Voice Coil Motor

Abstract

The present invention belongs to the field of motors, and particularly relates to a voice coil motor, comprising: a mounting housing; a permanent magnet structure, which is mounted on the mounting housing; a coil mounting structure, which is mounted on the mounting housing; a bearing structure, which is mounted on the mounting housing; an elastic structure, which is mounted on the mounting housing; a fixing structure; and a voice coil motor control system for controlling the parameters of the voice coil motor. By adjusting the fixing structure, the elastic structure can be fixed on the mounting housing after the elastic structure is placed. When the elastic structure needs to be replaced, the elastic structure can be taken out and replaced by adjusting the fixing structure again. Therefore, when the elastic structure is damaged, it is not necessary to replace the whole. Moreover, the bearing structure makes the movement of the coil mounting structure more stable. Through the voice coil motor control system, the control parameters can be automatically adjusted to adapt to the unknown environment and system nonlinearity, improving the system performance and robustness.

Description

Technical Field

[0001] The present invention belongs to the field related to motors, and particularly relates to a voice coil motor. Background Art

[0002] Respiratory devices are generally instruments used to assist a person's breathing function. Currently, in respiratory devices, a voice coil motor is used to drive a diaphragm to vibrate, thereby assisting the patient to breathe.

[0003] However, when the current voice coil motor is designed, the flexible shrapnel is fixed on the housing. Therefore, when the voice coil motor is damaged, the entire voice coil motor needs to be replaced, and the performance, robustness, and adaptability of the system for controlling the voice coil motor are low. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a voice coil motor. By adjusting the fixing structure, after the elastic structure is placed, the elastic structure can be fixed on the mounting housing. When the elastic structure needs to be replaced, the elastic structure can be taken out and replaced by adjusting the fixing structure again. Therefore, when the elastic structure is damaged, it is not necessary to replace the whole, and the bearing structure makes the movement of the coil mounting structure more stable. Through the voice coil motor control system, the control parameters can be automatically adjusted to adapt to the unknown environment and system nonlinearity, improving the system performance and robustness.

[0005] The voice coil motor according to an embodiment of the present invention includes:

[0006] A mounting housing;

[0007] A permanent magnet structure, which is mounted on the mounting housing;

[0008] A coil mounting structure, which is mounted on the mounting housing;

[0009] A bearing structure, which is mounted on the mounting housing and is used to keep the coil mounting structure moving in a straight line;

[0010] An elastic structure, which is mounted on the mounting housing and is used to prevent the coil mounting structure from detaching from the mounting housing;

[0011] A fixing structure, which is mounted on the mounting housing and is used to fix the elastic structure;

[0012] A voice coil motor control system, which is used to control the parameters of the voice coil motor;

[0013] Wherein, the permanent magnet structure is sleeved around the coil mounting structure.

[0014] The voice coil motor of the present invention can fix the elastic structure on the mounting housing after the elastic structure is placed by adjusting the fixing structure. When the elastic structure needs to be replaced, the elastic structure can be taken out and replaced by adjusting the fixing structure again. Therefore, when the elastic structure is damaged, it is not necessary to replace the whole. Moreover, the bearing structure makes the movement of the coil mounting structure more stable. Through the voice coil motor control system, the control parameters can be automatically adjusted to adapt to the unknown environment and system nonlinearity, improving the system performance and robustness.

[0015] According to some embodiments of the present invention, an annular frame is provided inside the mounting housing, and an activity space is formed between the annular frame and the mounting housing;

[0016] A fixing space is further provided on the mounting housing, the fixing space is located above the activity space, and the elastic structure is fixedly arranged in the fixing space through the fixing structure;

[0017] The bearing structure is press-fitted into the annular frame.

[0018] According to some embodiments of the present invention, the permanent magnet structure includes an annular permanent magnet;

[0019] The annular permanent magnet is installed on the inner wall of the mounting housing and is located in the activity space.

[0020] According to some embodiments of the present invention, the coil mounting structure includes a driving block, a limiting block, a top block and a movable rod;

[0021] An installation area is provided on the driving block, and a cavity is opened on the driving block;

[0022] The limiting block is fixedly arranged on the top of the driving block;

[0023] The top block is fixedly arranged at one end of the limiting block away from the driving block;

[0024] One end of the movable rod is fixedly arranged on the top of the cavity, and the other end of the movable rod partially extends out of the cavity;

[0025] Wherein, the cross-sectional area of the limiting block is larger than the cross-sectional area of the top block;

[0026] The bearing structure is sleeved on the periphery of the movable rod.

[0027] According to some embodiments of the present invention, the driving block is sleeved on the periphery of the annular frame through the cavity and is located in the activity space;

[0028] The limiting block is located below the elastic structure;

[0029] The top block penetrates through the elastic structure and extends outside the elastic structure. A through hole adapted to the size of the top block is formed in the elastic structure, and the aperture area of the through hole is smaller than the cross-sectional area of the limiting block.

[0030] According to some embodiments of the present invention, the fixing structure includes two movable blocks, a pulling block, and a magnet;

[0031] The two movable blocks are movably clamped on the mounting housing symmetrically about the center axis of the mounting housing, and mounting grooves adapted to the size of the movable blocks are provided on the mounting housing;

[0032] The pulling block is mounted at one end of the movable block away from the mounting groove;

[0033] The magnet is embedded in the movable block, and a magnetic block magnetically connected to the magnet is embedded at the bottom of the mounting groove.

[0034] According to some embodiments of the present invention, the voice coil motor control system includes a sensor module, a controller module, a drive circuit, a power supply module, and a deep learning module.

[0035] According to some embodiments of the present invention, the sensor module is used to monitor the position and speed of the voice coil motor;

[0036] The controller module is used to calculate a control signal according to the closed-loop feedback data;

[0037] The drive circuit is used to amplify the control signal and drive the voice coil motor to move;

[0038] The power supply module is used to provide power to each module;

[0039] The deep learning module is used to adjust the control signal according to the position and speed errors.

[0040] According to some embodiments of the present invention, the deep learning module includes:

[0041] Calculate the control signal based on the PID algorithm according to the position error and speed error of the voice coil motor;

[0042] The formula for calculating the control signal is:

[0043]

[0044] Wherein, K p is the proportional gain;

[0045] K i is the integral gain;

[0046] Kd is the Derivative Gain.

[0047] According to some embodiments of the present invention, the voice coil motor control system further includes an early warning module;

[0048] The early warning module includes:

[0049] Obtain the detection data of the sensor module, and determine whether to give an early warning according to the detection data;

[0050] The detection data includes position error and speed error, and an early warning threshold is set;

[0051] The determination of whether to give an early warning according to the detection data includes:

[0052] When the detected position error and speed error exceed the threshold, an early warning is triggered;

[0053] If the detected position error and speed error do not exceed the threshold, no early warning is triggered.

[0054] The voice coil motor provided by the above technical solution has the following beneficial effects:

[0055] 1. By adjusting the fixing structure, after the elastic structure is placed, the elastic structure can be fixed on the installation housing. When the elastic structure needs to be replaced, the elastic structure can be taken out and replaced by adjusting the fixing structure again. Therefore, when the elastic structure is damaged, it is not necessary to replace the whole, and the bearing structure makes the movement of the coil installation structure more stable.

[0056] 2. Through the voice coil motor control system, the control parameters can be automatically adjusted to adapt to the unknown environment and system nonlinearity, improving the system performance and robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0058] Figure 1 is the cross-sectional structure schematic diagram of the present invention;

[0059] Figure 2 is Figure 1 the enlarged view of part A of

[0060] Figure 3 is the three-dimensional view of the present invention;

[0061] Figure 4 This is a schematic structural diagram of the voice coil motor control system of the present invention.

[0062] The markings in the figure are explained as follows:

[0063] 100, mounting housing;

[0064] 110, annular frame; 120, moving space; 130, fixed space;

[0065] 140, mounting groove; 141, magnetic block;

[0066] 200, permanent magnet structure; 210, annular permanent magnet;

[0067] 300, coil mounting structure;

[0068] 310, driving block; 311, cavity chamber;

[0069] 320, limiting block;

[0070] 330, top block; 340, moving rod;

[0071] 400, bearing structure;

[0072] 500, elastic structure;

[0073] 600, fixing structure;

[0074] 610, moving block; 620, pulling block; 630, magnet;

[0075] 700, voice coil motor control system; 710, sensor module; 720, controller module;

[0076] 730, driving circuit; 740, power supply module; 750, deep learning module;

[0077] 760, warning module. Detailed implementation manners

[0078] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0079] In the description of the present invention, it should be understood that with regard to the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0080] In the description of the present invention, the meaning of "several" is one or more, the meaning of "multiple" is two or more. Understandings such as "greater than", "less than", "exceeding", etc. do not include the present number, and understandings such as "above", "below", "within", etc. include the present number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0081] In the description of the present invention, unless otherwise clearly defined, words such as "set", "install", "connect", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0082] Combined with Figures 1 to 4 As shown, the voice coil motor according to an embodiment of the present invention includes:

[0083] An installation housing 100;

[0084] A permanent magnet structure 200, and the permanent magnet structure 200 is installed on the installation housing 100;

[0085] A coil installation structure 300, and the coil installation structure 300 is installed on the installation housing 100;

[0086] A bearing structure 400, and the bearing structure 400 is installed on the installation housing 100 and is used to keep the coil installation structure 300 in linear motion;

[0087] An elastic structure 500, and the elastic structure 500 is installed on the installation housing 100 and is used to prevent the coil installation structure 300 from detaching from the installation housing 100;

[0088] A fixing structure 600, and the fixing structure 600 is installed on the installation housing 100 and is used to fix the elastic structure 500;

[0089] A voice coil motor control system 700, which is used to control the parameters of the voice coil motor;

[0090] Wherein, the permanent magnet structure 200 is sleeved on the periphery of the coil installation structure 300.

[0091] The voice coil motor of the present invention can fix the elastic structure 500 on the mounting housing 100 after the elastic structure 500 is placed by adjusting the fixing structure 600. When the elastic structure 500 needs to be replaced, the elastic structure 500 can be taken out and replaced by adjusting the fixing structure 600 again. Therefore, when the elastic structure 500 is damaged, it is not necessary to replace the whole. Moreover, the bearing structure 400 makes the movement of the coil mounting structure 300 more stable. Through the voice coil motor control system 700, the control parameters can be automatically adjusted to adapt to the unknown environment and system nonlinearity, improving the system performance and robustness.

[0092] In this embodiment, the coil mounting structure 300 is used to sleeved with a conductive coil. After the conductive coil is energized, a magnetic field is generated by the permanent magnet structure 200, thereby generating a force. The magnitude of the force depends on the strength of the magnetic field. When the coil is energized, according to the Ampere force principle, it is affected by the magnetic field, and a force in the axial direction is generated between the coil and the permanent magnet structure 200. The polarity of the voltage at both ends of the conductive coil determines the direction of the force.

[0093] In one embodiment, an annular frame 110 is provided in the mounting housing 100, and an activity space 120 is formed between the annular frame 110 and the mounting housing 100;

[0094] A fixing space 130 is further provided on the mounting housing 100. The fixing space 130 is located above the activity space 120, and the elastic structure 500 is fixedly arranged in the fixing space 130 through the fixing structure 600;

[0095] The bearing structure 400 is press-fitted into the annular frame 110.

[0096] In this embodiment, the elastic structure 500 is detachably installed in the fixing space 130 through the fixing structure 600, so as to be replaced when the elastic structure 500 is damaged or severely worn. When the coil mounting structure 300 moves, since the elastic structure 500 is made of an elastic material, no large sound will be generated after the elastic structure 500 contacts the coil mounting structure 300, thereby reducing the noise after the voice coil motor is used.

[0097] In one embodiment, the permanent magnet structure 200 includes an annular permanent magnet 210;

[0098] The annular permanent magnet 210 is installed on the inner wall of the mounting housing 100 and is located in the activity space 120.

[0099] In this embodiment, the annular permanent magnet 210 is used to generate a magnetic field.

[0100] In one embodiment, the coil mounting structure 300 includes a driving block 310, a limiting block 320, a top block 330, and a movable rod 340;

[0101] An installation area is provided on the driving block 310, and a cavity chamber 311 is formed on the driving block 310;

[0102] The limiting block 320 is fixedly arranged on the top of the driving block 310;

[0103] The top block 330 is fixedly arranged at one end of the limiting block 320 away from the driving block 310;

[0104] One end of the movable rod 340 is fixedly arranged at the top of the cavity chamber 311, and the other end of the movable rod 340 extends out of the cavity chamber 311 partially;

[0105] Wherein, the cross-sectional area of the limiting block 320 is larger than the cross-sectional area of the top block 330;

[0106] The bearing structure 400 is sleeved on the periphery of the movable rod 340.

[0107] In this embodiment, the installation area on the driving block 310 is used to install a conductive coil. After the conductive coil is energized, a force in the axial direction is generated through the magnetic field generated by the annular permanent magnet 210, thereby driving the driving block 310 to perform a reciprocating motion. At this time, the driving block 310 is movably arranged in the activity space 120. After the driving block 310 moves, it drives the limiting block 320, the top rod, and the movable rod 340 to move. The bearing structure 400 is sleeved on the movable rod 340, so that after the movable rod 340 moves, it is restricted by the bearing structure 400, thus moving more smoothly and also reducing the generation of noise. The limiting block 320 limits the moving position of the driving block 310. After the limiting block 320 moves, it will be blocked by the elastic structure 500. Through the blocking of the elastic structure 500, the generated noise is reduced. After the limiting block 320 moves, it drives the top block 330 to move. After the top block 330 moves, it drives the diaphragm to vibrate. After the diaphragm vibrates, the air pressure of the external breathing tube is changed, thereby assisting the patient to breathe.

[0108] In one embodiment, the driving block 310 is sleeved on the periphery of the annular frame 110 through the cavity chamber 311 and is located in the activity space 120;

[0109] The limiting block 320 is located below the elastic structure 500;

[0110] The top block 330 penetrates through the elastic structure 500 and extends out of the elastic structure 500. A through hole adapted to the size of the top block 330 is provided on the elastic structure 500, and the aperture area of the through hole is smaller than the cross-sectional area of the limiting block 320.

[0111] In this embodiment, the driving block 310 is sleeved around the outer periphery of the annular frame 110 through the cavity 311, and thus is restricted by the annular frame 110, causing the driving block 310 to perform an axial movement. The through hole on the elastic structure 500 is smaller than the cross-sectional area of the limiting block 320, so that when the limiting block 320 moves, it cannot move out of the position where the elastic structure 500 is located, thereby limiting the moving distance of the driving block 310.

[0112] In one embodiment, the fixing structure 600 includes two movable blocks 610, a pulling block 620, and a magnet 630;

[0113] The two movable blocks 610 are movably clamped on the mounting housing 100 in a central axis symmetry manner with respect to the mounting housing 100, and a mounting groove 140 adapted to the size of the movable block 610 is provided on the mounting housing 100;

[0114] The pulling block 620 is installed at one end of the movable block 610 away from the mounting groove 140;

[0115] The magnet 630 is embedded in the movable block 610, and a magnetic block 141 magnetically connected to the magnet 630 is embedded at the bottom of the mounting groove 140.

[0116] In this embodiment, the movable block 610 is driven to move through the pulling block 620. The magnet 630 is used to be magnetically connected in the mounting groove 140 when the movable block 610 fixes the elastic structure 500, so as to ensure the overall stability when the elastic structure 500 is fixed.

[0117] In one embodiment, the voice coil motor control system 700 includes a sensor module 710, a controller module 720, a driving circuit 730, a power supply module 740, and a deep learning module 750;

[0118] In this embodiment, the deep learning module 750 is added on the basis of the original system. By learning the dynamic characteristics and system nonlinearity of the unknown environment, the control parameters are dynamically adjusted to improve the system robustness and adaptability;

[0119] It should be noted that the voice coil motor position and speed are monitored through the sensor module 710, the controller module 720 realizes closed-loop feedback control and calculates the control signal, the driving circuit 730 amplifies the signal, the power supply module 740 provides electric energy, and the deep learning module 750 uses the PID control algorithm for control;

[0120] Furthermore, the deep learning module 750 can automatically adapt to unknown environments and system nonlinearities, making the system more robust and reducing the impact of external interference on system performance;

[0121] It can also dynamically adjust control parameters according to the dynamic characteristics of the system, improve system adaptability and control accuracy, enhance system performance, automatically optimize control parameters, reduce manual debugging work, simplify the system maintenance and adjustment process, and improve work efficiency.

[0122] In one embodiment, the sensor module 710 is used to monitor the position and speed of the voice coil motor;

[0123] The controller module 720 is used to calculate a control signal based on the closed-loop feedback data;

[0124] The drive circuit 730 is used to amplify the control signal and drive the voice coil motor to move;

[0125] The power supply module 740 is used to provide power to each module;

[0126] The deep learning module 750 is used to adjust the control signal according to the position and speed errors;

[0127] The deep learning module 750 includes:

[0128] Calculate the control signal based on the position error and speed error of the voice coil motor, using the PID algorithm;

[0129] The formula for calculating the control signal is:

[0130]

[0131] where K p is the proportional gain;

[0132] K i is the integral gain;

[0133] K d is the derivative gain.

[0134] In this embodiment, when introducing the PID algorithm, a common choice is Adaptive Model Predictive Control (AMPC). AMPC estimates the system model parameters online and predicts the future system response based on these parameters, and then adjusts the control input to achieve the desired performance;

[0135] The following is the basic formula of AMPC:

[0136] System model:

[0137] Wherein:

[0138] x k is the value of the system state vector (position, velocity) at time step k;

[0139] u k is the value of the control input (current or voltage) at time step k;

[0140] ω k and v k are the system and measurement errors;

[0141] (A) is the system state transition matrix;

[0142] (B) is the control input matrix;

[0143] (C) is the observation matrix.

[0144] Controller design:

[0145] The AMPC controller usually determines the control input based on the solution of an optimization problem. The goal of the optimization problem is to minimize the error between the system output and the desired output while satisfying the constraints of the system dynamics model. The calculation formula is:

[0146]

[0147] Wherein:

[0148] y k+i|k is the predicted output at the (i)-step prediction at time step (k) according to the model.

[0149] r k+i is the desired output at time step (k).

[0150] (N) is the number of steps for optimizing the prediction.

[0151] Parameter estimation:

[0152] The core of the AMPC algorithm is parameter estimation. Usually, the recursive least squares (RLS) method or other applicable parameter estimation algorithms are used to estimate the model parameters of the system online. The calculation formula is:

[0153]

[0154] Wherein:

[0155] is the parameter estimation at time step k;

[0156] Γ k is the appropriate gain matrix;

[0157] e k is the measurement residual;

[0158] P k is the error covariance matrix.

[0159] The above are the formulas of the basic AMPC algorithm. In practical applications, the above formulas can be adjusted and extended according to specific system models and control requirements, which is hereby explained.

[0160] In one embodiment, the voice coil motor control system further includes a warning module 760;

[0161] The warning module 760 includes:

[0162] Obtain the detection data of the sensor module 710, and determine whether to give a warning according to the detection data;

[0163] The detection data includes position error and speed error, and a warning threshold is set;

[0164] The determining whether to give a warning according to the detection data includes:

[0165] When the detected position error and speed error exceed the threshold, a warning is triggered;

[0166] If the detected position error and speed error do not exceed the threshold, no warning is triggered.

[0167] In this embodiment, the calculation steps of the warning module 760 are:

[0168] 1. Position error detection:

[0169] Obtain the current position x(t) and the desired position x t arg et (t);

[0170] Calculate the position error e(t) = x t arg et (t) - x(t)

[0171] If e(t) > e threshold , a position error warning is triggered;

[0172] 2. Speed error detection:

[0173] Obtain the current speed;

[0174] and the desired speed

[0175] Calculate the speed error;

[0176]

[0177] If a speed error warning is triggered;

[0178] 3. Other parameter detection:

[0179] According to specific requirements, detect whether other key parameters exceed the preset thresholds, such as current, temperature, etc.

[0180] 4. Trigger warning:

[0181] If any of the key parameters exceeds the set threshold, a warning is triggered and an alarm message is sent to the user or system maintenance personnel.

[0182] Through the warning module 760, problems that may occur in the voice coil motor can be detected in a timely manner, and corresponding measures can be taken before the problems deteriorate further to ensure the stable operation of the system and extend the life of the device.

[0183] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A voice coil motor, characterized in that: include: Install the housing; A permanent magnet structure, wherein the permanent magnet structure is mounted on the mounting housing; A coil mounting structure, wherein the coil mounting structure is mounted on the mounting housing; A bearing structure, the bearing structure is mounted on the mounting housing and is used for the coil mounting structure to maintain linear motion; an elastic structure, the elastic structure being mounted on the mounting housing and being used to prevent the coil mounting structure from being separated from the mounting housing; A fixing structure, which is mounted on the mounting housing and is used to fix the elastic structure; The fixed structure includes two movable blocks, a pulling block and a magnet; The two movable blocks are symmetrically mounted on the mounting housing with respect to the central axis of the mounting housing, and the mounting housing is provided with mounting grooves matching the size of the movable blocks; The pulling block is mounted on an end of the movable block away from the mounting groove; The magnet is embedded in the movable block, and a magnetic block magnetically connected to the magnet is embedded in the bottom of the mounting groove; Voice coil motor control system, used to control the parameters of the voice coil motor; The voice coil motor control system includes a sensor module, a controller module, a drive circuit, a power module and a deep learning module; Wherein, the permanent magnet structure is sleeved on the periphery of the coil mounting structure.

2. The voice coil motor according to claim 1, characterized in that: An annular frame is arranged in the installation shell, and a movable space is formed between the annular frame and the installation shell; The mounting shell is also provided with a fixed space, the fixed space is located above the activity space, and the elastic structure is fixedly arranged in the fixed space through the fixed structure; The bearing structure is interference connected in the annular frame.

3. The voice coil motor according to claim 2, characterized in that: The permanent magnet structure comprises an annular permanent magnet; The annular permanent magnet is mounted on the inner wall of the mounting shell and is located in the activity space.

4. The voice coil motor according to claim 2, characterized in that: The coil installation structure includes a driving block, a limiting block, a top block and a movable rod; The driving block is provided with a mounting area, and the driving block is provided with a cavity; The limiting block is fixedly arranged on the top of the driving block; The top block is fixedly arranged on an end of the limiting block away from the driving block; One end of the movable rod is fixedly arranged on the top of the hollow chamber, and the other end of the movable rod partially extends out of the hollow chamber; Wherein, the cross-sectional area of ​​the limit block is larger than the cross-sectional area of ​​the top block; The bearing structure is sleeved on the periphery of the movable rod.

5. The voice coil motor according to claim 4, characterized in that: The driving block is sleeved on the periphery of the annular frame through the hollow chamber and is located in the activity space; The limit block is located below the elastic structure; The top block penetrates the elastic structure and extends out of the elastic structure. A through hole matching the size of the top block is provided on the elastic structure. The aperture area of ​​the through hole is smaller than the cross-sectional area of ​​the limiting block.

6. The voice coil motor according to claim 1, characterized in that: The sensor module is used to monitor the position and speed of the voice coil motor; The controller module is used to calculate the control signal according to the closed-loop feedback data; The driving circuit is used to amplify the control signal and drive the voice coil motor to move; The power supply module is used to provide power to each module; The deep learning module is used to adjust the control signal based on the position and velocity errors.

7. The voice coil motor according to claim 1, characterized in that: The deep learning module includes: According to the position error and speed error of the voice coil motor, the control signal is calculated based on the PID algorithm; The formula for calculating the control signal is: Among them, K p is the proportional gain; K i is the integral gain (Integral Gain); K d is the derivative gain.

8. The voice coil motor according to claim 1, characterized in that: The voice coil motor control system also includes an early warning module; The early warning module comprises: Acquire detection data of the sensor module, and determine whether to issue an early warning based on the detection data; The detection data includes position error and speed error, and a warning threshold is set; Determining whether to issue an early warning according to the detection data includes: When the detected position error and speed error exceed the threshold, an early warning is triggered; If the detected position error and speed error do not exceed the threshold, no warning is triggered.

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