Ball motor control method based on electromagnetic control

Abstract

The invention relates to the technical field of ball motors, and discloses a ball motor control method based on electromagnetic control, and the method comprises the steps: collecting the real-time jitter information of a vibration sensor, analyzing the real-time jitter information, and determining the initial current value of an electric drive device based on an analysis result; position information and motion state information of the lens assembly are collected, and whether the initial current value of the electric driving device is compensated or not is judged according to the position information and the motion state information; when it is judged that the initial current value is compensated, determining a jitter influence factor according to the position information and the motion state information, determining a compensation coefficient of the initial current value according to the jitter influence factor, and obtaining a compensation current value; and controlling the electric driving device to operate according to the compensation current value. According to the invention, the accuracy and stability of ball motor control are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ball motors, and in particular to a ball motor control method based on electromagnetic control. Background Art

[0002] Ball bearing motors, as electromechanical devices, are commonly used in camera and mobile phone lenses to reduce the effects of vibration during filming. This technology utilizes ball motion control to precisely adjust the position and trajectory of the ball to achieve image stabilization. Ball bearing motors consist of three core components: a magnet, a ball track, and a vibration sensor. The magnet, acting as an electromagnet, generates the necessary magnetic field; the ball bearing, embedded directly into the corresponding module of the camera or mobile phone, consists of a ball and a support ring. The axial motion of the ball bearing effectively eliminates vibration in the camera or mobile phone lens by positioning and moving the ball.

[0003] However, traditional ball motor control technology suffers from insufficient accuracy and slow response speed, which limits its performance in high-precision image stabilization applications.

[0004] Therefore, it is necessary to design a ball motor control method based on electromagnetic control to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a ball motor control method based on electromagnetic control, aiming to improve the control accuracy and response speed of the ball motor.

[0006] The present invention proposes a ball motor control method based on electromagnetic control, comprising:

[0007] S100: collecting real-time jitter information from the vibration sensor, analyzing the real-time jitter information, and determining an initial current value of the electric drive device based on the analysis result;

[0008] S200: collecting position information and motion state information of the lens assembly, and determining whether to compensate the initial current value of the electric drive device according to the position information and motion state information;

[0009] S300: When it is determined that the initial current value is to be compensated, determining a jitter influence factor according to the position information and the motion state information, determining a compensation coefficient of the initial current value according to the jitter influence factor, and obtaining a compensated current value;

[0010] S400: Controlling the operation of the electric drive device according to the compensation current value.

[0011] Furthermore, the jitter information is analyzed, and the initial current value of the electric drive device is determined based on the analysis result, including:

[0012] The jitter information includes jitter amplitude and jitter frequency;

[0013] determining a basic current value of the electric drive device according to the jitter amplitude;

[0014] It is determined whether to adjust the basic current value according to the jitter frequency; if so, an adjustment coefficient of the basic current value is determined according to the jitter frequency, and an initial current value is obtained.

[0015] Furthermore, when determining the basic current value of the electric drive device according to the jitter amplitude, it includes:

[0016] comparing the jitter amplitude with a first jitter amplitude and a second jitter amplitude, and determining a base current value of the electric drive device according to the comparison result; wherein the first jitter amplitude is smaller than the second jitter amplitude;

[0017] When the jitter amplitude is less than or equal to the first jitter amplitude, determining the basic current value of the electric drive device to be a first current value;

[0018] When the jitter amplitude is greater than the first jitter amplitude and less than or equal to the second jitter amplitude, determining that the basic current value of the electric drive device is a second current value, and the second current value is greater than the first current value;

[0019] When the jitter amplitude is greater than the second jitter amplitude, the basic current value of the electric drive device is determined to be a third current value, and the third current value is greater than the second current value.

[0020] Furthermore, when determining whether to adjust the basic current value according to the jitter frequency, it includes:

[0021] Analyzing the jitter frequency to obtain a plurality of jitter frequency characteristic values;

[0022] Obtaining a jitter frequency standard value corresponding to each jitter frequency characteristic value;

[0023] The number of jitter frequency characteristic values greater than or equal to the corresponding jitter frequency standard value is counted as a first number; the number of jitter frequency characteristic values less than the corresponding jitter frequency standard value is counted as a second number;

[0024] A jitter deviation value is calculated based on the first number and the second number, and whether to adjust the basic current value is determined according to the jitter deviation value.

[0025] Furthermore, the jitter deviation value is obtained by the following formula:

[0026]

[0027] Among them, Δf represents the jitter deviation value; N1 represents the first number; N2 represents the second number; N represents the total number of jitter frequency characteristic values; fk represents the kth jitter frequency characteristic value; fsk represents the jitter frequency standard value corresponding to the kth jitter frequency characteristic value.

[0028] Furthermore, when determining whether to adjust the basic current value according to the jitter deviation value, it includes:

[0029] Comparing the jitter deviation value with a jitter deviation threshold, and determining whether to adjust the base current value according to the comparison result;

[0030] When the jitter deviation value is greater than or equal to the jitter deviation threshold, determining to adjust the basic current value;

[0031] When the jitter deviation value is smaller than the jitter deviation threshold, it is determined that the basic current value is not to be adjusted, and the basic current value is used as the initial current value.

[0032] Furthermore, determining whether to adjust the basic current value includes:

[0033] Comparing the jitter deviation value with a first jitter deviation value and a second jitter deviation value, and determining an adjustment coefficient of the basic current value according to the comparison result; wherein the first jitter deviation value is smaller than the second jitter deviation value;

[0034] Setting an adjustment coefficient interval, wherein the adjustment coefficient interval includes a first adjustment coefficient, a second adjustment coefficient, and a third adjustment coefficient;

[0035] When the jitter deviation value is less than or equal to the first jitter deviation value, determining the adjustment coefficient of the basic current value to be the first adjustment coefficient, and taking the product of the first adjustment coefficient and the basic current value as the initial current value;

[0036] When the jitter deviation value is greater than the first jitter deviation value and less than or equal to the second jitter deviation value, determining the adjustment coefficient of the basic current value to be the second adjustment coefficient, and taking the product of the second adjustment coefficient and the basic current value as the initial current value;

[0037] When the jitter deviation value is greater than the second jitter deviation value, the adjustment coefficient of the basic current value is determined to be the third adjustment coefficient, and a product value of the third adjustment coefficient and the basic current value is used as the initial current value.

[0038] Furthermore, when determining whether to compensate the initial current value of the electric drive device according to the position information and the motion state information, the method includes:

[0039] Comparing the position information with the preset position information, and comparing the motion state information with the preset motion state information;

[0040] When the position information does not match the preset position information, and / or the motion state information does not match the preset motion state information, determining to compensate the initial current value of the electric drive device;

[0041] When the position information matches the preset position information, and the motion state information matches the preset motion state information, it is determined that the initial current value of the electric drive device is not compensated.

[0042] Furthermore, when determining the jitter impact factor according to the position information and the motion state information, the method includes:

[0043] Analyzing the position information and motion state information respectively, and obtaining a position deviation value, a position change rate, a current moment speed, and a current moment acceleration;

[0044] The jitter influence factor is determined according to the position deviation value, the position change rate, the current speed and the current acceleration.

[0045] Furthermore, when determining the compensation coefficient of the initial current value according to the jitter influence factor, it includes:

[0046] Setting a compensation coefficient interval, wherein the compensation coefficient interval includes a first compensation coefficient, a second compensation coefficient, and a third compensation coefficient;

[0047] comparing the jitter influence factor with a first jitter influence factor and a second jitter influence factor, and determining a compensation coefficient for the initial current value according to the comparison result; wherein the first jitter influence factor is smaller than the second jitter influence factor;

[0048] When the jitter influence factor is less than or equal to the first jitter influence factor, determining a compensation coefficient of the initial current value as the first compensation coefficient, and taking a product of the first compensation coefficient and the initial current value as the compensated current value;

[0049] When the jitter influence factor is greater than the first jitter influence factor and less than or equal to the second jitter influence factor, determining a compensation coefficient for the initial current value as the second compensation coefficient and using a product of the second compensation coefficient and the initial current value as the compensated current value;

[0050] When the jitter impact factor is greater than the second jitter impact factor, the compensation coefficient of the initial current value is determined to be the third compensation coefficient, and a product value of the third compensation coefficient and the initial current value is used as the compensated current value.

[0051] Compared with the prior art, the beneficial effects of the present invention are as follows: the electromagnetically controlled ball motor control method provided by the present invention collects real-time jitter information from the vibration sensor and conducts a detailed analysis of the jitter amplitude and jitter frequency in the jitter information, dynamically adjusting the current value of the electric drive device based on this information; this not only improves the control accuracy of the ball motor, but also significantly enhances its response speed, ensuring that the lens assembly can be quickly and accurately moved to the predetermined position. By comprehensively analyzing the jitter information, the tiny deviations of the lens assembly during movement are accurately captured, and then the current value is adjusted for immediate compensation, effectively reducing the positioning error caused by vibration. The method also further improves the accuracy and stability of control by comparing the actual position information and motion state information of the lens assembly with the preset values. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0053] Figure 1 This is a flow chart of a ball motor control method based on electromagnetic control provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0055] See Figure 1 As shown, in some embodiments of the present application, this embodiment provides a ball motor control method based on electromagnetic control, comprising the following steps:

[0056] S100: collecting real-time jitter information from the vibration sensor, analyzing the real-time jitter information, and determining an initial current value of the electric drive device based on the analysis result;

[0057] S200: collecting position information and motion state information of the lens assembly, and determining whether to compensate the initial current value of the electric drive device according to the position information and motion state information;

[0058] S300: When it is determined that the initial current value is to be compensated, a jitter influence factor is determined according to the position information and the motion state information, a compensation coefficient of the initial current value is determined according to the jitter influence factor, and a compensated current value is obtained;

[0059] S400: Control the operation of the electric drive device according to the compensation current value.

[0060] In this embodiment, the ball motor includes an electromagnet, a ball track, and a vibration sensor. The ball track includes a rolling ball and a support ring. The lens assembly is mounted on the ball track. An electric drive device is connected to the ball motor, driving the motor and thus precisely moving the lens assembly. Upon receiving the current signal from the electric drive device, the electromagnet generates a corresponding magnetic field. This magnetic field acts on the rolling ball on the ball track, causing it to roll along the support ring, thereby achieving smooth movement of the lens assembly.

[0061] It is understood that the electromagnetically controlled ball motor control method provided in this embodiment collects real-time jitter information from a vibration sensor and meticulously analyzes the jitter amplitude and frequency contained in this information, dynamically adjusting the current value of the electric drive device based on this information. This not only improves the control accuracy of the ball motor but also significantly enhances its response speed, ensuring that the lens assembly can quickly and accurately move to the predetermined position. By comprehensively analyzing the jitter information, it accurately captures minute deviations of the lens assembly during movement, and then adjusts the current value for immediate compensation, effectively reducing positioning errors caused by vibration. This method also further enhances the accuracy and stability of control by comparing the actual position and motion state information of the lens assembly with preset values.

[0062] Specifically, analyzing the jitter information and determining the initial current value of the electric drive device based on the analysis result includes:

[0063] Jitter information includes jitter amplitude and jitter frequency;

[0064] Determine the basic current value of the electric drive device according to the jitter amplitude;

[0065] It is determined whether the basic current value should be adjusted according to the jitter frequency; if so, an adjustment coefficient of the basic current value is determined according to the jitter frequency, and an initial current value is obtained.

[0066] Understandably, greater jitter amplitude requires greater stabilization force, necessitating a corresponding increase in the base current value to ensure stable movement of the lens assembly. The jitter frequency, on the other hand, reflects the speed of vibration. High-frequency jitter may require faster current adjustment to quickly respond and suppress vibration. Therefore, the jitter frequency determines whether further dynamic adjustment of the base current value is necessary to achieve more precise control.

[0067] Specifically, when determining the basic current value of the electric drive device according to the jitter amplitude, it includes:

[0068] comparing the jitter amplitude with the first jitter amplitude and the second jitter amplitude, and determining a base current value of the electric drive device according to the comparison result; wherein the first jitter amplitude is smaller than the second jitter amplitude;

[0069] When the jitter amplitude is less than or equal to the first jitter amplitude, determining the basic current value of the electric drive device to be the first current value;

[0070] When the jitter amplitude is greater than the first jitter amplitude and less than or equal to the second jitter amplitude, determining the basic current value of the electric drive device to be a second current value, the second current value being greater than the first current value;

[0071] When the jitter amplitude is greater than the second jitter amplitude, the basic current value of the electric drive device is determined to be a third current value, and the third current value is greater than the second current value.

[0072] It's understandable that the first and second vibration amplitudes are reference thresholds set based on common vibration conditions experienced by ball bearing motors in past use. By comparing the vibration amplitudes in segments, the base current value can be adjusted more precisely to accommodate vibration environments of varying intensities. When the vibration is mild, meaning the vibration amplitude is at or below the first amplitude, selecting a smaller first current value will meet stability requirements and avoid excessive energy consumption. As the vibration amplitude increases, the required stabilization force also increases. Therefore, when the vibration amplitude exceeds the first amplitude but does not exceed the second amplitude, a larger second current value is selected to provide stronger stabilization force. When the vibration amplitude exceeds the second amplitude, indicating more intense vibration, a larger third current value is required to ensure stable movement of the lens assembly. This segmented adjustment method not only improves control flexibility but also optimizes energy efficiency.

[0073] Specifically, judging whether to adjust the basic current value according to the jitter frequency includes:

[0074] Analyze the jitter frequency to obtain several jitter frequency characteristic values;

[0075] Obtain the jitter frequency standard value corresponding to each jitter frequency characteristic value;

[0076] The number of jitter frequency characteristic values greater than or equal to the corresponding jitter frequency standard value is counted as a first number; the number of jitter frequency characteristic values less than the corresponding jitter frequency standard value is counted as a second number;

[0077] A jitter deviation value is calculated based on the first number and the second number, and it is determined whether to adjust the basic current value according to the jitter deviation value.

[0078] Specifically, the jitter deviation value is obtained by the following formula:

[0079]

[0080] Among them, Δf represents the jitter deviation value; N1 represents the first number; N2 represents the second number; N represents the total number of jitter frequency characteristic values; fk represents the kth jitter frequency characteristic value; fsk represents the jitter frequency standard value corresponding to the kth jitter frequency characteristic value.

[0081] It is understood that the jitter frequency characteristic value includes the maximum frequency, average frequency and instantaneous frequency. The jitter frequency standard value is a reference value set according to the frequency range of the ball motor under stable working conditions.

[0082] It can be understood that by comparing the jitter frequency characteristic value with the jitter frequency standard value, the degree of deviation between the current vibration state and the ideal state can be evaluated. When the number of jitter frequency characteristic values greater than or equal to the corresponding jitter frequency standard value (first number) is large, it means that the vibration is more frequent or violent, and the basic current value needs to be increased to improve the response speed and stability. On the contrary, when the number of jitter frequency characteristic values less than the corresponding jitter frequency standard value (second number) is large, it means that the vibration is relatively gentle, and the basic current value can be appropriately reduced to save energy. The jitter deviation value calculated based on the first number and the second number can quantitatively evaluate the difference between the current vibration state and the ideal state, so as to make a decision on whether to adjust the basic current value to achieve more accurate and efficient control.

[0083] Specifically, determining whether to adjust the basic current value according to the jitter deviation value includes:

[0084] Compare the jitter deviation value with the jitter deviation threshold, and determine whether to adjust the basic current value based on the comparison result;

[0085] When the jitter deviation value is greater than or equal to the jitter deviation threshold, it is determined that the basic current value is to be adjusted;

[0086] When the jitter deviation value is smaller than the jitter deviation threshold, it is determined that the basic current value is not to be adjusted, and the basic current value is used as the initial current value.

[0087] It is understandable that the jitter deviation threshold is a reference value set based on the common vibration deviation of the ball motor in past use. By setting this threshold, it can be ensured that the control strategy is adjusted within a reasonable range to avoid waste of resources caused by over-adjustment or poor control effect caused by insufficient adjustment. When the jitter deviation value exceeds this threshold, it means that the current vibration state is significantly different from the ideal state, and adjustment is required to improve the accuracy and stability of the control. When the jitter deviation value is lower than this threshold, it means that the current vibration state is closer to the ideal state and no additional adjustment is required, thereby maintaining the continuity and stability of the control.

[0088] Specifically, the determination of whether to adjust the basic current value includes:

[0089] Comparing the jitter deviation value with the first jitter deviation value and the second jitter deviation value, and determining an adjustment coefficient of the base current value according to the comparison result; wherein the first jitter deviation value is smaller than the second jitter deviation value;

[0090] Setting an adjustment coefficient interval, wherein the adjustment coefficient interval includes a first adjustment coefficient, a second adjustment coefficient, and a third adjustment coefficient;

[0091] When the jitter deviation value is less than or equal to the first jitter deviation value, determining the adjustment coefficient of the basic current value to be the first adjustment coefficient, and taking the product of the first adjustment coefficient and the basic current value as the initial current value;

[0092] When the jitter deviation value is greater than the first jitter deviation value and less than or equal to the second jitter deviation value, determining the adjustment coefficient of the basic current value as the second adjustment coefficient, and taking the product of the second adjustment coefficient and the basic current value as the initial current value;

[0093] When the jitter deviation value is greater than the second jitter deviation value, the adjustment coefficient of the basic current value is determined to be the third adjustment coefficient, and the product of the third adjustment coefficient and the basic current value is used as the initial current value.

[0094] It is understandable that the first adjustment coefficient is smaller than the second adjustment coefficient, which in turn is smaller than the third adjustment coefficient. As the jitter deviation value increases, the difference between the current vibration state and the ideal state gradually increases, requiring a larger adjustment coefficient to quickly respond and suppress vibration, thereby improving control accuracy and stability. By comparing the jitter deviation value in sections and setting the corresponding adjustment coefficient intervals, the base current value can be adjusted more flexibly to adapt to vibration environments of varying intensities, thereby achieving more precise and efficient control.

[0095] Specifically, when determining whether to compensate the initial current value of the electric drive device according to the position information and the motion state information, it includes:

[0096] Comparing the location information with the preset location information, and comparing the motion state information with the preset motion state information;

[0097] When the position information does not match the preset position information, and / or the motion state information does not match the preset motion state information, determining to compensate the initial current value of the electric drive device;

[0098] When the position information matches the preset position information, and the motion state information matches the preset motion state information, it is determined that the initial current value of the electric drive device is not compensated.

[0099] It should be understood that the preset position and motion information are reference values based on the parameters of the ball motor under ideal operating conditions. By comparing the actual position and motion information with the preset values, it is possible to assess whether the current state of the lens assembly matches expectations. If the actual position or motion state deviates from the preset values, it indicates that the lens assembly may have been affected by external vibration, causing the movement trajectory or speed to deviate from the ideal state. In this case, compensation of the initial current value is required to provide additional stabilizing force to help the lens assembly quickly return to the predetermined movement trajectory and speed, thereby improving control accuracy and stability. When the actual position and motion state fully match the preset values, the lens assembly is in a stable operating state and no additional compensation is required, thus maintaining continuous and efficient control. This compensation strategy based on comparison results enables dynamic adjustment of the lens assembly's movement process, ensuring high accuracy and stability in various vibration environments.

[0100] Specifically, when determining the jitter impact factor based on the position information and motion state information, it includes:

[0101] Analyze the position information and motion state information respectively, and obtain the position deviation value, position change rate, current moment speed and current moment acceleration;

[0102] The jitter influence factor is determined based on the position deviation value, the position change rate, the current speed, and the current acceleration.

[0103] In this embodiment, the position deviation value is the difference between the position information and the preset position information; the position change rate is the rate of change of the position of the lens assembly in the position information over time; the current speed is the real-time speed of the lens assembly in the motion state information; and the current acceleration is the real-time acceleration of the lens assembly in the motion state information.

[0104] In this embodiment, the jitter influence factor is calculated as follows: the position deviation value, the position change rate, the current speed, and the current acceleration are normalized to obtain their corresponding normalized values; the normalized position deviation value, the position change rate, the current speed, and the current acceleration are weighted and summed to obtain the jitter influence factor;

[0105] It can be understood that the jitter impact factor reflects the extent to which the lens assembly is affected by external vibration in its current position and motion. By comprehensively considering multiple parameters such as position deviation, position change rate, velocity, and acceleration, the actual impact of vibration can be more comprehensively assessed, providing a more accurate basis for subsequent current compensation. When the jitter impact factor is large, it means that the lens assembly is significantly affected by vibration, and a larger compensation current value is required to quickly respond and suppress vibration. When the jitter impact factor is small, it indicates that the lens assembly is in a relatively stable state, and the compensation current value can be appropriately reduced to maintain continuous and efficient control.

[0106] Specifically, when determining the compensation coefficient of the initial current value based on the jitter impact factor, it includes:

[0107] Setting a compensation coefficient interval, wherein the compensation coefficient interval includes a first compensation coefficient, a second compensation coefficient, and a third compensation coefficient;

[0108] comparing the jitter influence factor with the first jitter influence factor and the second jitter influence factor, and determining a compensation coefficient for the initial current value according to the comparison result; wherein the first jitter influence factor is smaller than the second jitter influence factor;

[0109] When the jitter influence factor is less than or equal to the first jitter influence factor, determining the compensation coefficient of the initial current value as the first compensation coefficient, and taking the product of the first compensation coefficient and the initial current value as the compensation current value;

[0110] When the jitter influence factor is greater than the first jitter influence factor and less than or equal to the second jitter influence factor, determining the compensation coefficient of the initial current value as the second compensation coefficient and multiplying the second compensation coefficient by the initial current value as the compensation current value;

[0111] When the jitter influence factor is greater than the second jitter influence factor, the compensation coefficient of the initial current value is determined to be the third compensation coefficient, and the product of the third compensation coefficient and the initial current value is used as the compensation current value.

[0112] It's understandable that the first compensation coefficient is smaller than the second, which in turn is smaller than the third. As the jitter impact factor increases, the vibrations affecting the lens assembly gradually intensify. Therefore, a larger compensation coefficient is required to provide stronger stabilization force to quickly respond to and suppress vibrations, ensuring stable movement of the lens assembly. By segmenting the jitter impact factor and setting corresponding compensation coefficient intervals, the compensation current value can be more flexibly adjusted to accommodate vibration environments of varying intensities, thereby optimizing energy efficiency while ensuring control accuracy and stability.

[0113] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware embodiments. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0115] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1A step that specifies a function in one or more boxes.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A ball motor control method based on electromagnetic control, characterized in that: include: collecting real-time jitter information from the vibration sensor, analyzing the real-time jitter information, and determining an initial current value of the electric drive device based on the analysis result; collecting position information and motion state information of the lens assembly, and determining whether to compensate the initial current value of the electric drive device according to the position information and motion state information; When it is determined that the initial current value is to be compensated, determining a jitter influence factor according to the position information and the motion state information, determining a compensation coefficient of the initial current value according to the jitter influence factor, and obtaining a compensated current value; The operation of the electric drive device is controlled according to the compensation current value.

2. The ball motor control method based on electromagnetic control according to claim 1, characterized in that: The jitter information is analyzed, and the initial current value of the electric drive device is determined based on the analysis result, including: The jitter information includes jitter amplitude and jitter frequency; determining a basic current value of the electric drive device according to the jitter amplitude; It is determined whether to adjust the basic current value according to the jitter frequency; if so, an adjustment coefficient of the basic current value is determined according to the jitter frequency, and an initial current value is obtained.

3. The ball motor control method based on electromagnetic control according to claim 2, characterized in that: Determining the basic current value of the electric drive device according to the jitter amplitude includes: comparing the jitter amplitude with a first jitter amplitude and a second jitter amplitude, and determining a base current value of the electric drive device according to the comparison result; wherein the first jitter amplitude is smaller than the second jitter amplitude; When the jitter amplitude is less than or equal to the first jitter amplitude, determining the basic current value of the electric drive device to be a first current value; When the jitter amplitude is greater than the first jitter amplitude and less than or equal to the second jitter amplitude, determining that the basic current value of the electric drive device is a second current value, and the second current value is greater than the first current value; When the jitter amplitude is greater than the second jitter amplitude, the basic current value of the electric drive device is determined to be a third current value, and the third current value is greater than the second current value.

4. The ball motor control method based on electromagnetic control according to claim 3, characterized in that: When determining whether to adjust the basic current value according to the jitter frequency, the method includes: Analyzing the jitter frequency to obtain a plurality of jitter frequency characteristic values; Obtaining a jitter frequency standard value corresponding to each jitter frequency characteristic value; The number of jitter frequency characteristic values greater than or equal to the corresponding jitter frequency standard value is counted as a first number; the number of jitter frequency characteristic values less than the corresponding jitter frequency standard value is counted as a second number; A jitter deviation value is calculated based on the first number and the second number, and whether to adjust the basic current value is determined according to the jitter deviation value.

5. The ball motor control method based on electromagnetic control according to claim 4, characterized in that: The jitter deviation value is obtained by the following formula: Among them, Δf represents the jitter deviation value; N1 represents the first number; N2 represents the second number; N represents the total number of jitter frequency characteristic values; fk represents the kth jitter frequency characteristic value; fsk represents the jitter frequency standard value corresponding to the kth jitter frequency characteristic value.

6. The ball motor control method based on electromagnetic control according to claim 5, characterized in that: When determining whether to adjust the basic current value according to the jitter deviation value, the method includes: Comparing the jitter deviation value with a jitter deviation threshold, and determining whether to adjust the base current value according to the comparison result; When the jitter deviation value is greater than or equal to the jitter deviation threshold, determining to adjust the basic current value; When the jitter deviation value is smaller than the jitter deviation threshold, it is determined that the basic current value is not to be adjusted, and the basic current value is used as the initial current value.

7. The ball motor control method based on electromagnetic control according to claim 6, characterized in that: Determining whether to adjust the basic current value includes: Comparing the jitter deviation value with a first jitter deviation value and a second jitter deviation value, and determining an adjustment coefficient of the basic current value according to the comparison result; wherein the first jitter deviation value is smaller than the second jitter deviation value; Setting an adjustment coefficient interval, wherein the adjustment coefficient interval includes a first adjustment coefficient, a second adjustment coefficient, and a third adjustment coefficient; When the jitter deviation value is less than or equal to the first jitter deviation value, determining the adjustment coefficient of the basic current value to be the first adjustment coefficient, and taking the product of the first adjustment coefficient and the basic current value as the initial current value; When the jitter deviation value is greater than the first jitter deviation value and less than or equal to the second jitter deviation value, determining the adjustment coefficient of the basic current value to be the second adjustment coefficient, and taking the product of the second adjustment coefficient and the basic current value as the initial current value; When the jitter deviation value is greater than the second jitter deviation value, the adjustment coefficient of the basic current value is determined to be the third adjustment coefficient, and a product value of the third adjustment coefficient and the basic current value is used as the initial current value.

8. The ball motor control method based on electromagnetic control according to claim 7, characterized in that: When determining whether to compensate the initial current value of the electric drive device according to the position information and the motion state information, the method includes: Comparing the position information with the preset position information, and comparing the motion state information with the preset motion state information; When the position information does not match the preset position information, and / or the motion state information does not match the preset motion state information, determining to compensate the initial current value of the electric drive device; When the position information matches the preset position information, and the motion state information matches the preset motion state information, it is determined that the initial current value of the electric drive device is not compensated.

9. The ball motor control method based on electromagnetic control according to claim 8, characterized in that: Determining the jitter impact factor according to the position information and the motion state information includes: Analyzing the position information and motion state information respectively, and obtaining a position deviation value, a position change rate, a current moment speed, and a current moment acceleration; The jitter influence factor is determined according to the position deviation value, the position change rate, the current speed and the current acceleration.

10. The ball motor control method based on electromagnetic control according to claim 9, characterized in that: Determining the compensation coefficient of the initial current value according to the jitter influence factor includes: Setting a compensation coefficient interval, wherein the compensation coefficient interval includes a first compensation coefficient, a second compensation coefficient, and a third compensation coefficient; comparing the jitter influence factor with a first jitter influence factor and a second jitter influence factor, and determining a compensation coefficient for the initial current value according to the comparison result; wherein the first jitter influence factor is smaller than the second jitter influence factor; When the jitter influence factor is less than or equal to the first jitter influence factor, determining a compensation coefficient of the initial current value as the first compensation coefficient, and taking a product of the first compensation coefficient and the initial current value as the compensated current value; When the jitter influence factor is greater than the first jitter influence factor and less than or equal to the second jitter influence factor, determining a compensation coefficient for the initial current value as the second compensation coefficient and using a product of the second compensation coefficient and the initial current value as the compensated current value; When the jitter impact factor is greater than the second jitter impact factor, the compensation coefficient of the initial current value is determined to be the third compensation coefficient, and a product value of the third compensation coefficient and the initial current value is used as the compensated current value.

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