Control method and device of piezoelectric driver, storage medium and electronic equipment

Abstract

The present disclosure provides a piezoelectric driver control method, device, storage medium and electronic equipment, and relates to the technical field of piezoelectric control. The piezoelectric driver control method comprises: acquiring a control coefficient determined by a friction coefficient between a piezoelectric driver and a driven part; and determining a control signal for inputting the piezoelectric driver according to the control coefficient and a sliding mode surface of the piezoelectric driver. The present disclosure can realize accurate control of the piezoelectric driver and improve the precision of piezoelectric driving.

Description

Technical Field

[0001] This disclosure relates to the field of piezoelectric control technology, and in particular to a control method, apparatus, storage medium and electronic device for a piezoelectric actuator. Background Technology

[0002] Piezoelectric actuation refers to a driving technology based on the inverse piezoelectric effect of piezoelectric materials, which generates rotational or linear motion through the deformation of the piezoelectric material. The deformation of piezoelectric materials is generally only on the micrometer or nanometer scale, so the displacement control precision is very high. Piezoelectric actuators (such as piezoelectric motors) are often used in high-precision applications.

[0003] In related technologies, when using a conventional PID (Proportional Integral Derivative) control system to control a piezoelectric actuator, its accuracy is usually low, affecting the precision of the piezoelectric actuator. Summary of the Invention

[0004] This disclosure provides a control method, apparatus, storage medium, and electronic device for a piezoelectric actuator, thereby at least partially solving the problem of difficulty in accurately controlling a piezoelectric actuator.

[0005] According to a first aspect of this disclosure, a control method for a piezoelectric actuator is provided, comprising: acquiring a control coefficient determined by a coefficient of friction between the piezoelectric actuator and a driven member; and determining a control signal for inputting the piezoelectric actuator based on the control coefficient and a sliding surface of the piezoelectric actuator.

[0006] According to a second aspect of this disclosure, a control device for a piezoelectric actuator is provided, comprising: a control coefficient acquisition module configured to acquire a control coefficient determined by a friction coefficient between the piezoelectric actuator and a driven member; and a control signal determination module configured to determine a control signal for inputting the piezoelectric actuator based on the control coefficient and a sliding surface of the piezoelectric actuator.

[0007] According to a third aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the control method for the piezoelectric actuator of the first aspect described above, and possible implementations thereof.

[0008] According to a fourth aspect of this disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the control method of the piezoelectric actuator of the first aspect and possible implementations thereof via executing the executable instructions.

[0009] The technical solution disclosed herein has the following beneficial effects:

[0010] On the one hand, considering the frictional drive between the piezoelectric actuator and the driven component, a sliding mode control method is adopted to determine the control signal used to input the piezoelectric actuator, which enables accurate control of the piezoelectric actuator and thus improves the accuracy of the piezoelectric drive. On the other hand, this scheme has a simple processing procedure and low computational load, which is conducive to realizing real-time control of the piezoelectric actuator and can be applied to scenarios such as camera driving. Attached Figure Description

[0011] Figure 1 A flowchart illustrating a control method for a piezoelectric actuator in this exemplary embodiment is shown.

[0012] Figure 2 A sub-flowchart of a control method for a piezoelectric actuator in this exemplary embodiment is shown;

[0013] Figure 3 This diagram illustrates the structure of a piezoelectric actuator according to this exemplary embodiment;

[0014] Figure 4 This diagram illustrates the structure of another piezoelectric actuator in this exemplary embodiment;

[0015] Figure 5 This diagram illustrates the structure of a camera module according to an exemplary embodiment.

[0016] Figure 6 This diagram illustrates the structure of a piezoelectric motor according to this exemplary embodiment;

[0017] Figure 7 This diagram illustrates the structure of a control device for a piezoelectric actuator according to this exemplary embodiment.

[0018] Figure 8 A schematic diagram of the structure of an electronic device in this exemplary embodiment is shown. Detailed Implementation

[0019] Exemplary embodiments of this disclosure will be described more fully below with reference to the accompanying drawings.

[0020] The accompanying drawings are illustrative illustrations of this disclosure and are not necessarily drawn to scale. The technical solutions of this disclosure can be implemented in various forms and should not be construed as limited to the examples set forth herein. The features, structures, or characteristics described in this disclosure can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a sufficient description of embodiments of this disclosure. However, those skilled in the art will understand that one or more specific details may be omitted when implementing the technical solutions of this disclosure, or other methods, components, structures, etc., may be used to replace one or more specific details.

[0021] The control signal of the piezoelectric actuator can adopt a periodic signal with a regular waveform, such as a sine signal, etc. During the control process, it is impossible to arbitrarily adjust the voltage value of the control signal, etc. If a conventional PID control system is used, it is necessary to approximate the voltage value calculated by PID according to the original waveform of the control signal, thus affecting the control accuracy.

[0022] In view of the above problems, an exemplary embodiment of the present disclosure provides a control method for a piezoelectric actuator. This control method can be applied to the controller of the piezoelectric actuator. The controller can be a control system supporting the piezoelectric actuator, or a processor in an electronic module or electronic device integrated with the piezoelectric actuator. For example, a piezoelectric actuator can be integrated in a camera module, and the controller of the piezoelectric actuator can be the MCU (Micro Controller Unit) of the camera module. Or, a piezoelectric actuator can be integrated in a smart phone, and the controller of the piezoelectric actuator can be the processor of the smart phone.

[0023] Figure 1 The flowchart of the control method for the piezoelectric actuator is shown, which can include the following steps S110 and S120:

[0024] Step S110, obtain a control coefficient determined by the friction coefficient between the piezoelectric actuator and the driven member;

[0025] Step S120, determine a control signal for inputting to the piezoelectric actuator according to the control coefficient and the sliding surface of the piezoelectric actuator.

[0026] Based on the above method, on the one hand, considering the friction drive situation between the piezoelectric actuator and the driven member, and adopting the sliding mode control method to determine the control signal for inputting to the piezoelectric actuator can achieve accurate control of the piezoelectric actuator, thereby improving the accuracy of piezoelectric drive. On the other hand, the processing process of this solution is simple and the calculation amount is low, which is beneficial to realizing real-time control of the piezoelectric actuator and can be applied to scenarios such as camera driving.

[0027] The following Figure 1 makes a specific description of each step.

[0028] Step S110, obtain a control coefficient determined by the friction coefficient between the piezoelectric actuator and the driven member.

[0029] In this exemplary embodiment, considering the essence of controlling a piezoelectric actuator, which is to enable the piezoelectric actuator to drive the driven component to produce a desired displacement through a certain control signal, a relationship between the control signal and the displacement can be established. The control coefficient is a coefficient that can characterize the relationship between the control signal and the displacement to a certain extent. For example, the control coefficient can be a linear coefficient between a certain function value of the displacement and the control signal.

[0030] The inventors discovered through experiments that the control coefficient is positively correlated with the friction coefficient between the piezoelectric actuator and the driven component. The mapping relationship between the control coefficient and the friction coefficient can be obtained through experimental calibration, such as by implementing it in the form of a mapping table. Thus, during actual control, the friction coefficient between the piezoelectric actuator and the driven component can be acquired or measured, and the control coefficient can be determined using the calibrated mapping relationship.

[0031] Step S120: Determine the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator.

[0032] Piezoelectric drives exhibit nonlinear motion, and sliding mode control is also a type of nonlinear control. Therefore, the concept of sliding mode control can be used to control piezoelectric actuators.

[0033] The control signal can be an instantaneous signal or a signal over a period of time. For example, the expected displacement can be obtained before the piezoelectric actuator starts driving, the sliding surface of the piezoelectric actuator can be designed, and the control signal for one driving process can be determined based on the control coefficient and the sliding surface. This control signal can be a periodic steady-state signal.

[0034] In one implementation, the control signal may include a sinusoidal signal or a pulse signal. The pulse signal may be a modulated signal with an arbitrary waveform, such as a PWM (Pulse Width Modulation) signal. More specifically, the pulse signal may be a triangular wave signal. Sinusoidal or pulse signals have stable waveforms. This facilitates stable control of the piezoelectric actuator and enables a certain degree of interference and noise immunity.

[0035] In one embodiment, determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator may include the following steps:

[0036] The control signal is determined by using a pre-configured piezoelectric control function, based on the control coefficient and the sliding surface of the piezoelectric actuator.

[0037] The piezoelectric control function characterizes the functional relationship between the control coefficients, the sliding surface of the piezoelectric actuator, and the control signal. For example, multiple sets of control signal parameters can be set. The parameters of each set of control signals can include the frequency, amplitude, and waveform parameters of the control signal. Under different control coefficients, the actual displacement, velocity, and other information corresponding to the parameters of each set of control signals are obtained experimentally to construct the sliding surface. The sliding surface under different coefficients is fitted to the parameters of the control signals to obtain the piezoelectric control function. In actual control, the control coefficients and the sliding surface of the piezoelectric actuator can be substituted into the piezoelectric control function to calculate the control signal.

[0038] The derivation of the sliding surface is as follows. Assuming the driven component slides on the interface between the piezoelectric actuator and the driven component, with displacement x1, velocity x2, and control signal u, the following relationship holds:

[0039]

[0040]

[0041] in, Denotes the first derivative of x1. Let x1 represent the first derivative of x2. The goal of the control is to make both x1 and x2 equal to 0, that is, to keep the driven component exactly at the origin.

[0042] The sliding surface can be designed as follows:

[0043] s = cx1 + x2 (3)

[0044] Here, s is called the sliding surface because when s = 0, the state of the entire system (piezoelectric actuator + driven component) will tend to zero along the sliding surface.

[0045] Differentiating both sides of equation (3), we get:

[0046]

[0047] By studying the reaching law The design has the following relationships:

[0048] c·x² + u = k·sgn(s) (5)

[0049] Since the piezoelectric driving force is fixed, the piezoelectric control function can be obtained as follows:

[0050] u=k·sgn(s) (6)

[0051] Where u represents the control signal, k represents the control coefficient, and s represents the sliding surface. The control signal can be easily calculated using formula (6).

[0052] In one embodiment, determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator may include the following steps:

[0053] To obtain the speed of the moving parts of the piezoelectric actuator;

[0054] The control signal is determined based on the control coefficient, the sliding surface of the piezoelectric actuator, and the speed of the moving parts.

[0055] In this calculation, the control signal u can be calculated by substituting the control coefficient k, the sliding surface s of the piezoelectric actuator, and the speed x2 of the moving part into formula (5). The addition of the speed x2 of the moving part makes the calculation result more accurate.

[0056] In one embodiment, the piezoelectric actuator may have a first control terminal and a second control terminal. (See reference) Figure 2 As shown, the above-described determination of the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator may include the following steps S210 and S220:

[0057] Step S210: Determine the total control signal based on the control coefficient and the sliding surface of the piezoelectric actuator;

[0058] Step S220: The total control signal is split into a first control signal and a second control signal with a preset phase difference; the first control signal is used to input the first control terminal, and the second control signal is used to input the second control terminal.

[0059] The first and second control terminals of the piezoelectric actuator can be used to input different control signals. The total control signal is the superposition of the control signals of each control terminal. By splitting it into the first control signal and the second control signal and inputting them into the first and second control terminals respectively, the superposition motion of the piezoelectric actuator can be realized, thereby improving the driving efficiency.

[0060] The piezoelectric actuator with a first control terminal and a second control terminal is described below.

[0061] refer to Figure 3 As shown, the piezoelectric actuator 300 may include a piezoelectric body 310 and a moving member 320. The piezoelectric body 310 and the moving member 320 can be connected by a sliding rod or friction connection. A first control signal and a second control signal are applied to two different parts of the piezoelectric body 310, respectively, to control the deformation of the piezoelectric body 310 to drive the moving member 320 to move; when the moving member 320 moves, it drives the driven member 330 to move. The first control signal and the second control signal have a preset phase difference, such that the deformation of the piezoelectric body 310 controlled by the first control signal and the deformation of the piezoelectric body 310 controlled by the second control signal can drive the moving member 320 to move in the same direction.

[0062] The first and second control signals are used to apply a voltage difference to the piezoelectric body 310, causing it to deform in either a horizontal or vertical direction. The first and second control signals are applied to two different parts of the piezoelectric body 310 to apply a voltage difference to those parts. For example, the first control signal can be applied to the left side of the piezoelectric body 310, and the second control signal can be applied to the right side. The first and second control signals have a preset phase difference; for example, they can be signals with opposite phases. At the same time, the first and second control signals can apply a voltage difference in the same direction to the piezoelectric body 310. The two control signals can control the piezoelectric body 310 to deform in the same direction. For example, the first control signal causes the left side of the piezoelectric body 310 to extend, and the second control signal causes the right side of the piezoelectric body 310 to contract, resulting in an overall horizontal deformation of the piezoelectric body 310 to the left.

[0063] Specifically, the piezoelectric element 310 may have a first control terminal 3101, a second control terminal 3102, and a ground terminal 3103. A first control signal is applied between the first control terminal 3101 and the ground terminal 3103, creating a voltage difference between them, causing deformation of the portion of the piezoelectric element 310 located between the two terminals. A second control signal is applied between the second control terminal 3102 and the ground terminal 3103, creating another voltage difference, causing deformation of the portion of the piezoelectric element 310 located between these terminals. Thus, by setting the positions of the first control terminal 3101, the second control terminal 3102, and the ground terminal 3103 on the piezoelectric element 310, different parts of the piezoelectric element 310 can be deformed as expected, and the deformation of different parts can produce the same driving result. The deformation generated by the two control signals can cause the moving part 320 to move in the same direction. Compared with a single control signal, this increases the stroke of the moving part 320 and the driven part 330. For example, it can increase the maximum displacement distance or the maximum rotation angle of the driven part 330.

[0064] In one implementation, refer to the above. Figure 3As shown, the grounding terminal 3103 can be disposed on the first side of the piezoelectric body 310 away from the moving member 320. The first control terminal 3101 and the second control terminal 3102 can be disposed on the second side of the piezoelectric body 310 opposite to the first side, and are respectively located at two mutually distant endpoints on the second side. Simultaneously applying the first control signal and the second control signal, the first control signal causes the left side of the piezoelectric body 310 to deform upwards, and the second control signal causes the right side of the piezoelectric body 310 to deform downwards. The superposition of the two deformations causes the moving member 320 to rotate clockwise or perform elliptical motion clockwise, and drives the driven member 330 to move linearly to the right.

[0065] In one implementation, reference Figure 4 As shown, the first control terminal 3101 can be located at one end of the piezoelectric body 310 along the axial direction, and the second control terminal 3102 can be located at the other end of the piezoelectric body 3102 along the axial direction. The axial direction can be the direction of maximum length of the piezoelectric body 310. By setting the first control terminal 3101 and the second control terminal 3102 at the axial ends, the applied first and second control signals can create a voltage difference in the piezoelectric body 310 along the axial direction, thereby generating axial deformation. Furthermore, the first and second control signals can cover the entire piezoelectric body 310 to fully utilize the inverse piezoelectric effect of the entire piezoelectric body 310. Both of these aspects contribute to generating a relatively large deformation.

[0066] In one implementation, refer to the above. Figure 4 As shown, the grounding terminal 3103 can be located at the midpoint of the piezoelectric element 310 along its axial direction. Thus, the portion from the first control terminal 3101 to the grounding terminal 3103, and the portion from the second control terminal 3102 to the grounding terminal 3103, form a mutually symmetrical structure. This allows for the balanced application of the first and second control signals, resulting in equivalent deformation in both portions, thereby significantly improving driving efficiency. For example, applying the first and second control signals with equal amplitudes doubles the deformation of the piezoelectric element 310 compared to a single control signal, effectively doubling the maximum stroke and driving range of the piezoelectric actuator 300.

[0067] In one embodiment, the first control signal and the second control signal have the same period, such as sinusoidal signals or pulse signals with the same period. The phase difference between the first control signal and the second control signal can be 1 / 4 of a cycle. For example, the first control signal can be applied between the first control terminal 3101 and the ground terminal 3103, and the second control signal can be applied between the second control terminal 3102 and the ground terminal 3103. When the second control signal is delayed by 90 degrees (i.e., 1 / 4 of a cycle) compared to the first control signal, the driven member 330 can be driven to move to the right; when the first control signal is delayed by 90 degrees (i.e., 1 / 4 of a cycle) compared to the second control signal, the driven member 330 can be driven to move to the left. It can be seen that by controlling the phase difference between the first control signal and the second control signal to be maintained at 1 / 4 of a cycle, the two can cause equivalent deformation to the piezoelectric body 310, thereby achieving superposition.

[0068] It should be understood that the phase difference between the first control signal and the second control signal is related to the specific waveforms of the first control signal and the second control signal, and this disclosure does not limit this. For example, the phase difference between the first control signal and the second control signal can also be 1 / 2 cycle.

[0069] Given the aforementioned phase difference, the total control signal can be split into a first control signal and a second control signal with the same period and the aforementioned phase difference. This allows for more precise and efficient control through dual-end control of the piezoelectric actuator.

[0070] The piezoelectric actuator in this exemplary embodiment can be disposed in the camera module. (See reference...) Figure 5 As shown, the camera module 500 may include a lens 510, an image sensor 520, and a piezoelectric actuator 530. The piezoelectric actuator 530 may be any type of piezoelectric driving device in this exemplary embodiment, such as the piezoelectric actuator 300 described above. The lens 510 or the image sensor 520 is the driven component, and the piezoelectric actuator 530 is used to drive the driven component to move, thereby realizing the focusing, optical image stabilization, and other functions of the camera module 500.

[0071] Figure 5 Other components of the camera module 500 are also shown, including a bracket 540, a circuit board 550, and a filter 560. The bracket 540 supports one or more of the filter 560, lens 510, and piezoelectric actuator 530. The circuit board 550 is used to mount the image sensor 520 and other electronic components (such as a possible image signal processor) and to transmit signals. The filter 560 is used to filter ultraviolet and infrared light that cannot be observed by the human eye, reduce stray light, or filter out monochromatic light; for example, the filter 560 could be a Bayer filter. The filter 560 can also be considered a component of the image sensor 520.

[0072] The camera module 500 uses a piezoelectric actuator 530 as a motor to drive the lens 510 or image sensor 520. This can increase the maximum travel of the lens 510 or image sensor 520 while achieving precise control, so as to achieve focusing or optical image stabilization over a wider range, which is beneficial to improving the focusing or optical image stabilization effect.

[0073] In one embodiment, the camera module 500 may include three piezoelectric actuators 530, which are used to control the driven component to move along the focal length direction, along the X direction of optical image stabilization, and along the Y direction of optical image stabilization, respectively, so as to realize the driving functions of focusing and optical image stabilization.

[0074] Three piezoelectric actuators 530 can be integrated into a single piezoelectric motor, which effectively has three drive mechanisms. (Reference) Figure 6 As shown, the specific structure of the piezoelectric motor 600 can be described as follows: Figure 6 As shown, it includes:

[0075] The metal housing 602 is used to protect the piezoelectric motor 600.

[0076] Frame 604 is a frame used to support the superstructure;

[0077] The spring 606 is used to press the driven component (in this embodiment, the lens is used as the driven component, but it can also refer to the image sensor) onto the OIS (Optical Image Stabilizer) track to ensure the stability of the movement in the OIS axis direction.

[0078] Carrier 608 is used to support the lens during movement;

[0079] Flexible circuit board 610 is used to connect the signals of TMR sensor (Tunnel Magneto Resistance sensor) and Piezo AF (Piezo Auto focus, AF axis drive, AF axis is the focal length direction).

[0080] TMR sensor 612: A magnetic sensing device used to detect the position of a lens in the AF (Auto focus) axis direction;

[0081] AF axis drive 614: Used to drive the lens to move along the AF axis direction;

[0082] X-axis frame 616 is used to drive the lens to move along the X-axis direction of optical image stabilization;

[0083] X-axis drive 618: Used to drive the lens to move along the X-axis of optical image stabilization;

[0084] X-axis position detection 620: Used to detect the position of the lens in the X-axis direction;

[0085] Y-axis frame 622: Used to move the lens along the Y-axis direction of optical image stabilization;

[0086] Y-axis drive 624: Used to drive the lens to move along the Y-axis direction of optical image stabilization;

[0087] Y-axis position detection 626: Used to detect the position of the lens in the Y-axis direction;

[0088] Flexible circuit board 628 is used to connect the signals of X-axis position detection 620, X-axis drive 618, Y-axis position detection 626, and Y-axis drive 624.

[0089] The 630 ball bearing is used to move the lens along the AF axis, X axis, and Y axis.

[0090] The base 636 is used to support the X-axis frame, Y-axis frame, and lens.

[0091] Exemplary embodiments of this disclosure also provide a control device for a piezoelectric actuator. (See reference...) Figure 7 As shown, the control device 700 of the piezoelectric actuator may include:

[0092] The control coefficient acquisition module 710 is configured to acquire the control coefficient determined by the friction coefficient between the piezoelectric actuator and the driven member;

[0093] The control signal determination module 720 is configured to determine the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator.

[0094] In one embodiment, determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator includes:

[0095] The control signal is determined by using a pre-configured piezoelectric control function, based on the control coefficient and the sliding surface of the piezoelectric actuator.

[0096] In one implementation, the piezoelectric control function is:

[0097] u = k·sgn(s)

[0098] Where u represents the control signal, k represents the control coefficient, and s represents the sliding surface.

[0099] In one embodiment, determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator includes:

[0100] To obtain the speed of the moving parts of the piezoelectric actuator;

[0101] The control signal is determined based on the control coefficient, the sliding surface of the piezoelectric actuator, and the speed of the moving parts.

[0102] In one embodiment, the piezoelectric actuator has a first control terminal and a second control terminal; the determination of the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator includes:

[0103] The total control signal is determined based on the control coefficients and the sliding surface of the piezoelectric actuator;

[0104] The total control signal is split into a first control signal and a second control signal with a preset phase difference; the first control signal is used to input the first control terminal, and the second control signal is used to input the second control terminal.

[0105] In one implementation, the first control signal and the second control signal have the same period and a phase difference of 1 / 4 of a period.

[0106] In one implementation, the control signal includes a sinusoidal signal or a pulse signal.

[0107] Exemplary embodiments of this disclosure also provide a computer-readable storage medium that can be implemented as a program product including program code, which, when run on an electronic device, causes the electronic device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. In an alternative embodiment, the program product can be implemented as a portable compact disc read-only memory (CD-ROM) including program code and can run on an electronic device, such as a personal computer. However, the program product of this disclosure is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0108] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0109] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0110] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0111] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing devices can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0112] An exemplary embodiment of this disclosure also provides an electronic device. The electronic device may include a processor and a memory. The memory stores executable instructions for the processor, such as program code. The processor executes these executable instructions to perform the control method of the piezoelectric actuator in this exemplary embodiment.

[0113] The following is based on Figure 8 Taking a mobile terminal 800 as an example, the construction of this electronic device will be described by way of example. Those skilled in the art will understand that, apart from components specifically designed for mobile purposes, Figure 8 The structure can also be applied to fixed types of equipment.

[0114] like Figure 8 As shown, the mobile terminal 800 may specifically include: a processor 801, a memory 802, a bus 803, a mobile communication module 804, an antenna 1, a wireless communication module 805, an antenna 2, a display screen 806, a camera module 807, an audio module 808, a power module 809, and a sensor module 810.

[0115] Processor 801 may include one or more processing units, such as: application processor (AP), modem processor, graphics processing unit (GPU), ISP, controller, encoder, decoder, digital signal processor (DSP), baseband processor and / or neural network processor (NPU), etc.

[0116] The processor 801 can be connected to the memory 802 or other components via the bus 803.

[0117] The memory 802 can be used to store executable program code, which includes instructions. The processor 801 executes various functional applications and data processing of the mobile terminal 800 by running the instructions stored in the memory 802. The memory 802 can also store application data, such as images, videos, and other files.

[0118] The communication functions of the mobile terminal 800 can be implemented through a mobile communication module 804, antenna 1, a wireless communication module 805, antenna 2, a modem processor, and a baseband processor. Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. The mobile communication module 804 can provide 3G, 4G, and 5G mobile communication solutions for use on the mobile terminal 800. The wireless communication module 805 can provide wireless communication solutions such as wireless LAN, Bluetooth, and near-field communication for use on the mobile terminal 800.

[0119] The display screen 806 is used to implement display functions, such as displaying user interfaces, images, videos, etc.

[0120] Camera module 807 is used to perform shooting functions, such as capturing images and videos. Camera module 807 can be any of the camera modules mentioned above, such as camera module 500.

[0121] The audio module 808 is used to implement audio functions, such as playing audio and capturing voice.

[0122] The power module 809 is used to implement power management functions, such as charging the battery, powering the device, and monitoring the battery status.

[0123] The sensor module 810 may include one or more sensors for implementing corresponding sensing and detection functions.

[0124] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to exemplary embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0125] Those skilled in the art will understand that various aspects of this disclosure can be implemented as systems, methods, or program products. Therefore, various aspects of this disclosure can be embodied in entirely hardware implementations, entirely software implementations (including firmware, microcode, etc.), or implementations combining hardware and software aspects, collectively referred to herein as “circuit,” “module,” or “system.” Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0126] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is defined only by the appended claims.

Claims

1. A control method for a piezoelectric actuator, characterized in that, include: The control coefficients are determined by the friction coefficient between the piezoelectric actuator and the driven component. The control signal for inputting the piezoelectric actuator is determined based on the control coefficient and the sliding surface of the piezoelectric actuator; The piezoelectric actuator includes a piezoelectric body and a connecting and moving component connected to the piezoelectric body; the piezoelectric actuator has a first control terminal and a second control terminal located at different parts of the piezoelectric body; the step of determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator includes: The total control signal is determined based on the control coefficients and the sliding surface of the piezoelectric actuator; The total control signal is split into a first control signal and a second control signal with a preset phase difference; the first control signal is used to input the first control terminal, and the second control signal is used to input the second control terminal.

2. The method according to claim 1, characterized in that, The step of determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator includes: The control signal is determined using a pre-configured piezoelectric control function, based on the control coefficient and the sliding surface of the piezoelectric actuator.

3. The method according to claim 2, characterized in that, The piezoelectric control function is: Where u represents the control signal, k represents the control coefficient, and s represents the sliding surface.

4. The method according to claim 1, characterized in that, The step of determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator includes: Obtain the speed of the moving part; The control signal is determined based on the control coefficient, the sliding surface of the piezoelectric actuator, and the speed of the moving part.

5. The method according to claim 1, characterized in that, The process of obtaining the control coefficient determined by the friction coefficient between the piezoelectric actuator and the driven component includes: Through experimental calibration, the mapping relationship between the friction coefficient and the control coefficient between the piezoelectric actuator and the driven part was obtained. The control coefficient corresponding to the actual friction coefficient between the piezoelectric actuator and the driven component is determined based on the mapping relationship.

6. The method according to any one of claims 1 to 5, characterized in that, The piezoelectric actuator also has a ground terminal located on a first side of the piezoelectric body away from the moving part, and the first control terminal and the second control terminal are disposed at different positions on a second side of the piezoelectric body, with the second side opposite to the first side. The first control signal is applied between the first control terminal and the ground terminal, and the second control signal is applied between the second control terminal and the ground terminal.

7. The method according to any one of claims 1 to 5, characterized in that, The first control terminal and the second control terminal are located at two different endpoints along the axial direction of the piezoelectric body, which is the direction in which the piezoelectric body has the longest length; the first control signal and the second control signal cause the piezoelectric body to deform along the axial direction.

8. A control device for a piezoelectric actuator, characterized in that, include: The control coefficient acquisition module is configured to acquire the control coefficient determined by the friction coefficient between the piezoelectric actuator and the driven part; The control signal determination module is configured to determine the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator; The piezoelectric actuator includes a piezoelectric body and a connecting and moving component connected to the piezoelectric body; the piezoelectric actuator has a first control terminal and a second control terminal located at different parts of the piezoelectric body; the step of determining the control signal for inputting the piezoelectric actuator based on the control coefficient and the sliding surface of the piezoelectric actuator includes: The total control signal is determined based on the control coefficients and the sliding surface of the piezoelectric actuator; The total control signal is split into a first control signal and a second control signal with a preset phase difference; the first control signal is used to input the first control terminal, and the second control signal is used to input the second control terminal.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 1 to 7 by executing the executable instructions.

Images