving a step response test instruction, receive response characteristic test data and calculate a motor damping glue amount condition, and configure corresponding PID parameters in the motor. The application configures different PID parameters to motors with different performances under the premise of ensuring the stability of the control of the camera motor, reduces the control requirement of the motor manufacturer on the consistency of the motor performance, and improves the yield and use performance of the motor.

Description

Technical Field

[0001] This invention relates to the field of voice coil motor manufacturing and voice coil motor driving, and particularly to a control fixture, production station and method for configuring PID (Proportional-Integral-Derivative) parameters for camera motors on the production line. PID is a common feedback loop component in industrial control applications, consisting of a proportional unit P, an integral unit I and a derivative unit D. Background Technology

[0002] In the production of camera closed-loop motors (hereinafter referred to as motors), PID parameters need to be programmed into the motor control driver chip. The determination of PID parameters is determined by the frequency response characteristics of the motor, which are determined by the weight of the motor's carrier, the characteristics of the spring, and the characteristics of the damping adhesive. Among these, the weight of the carrier and the characteristics of the spring are variables that can be precisely controlled, and the consistency of these components can be made very reliable. However, the characteristics of the motor damping adhesive are difficult to control precisely. Improving the consistency of the motor damping adhesive characteristics requires high-precision dispensing equipment, which increases the manufacturing cost for motor manufacturers. If the consistency of the motor damping adhesive characteristics is not guaranteed, it will reduce the yield of motor products and may even lead to a decrease in motor product performance.

[0003] When drive manufacturers tune the PID parameters for motors, they need to consider the impact of differences in the motor's damping rubber. Typically, a set of PID parameters needs to cover samples with different damping rubber properties. If the differences in damping rubber properties are significant, the PID parameters must prioritize motor stability at the expense of motor performance.

[0004] This invention provides a method for automatically configuring PID parameters on a motor production line. This method selects the most suitable PID parameters from multiple sets of PID parameters and programs them into the motor driver chip, based on the motor's frequency response characteristics, while ensuring motor characteristics. This reduces the motor manufacturer's dependence on the control accuracy of the damping adhesive and improves the motor's yield and performance. Summary of the Invention

[0005] The purpose of this invention is to provide a control fixture, production station, and method for configuring PID parameters for a camera motor. Under the premise of ensuring the stability of camera motor control, different PID parameters are configured for motors with different performances, reducing the control requirements of motor manufacturers for motor performance consistency and improving the performance of the motor.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A control fixture for configuring PID parameters for a camera motor, electrically connected to the motor to be configured, includes:

[0008] The controller, or the controller and memory connected electrically, is used to output a motor drive command to the motor to control the motor to perform a step response characteristic test after receiving a step response test command, and to receive response characteristic test data and calculate the motor damping rubber quantity status, and configure the corresponding PID parameters in the motor.

[0009] Preferably, the memory is an EEPROM.

[0010] Preferably, the control fixture is electrically connected to the production line PC and is used to receive the step response characteristic test command of the production line PC;

[0011] The control fixture also includes:

[0012] The PC interface has one end electrically connected to the controller and the other end electrically connected to the production line PC, serving as a connection port between the controller and the production line PC.

[0013] Preferably, the motor has a built-in Hall sensor and an analog-to-digital converter that are electrically connected. The controller controls the Hall sensor of the motor to detect the step response characteristics of the motor and outputs a Hall analog signal. The analog signal is then converted into a Hall digital signal by the analog-to-digital converter and output to the controller as response characteristic test data.

[0014] Preferably, the control fixture is connected to a displacement measuring instrument, which is used to detect the step response characteristics of the motor from the outside and output an external analog signal to the controller.

[0015] The control fixture also includes an ADC electrically connected to the controller. The ADC is electrically connected to a displacement measuring instrument and is used to collect the external analog signal output by the displacement measuring instrument and convert it into an external digital signal as response characteristic test data output to the controller.

[0016] A production workstation for configuring PID parameters for a camera motor includes:

[0017] Production line PC, used for control of this production station;

[0018] The aforementioned control fixture is electrically connected to the production line PC and the motor to be configured, respectively. It is used to receive the step response test command from the production line PC, control the motor to perform a step response test, receive the response characteristic test data output by the motor, calculate the damping glue content of the motor, and configure the PID parameters of the motor.

[0019] A production workstation for configuring PID parameters for a camera motor includes:

[0020] Production line PC, used for control of this production station;

[0021] A displacement measuring instrument is used to detect the step position signal of the motor from the outside of the motor to be configured, and output an external analog signal;

[0022] The aforementioned control fixture is electrically connected to the production line PC, the displacement measuring instrument, and the motor to be configured, respectively. It is used to receive the step response test command from the production line PC to control the motor to perform a step response test, receive the external analog signal output by the displacement measuring instrument, convert it into an external digital signal as response characteristic test data, calculate the motor damping glue level, and configure the PID parameters of the motor.

[0023] Preferably, the displacement measuring instrument is a laser rangefinder.

[0024] A method for configuring PID parameters for a camera motor, implemented based on the aforementioned production workstation, includes the following steps:

[0025] S1. The production line PC sends a step response test command to the control fixture. After receiving the step response test command, the control fixture sends a motor drive command to the motor to control the motor to perform the corresponding step action and perform a step response test.

[0026] S2. The step position signal of the motor is acquired by the Hall sensor built into the motor and outputs a Hall analog signal to the analog-to-digital converter built into the motor. The analog-to-digital converter converts the Hall analog signal into a Hall digital signal and outputs it as response characteristic test data to the control fixture.

[0027] S3. The controller of the control fixture calculates the motor damping rubber quantity by processing the response characteristic test data.

[0028] S4. The controller of the control fixture selects the corresponding PID parameters from the motor sample debugging PID parameter library and configures them in the motor according to the state of the motor damping adhesive.

[0029] A method for configuring PID parameters for a camera motor, implemented in the aforementioned production workstation, includes the following steps:

[0030] L1. The production line PC sends a step response test command to the control fixture. After receiving the step response test command, the control fixture sends a motor drive command to the motor to control the motor to perform the corresponding step action and perform a step response test.

[0031] L2. The displacement measuring instrument acquires the step position signal of the motor and outputs an external analog signal to the ADC of the control fixture.

[0032] L3. The ADC of the control fixture converts the external analog signal into an external digital signal and sends it to the controller as response characteristic test data. The controller calculates the motor damping rubber quantity.

[0033] L4. The controller selects the corresponding PID parameters from the motor sample debugging PID parameter library and configures them in the motor according to the state of the motor damping adhesive.

[0034] In summary, compared with the prior art, the control fixture, production station, and method for configuring PID parameters for a camera motor provided by the present invention have the following beneficial effects:

[0035] 1. By testing the step response characteristics of the motor, the damping glue quantity of the motor is calculated, and the most suitable PID parameters are configured in the motor, thereby reducing the motor manufacturer's dependence on the control accuracy of the damping glue and improving the yield and performance of the motor.

[0036] 2. By setting up an external laser rangefinder to test the step response characteristics of the motor, the accuracy of the measurement data is further improved. Attached Figure Description

[0037] Figure 1 This is a schematic diagram illustrating the relationship between the frequency response gain characteristics of a motor and the amount of damping adhesive in existing technologies.

[0038] Figure 2 This is a schematic diagram of the step response characteristics of a motor in the prior art;

[0039] Figure 3a This is a schematic diagram of one embodiment of the control tooling of the present invention;

[0040] Figure 3b This is a schematic diagram of one embodiment of the control tooling of the present invention;

[0041] Figure 4a This is a schematic diagram of one embodiment of the production station of the present invention;

[0042] Figure 4b This is a schematic diagram of one embodiment of the production station of the present invention. Detailed Implementation

[0043] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a control fixture, production station, and method for configuring PID parameters in a camera motor, as proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, intended only to facilitate and clarify the illustration of the embodiments of this invention, and are not intended to limit the implementation conditions of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention.

[0044] It should be noted that, in this invention, relational terms such as "and" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only the expressly listed elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0045] Combined with appendix Figure 1 As shown in Figure 4, this embodiment provides a control fixture, production station, and method for configuring PID parameters for a camera motor. The principle is as follows:

[0046] According to existing technology, the amplitude-frequency characteristics of the first-order resonant point of a motor are correlated with the damping properties of the motor, as shown in the attached figure. Figure 1 As shown, the gain at the first resonant point is negatively correlated with the amount of damping adhesive in the motor, while the frequency at the first resonant point is positively correlated with the amount of damping adhesive in the motor. Therefore, the damping adhesive level can be obtained based on the amplitude-frequency characteristics of the first resonant point of the motor, and the most suitable PID parameters can be selected based on this damping adhesive level.

[0047] Furthermore, to obtain the amplitude-frequency characteristics of the motor's first-order resonant point, according to existing technical theories, as shown in the appendix... Figure 2 As shown, by testing the step response characteristics of the motor and collecting the step action position signal of the motor, the damping coefficient ζ and the undamped oscillation frequency ωn of the motor can be calculated, and the amplitude-frequency characteristics of the second-order system of the motor can be obtained, thereby obtaining the amplitude-frequency characteristics of the first-order resonant point of the motor.

[0048] Therefore, the control fixture, production station, and method in this embodiment control the motor to perform step response characteristic testing, and then collect the test data of the motor to calculate the damping adhesive quantity state of the motor. According to the aforementioned theory, this calculation method belongs to the prior art. Then, based on the damping adhesive quantity state, the corresponding PID parameter is selected from the motor sample debugging PID parameter library (a parameter library established in the early stage according to motor samples with different damping adhesive characteristics) and burned into the motor driver IC (chip), thereby improving the yield and performance of the motor. There are two ways to collect the step response characteristic test data of the motor: 1. Collect the step response characteristic test data of the motor from the inside of the motor through the built-in Hall sensor and analog-to-digital converter, and convert it into Hall digital signal output to the control fixture for motor damping glue quantity state calculation; 2. Collect the displacement change of the motor set point (the position and number of set points can be customized) from the outside of the motor through a displacement measuring instrument, such as a laser rangefinder, and generate an external test analog signal to send to the control fixture. The ADC (analog-to-digital converter) built into the control fixture converts the external test analog signal into an external test digital signal, and then calculates the motor damping glue quantity state from the external test digital signal.

[0049] This embodiment provides a control fixture for configuring PID parameters for a camera motor, which includes Embodiment 1 and Embodiment 2;

[0050] Example 1: As shown in the attached document Figure 3a As shown, the control fixture is connected to the production line PC (production line electronic computer) and the motor to be configured, respectively. The motor has a built-in Hall sensor and analog-to-digital converter, which can collect data from the motor's step response characteristic test and convert it into a Hall digital signal output. The control fixture includes:

[0051] The controller, such as an MCU (microcontroller chip unit), is electrically connected to the motor and is used to perform step response characteristic tests on the motor under controlled conditions. It receives Hall digital signal test data from the motor, calculates the damping glue quantity state of the motor, and then selects the corresponding PID parameter from the motor sample debugging PID parameter library according to the damping glue quantity state and burns it into the motor driver IC.

[0052] The memory, electrically connected to the controller, is used to store data and parameter configurations to cooperate with the controller in operation; preferably, the memory is an EEPROM (Electrically Erasable Programmable Read-Only Memory), which allows for easy modification of parameter configurations to adapt to the production of different motor models;

[0053] The PC interface has one end electrically connected to the controller and memory via a bus, and the other end electrically connected to the production line PC, serving as a connection port between the controller, memory, and production line PC.

[0054] Its working principle is:

[0055] The production line PC sends a step response test command to the control fixture in this embodiment. After receiving the step response test command, the control fixture sends a motor drive command to the motor to control the motor to perform the corresponding step action and perform the step response test. The step action position signal of the motor is collected by the Hall sensor built into the motor and outputs a Hall analog signal to the analog-to-digital converter built into the motor. The analog-to-digital converter converts the Hall analog signal into a Hall digital signal and outputs it to the control fixture. The controller of the control fixture calculates the damping glue level of the motor and selects the corresponding PID parameter from the motor sample debugging PID parameter library (the motor sample debugging PID parameter library is usually stored in the production line PC) according to the damping glue level and burns it into the motor's driver IC, thereby completing the PID parameter configuration of the motor.

[0056] Example 2: As shown in the attached document Figure 3b As shown, the control fixture is connected to the production line PC, displacement measuring instrument (such as a laser rangefinder), and the motor to be configured, and includes:

[0057] The controller, such as an MCU (microcontroller chip unit), is electrically connected to the motor and is used to perform step response characteristic tests on the motor under control. It also receives test data from the displacement measuring instrument and calculates the damping glue quantity state of the motor. Then, based on the damping glue quantity state, it selects the corresponding PID parameter from the motor sample debugging PID parameter library and burns it into the motor's driver IC.

[0058] The memory, electrically connected to the controller, is used to store data and parameter configurations to cooperate with the controller in operation; preferably, the memory is an EEPROM (Electrically Erasable Programmable Read-Only Memory), which allows for easy modification of parameter configurations to adapt to the production of different motor models;

[0059] The PC interface has one end electrically connected to the controller and memory via a bus, and the other end electrically connected to the production line PC, serving as a connection port between the controller, memory, and production line PC.

[0060] The ADC is connected to the displacement measuring instrument and the controller at its two ends, respectively. It is used to collect the external analog signal output by the displacement measuring instrument and convert it into an external digital signal to be sent to the controller.

[0061] Its working principle is:

[0062] The production line PC sends a step response test command to the control fixture in this embodiment. Upon receiving the command, the control fixture sends a motor drive command to the motor to perform a corresponding step action, thus conducting the step response test. A displacement measuring instrument acquires the step action position signal of the motor and outputs an external analog signal to the ADC of the control fixture. The ADC converts the external analog signal into an external digital signal and sends it to the controller. The controller calculates the damping adhesive level of the motor based on the external digital signal and selects the corresponding PID parameter from the motor sample debugging PID parameter library (usually stored in the production line PC) and burns it into the motor's driver IC, thereby completing the PID parameter configuration for the motor. This embodiment can further improve the accuracy of the measurement.

[0063] Furthermore, this embodiment also provides a production workstation for configuring PID parameters for a camera motor, which includes Embodiment 3 and Embodiment 4;

[0064] Example 3: As shown in the attached document Figure 4a As shown, the production station includes:

[0065] Production line PC, used for control of this production station;

[0066] The control fixture in Example 1 is electrically connected to the production line PC and the motor to be configured, respectively. It is used to receive the step response test command from the production line PC, control the motor to perform the step response test, receive the Hall digital signal output by the motor, calculate the motor damping glue level, and configure the PID parameters of the motor.

[0067] Its working principle is:

[0068] The production line PC sends a step response test command to the control fixture in this embodiment. After receiving the step response test command, the control fixture sends a motor drive command to the motor to control the motor to perform the corresponding step action and conduct a step response test. The control fixture controls the Hall sensor built into the motor to collect the step action position signal of the motor. The Hall sensor outputs a Hall analog signal to the analog-to-digital converter built into the motor. The analog-to-digital converter converts the Hall analog signal into a Hall digital signal and outputs it to the control fixture. The controller of the control fixture calculates the damping glue level of the motor based on the Hall digital signal, and selects the corresponding PID parameter from the motor sample debugging PID parameter library (the motor sample debugging PID parameter library is usually stored in the production line PC) and burns it into the motor's driver IC, thereby completing the PID parameter configuration of the motor.

[0069] Example 4: As shown in the appendix Figure 4b As shown, the production station includes:

[0070] Production line PC, used for control of this production station;

[0071] Displacement measuring instruments (such as laser rangefinders) are used to test the step response of the motor to be configured and output external analog signals.

[0072] The control fixture in Example 2 is electrically connected to the production line PC, the displacement measuring instrument, and the motor, respectively. It is used to receive the step response test command from the production line PC, control the motor to perform the step response test, receive the external analog signal output by the displacement measuring instrument, calculate the motor damping glue level, and configure the PID parameters of the motor.

[0073] Its working principle is:

[0074] The production line PC sends a step response test command to the control fixture in this embodiment. After receiving the step response test command, the control fixture sends a motor drive command to the motor to control the motor to perform the corresponding step action and perform a step response test. The displacement measuring instrument collects the step action position signal of the motor and outputs an external analog signal to the ADC of the control fixture. The ADC of the control fixture converts the external analog signal into an external digital signal and sends it to the controller. The controller performs calculations on the external digital signal to calculate the damping glue content of the motor, and selects the corresponding PID parameter from the motor sample debugging PID parameter library (the motor sample debugging PID parameter library is usually stored in the production line PC) according to the damping glue content, and burns it into the motor drive IC, thereby completing the PID parameter configuration of the motor.

[0075] Furthermore, this embodiment also provides a method for configuring PID parameters for a camera motor, which includes Embodiments 5 and 6;

[0076] Example 5: This method is implemented through the production station of Example 3, and includes the following steps:

[0077] S1. The production line PC sends a step response test command to the control fixture. After receiving the step response test command, the control fixture sends a motor drive command to the motor to control the motor to perform the corresponding step action and perform the step response test.

[0078] S2. The step position signal of the motor is acquired by the Hall sensor built into the motor, and the acquired Hall analog signal is converted into Hall digital signal by the analog-to-digital converter built into the motor and output to the control fixture.

[0079] S3. The controller of the control fixture performs calculations on the Hall digital signal to determine the damping amount of the motor.

[0080] S4. The controller selects the corresponding PID parameters from the motor sample debugging PID parameter library according to the damping adhesive quantity state and burns them into the motor's driver IC to complete the PID parameter configuration of the motor.

[0081] Example 6: This method is implemented through the production station of Example 4, and includes the following steps:

[0082] L1. The production line PC sends a step response test command to the control fixture. After receiving the step response test command, the control fixture sends a motor drive command to the motor to control the motor to perform the corresponding step action and perform the step response test.

[0083] L2, The displacement measuring instrument acquires the step position signal of the motor and outputs the external analog signal to the ADC of the control fixture;

[0084] L3. The ADC of the control fixture converts the acquired external analog signal into an external digital signal and sends it to the controller. The controller performs calculations on the external digital signal to determine the damping rubber content of the motor.

[0085] L4. The controller selects the corresponding PID parameters from the motor sample debugging PID parameter library based on the damping adhesive quantity status and burns them into the motor's driver IC to complete the PID parameter configuration of the motor.

[0086] In summary, the control fixture, production station, and method for configuring PID parameters in a camera motor provided by this invention calculate the motor's damping adhesive state by testing the motor's step response characteristics, and configures the most suitable PID parameters in the motor, thereby reducing the motor manufacturer's dependence on the damping adhesive control precision and improving the motor's yield and performance; furthermore, by setting an external laser rangefinder, the measurement accuracy is further improved.

[0087] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A control tool for configuring PID parameters of a camera motor, electrically connected to a motor to be configured, characterized in that, The control device comprises: a controller or a controller and a memory electrically connected, configured to output motor driving instruction to the motor to control the motor to perform step response characteristic test after receiving the step response test instruction, and receive response characteristic test data and calculate the damping glue amount condition of the motor, and configure corresponding PID parameters in the motor; the motor is provided with a hall sensor and an analog-to-digital converter electrically connected, the hall sensor of the motor detects the step response characteristic test of the motor and outputs a hall analog signal, and the analog-to-digital converter converts the hall analog signal into a hall digital signal as the response characteristic test data output to the controller; the control device is connected with a displacement measuring instrument, and the displacement measuring instrument is configured to detect the step response characteristic test of the motor from the outside and output an external analog signal to the controller; the control device further comprises an ADC electrically connected with the controller, the ADC is electrically connected with the displacement measuring instrument, and is configured to collect the external analog signal output by the displacement measuring instrument and convert the external analog signal into an external digital signal as the response characteristic test data output to the controller.

2. The control device according to claim 1, wherein the memory is an EEPROM.

3. The control device according to claim 1, wherein the control device is electrically connected with a production line PC, and is configured to receive the step response characteristic test instruction of the production line PC; the control device further comprises: a PC interface, one end of which is electrically connected with the controller, and the other end of which is electrically connected with the production line PC, serving as a connection port between the controller and the production line PC. The production line PC is configured to control the production station. The control device according to any one of claims 1 to 3 is electrically connected with the production line PC and the motor to be configured respectively, configured to receive the step response test instruction of the production line PC to control the motor to perform step response test, receive the response characteristic test data output by the motor, calculate the damping glue amount condition of the motor, and configure PID parameters for the motor.

4. A camera motor configuration PID parameter production station, characterized in that, The production line PC is configured to control the production station. The displacement measuring instrument is configured to detect the step action position signal of the motor from the outside of the motor to be configured and output an external analog signal. The control device according to any one of claims 1 to 3 is electrically connected with the production line PC, the displacement measuring instrument and the motor to be configured respectively, configured to receive the step response test instruction of the production line PC to control the motor to perform step response test, receive the external analog signal output by the displacement measuring instrument, convert the external analog signal into an external digital signal as the response characteristic test data, calculate the damping glue amount condition of the motor, and configure PID parameters for the motor.

5. A camera motor configuration PID parameter production station, characterized in that, 6. The production station according to claim 5, wherein the displacement measuring instrument is a laser range finder. The production station according to claim 4 is implemented, comprising the following steps: S1, the production line PC sends a step response test instruction to the control device, and the control device sends a motor driving instruction to the motor to control the motor to perform corresponding step action after receiving the step response test instruction, so as to perform step response test. ​ ​ ​ 7. A method for configuring PID parameters of a camera motor, the method comprising: ​ ​ S2, the step action position signal of the motor is collected by the hall sensor built-in the motor and outputs the hall analog signal to the analog-digital converter built-in the motor, the analog-digital converter converts the hall analog signal into the hall digital signal as the response characteristic test data and outputs to the controller of the control tool; S3, the controller of the control tool calculates the motor damping glue amount state by operating the response characteristic test data; S4, the controller of the control tool selects the corresponding PID parameter in the motor sample debugging PID parameter library according to the motor damping glue amount state and configures in the motor.

8. A method for configuring PID parameters of a camera motor, the method comprising: It is realized based on the production station as claimed in claim 5, comprising the steps of: L1, the production line PC sends the step response test instruction to the control tool, the control tool sends the motor driving instruction to control the motor to make corresponding step action after receiving the step response test instruction, and the step response test is carried out; L2, the displacement measuring instrument collects the step action position signal of the motor and outputs the external measurement analog signal to the ADC of the control tool; L3, the ADC of the control tool converts the external measurement analog signal into the external measurement digital signal as the response characteristic test data and sends to the controller, and the controller calculates the motor damping glue amount state; L4, the controller selects the corresponding PID parameter in the motor sample debugging PID parameter library according to the motor damping glue amount state and configures in the motor.

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