Galvanometer motor control circuit

Abstract

This application provides a galvanometer motor control circuit for driving a galvanometer motor. The circuit includes a control module, a position correction module, a current correction module, and a drive module. The control module acquires a target position signal of the galvanometer motor. The position correction module acquires the actual position signal of the galvanometer motor and obtains a position difference signal based on the target and actual position signals. The current correction module acquires the real-time current signal of the galvanometer motor and obtains a reference current signal based on the position difference signal and the target position signal. A motor drive signal is then obtained based on the reference and real-time current signals. The drive module drives the galvanometer motor according to the motor drive signal. This application significantly improves the driving accuracy of the galvanometer motor and reduces the cost of controlling it.

Description

Technical Field

[0001] This application relates to the field of laser welding technology, and in particular to a galvanometer motor control circuit. Background Technology

[0002] In modern welding technology, especially in the field of laser welding, the use of galvanometer motors plays a crucial role in improving welding accuracy and efficiency. A galvanometer motor typically refers to part of a high-speed scanning galvanometer system equipped with a reflector. It guides the laser beam to move rapidly and accurately across the workpiece surface by precisely controlling the angle of the reflector, thereby achieving a highly efficient and precise welding process.

[0003] However, the existing control circuits for galvanometer motors cannot simultaneously achieve the advantages of control accuracy and cost. Summary of the Invention

[0004] To address the aforementioned technical problems, the advantage of this application lies in providing a galvanometer motor control circuit that can balance control accuracy and cost.

[0005] In a first aspect, this application provides a galvanometer motor control circuit for driving a galvanometer motor. The galvanometer motor control circuit includes: a control module, a position correction module, a current correction module, and a drive module. The control module is connected to both the position correction module and the current correction module. It is used to acquire a target position signal of the galvanometer motor and transmit the target position signal to both the position correction module and the current correction module. The position correction module is connected to both the galvanometer motor and the current correction module. It is used to acquire the actual position signal of the galvanometer motor, obtain a position difference signal of the galvanometer motor based on the target position signal and the actual position signal, and transmit the position difference signal to the current correction module. The current correction module is connected to both the galvanometer motor and the drive module. It is used to acquire a real-time current signal of the galvanometer motor, obtain a reference current signal based on the position difference signal and the target position signal, and obtain a motor drive signal based on the reference current signal and the real-time current signal. It transmits the motor drive signal to the drive module. The drive module is connected to the galvanometer motor and is used to drive the galvanometer motor according to the motor drive signal.

[0006] According to one embodiment of this application, the galvanometer motor control circuit further includes a speed compensation module, which is connected to both the position correction module and the current correction module. The speed compensation module receives the actual position signal from the position correction module and obtains a speed compensation signal based on the actual position signal. It then transmits the speed compensation signal to the current correction module so that the current correction module obtains a reference current signal based on the position difference signal, the speed compensation signal, and the target position signal.

[0007] According to one embodiment of this application, the position correction module includes: a position sampling circuit and a position loop circuit; the position sampling circuit is connected to the galvanometer motor, the position loop circuit, and the speed compensation module, and is used to acquire the actual position signal of the galvanometer motor and transmit the actual position signal to the position loop circuit and the speed compensation module; the position loop circuit is connected to the current correction module and the control module, and is used to obtain the position difference signal of the galvanometer motor based on the target position signal and the actual position signal; and transmit the position difference signal to the current correction module.

[0008] According to one embodiment of this application, the position loop circuit includes: a 26th resistor, a 27th resistor, a 28th resistor, a 29th resistor, a 30th resistor, a 31st resistor, a 32nd resistor, a 33rd resistor, a 34th resistor, an 8th capacitor, a 9th capacitor, an 8th operational amplifier, a 9th operational amplifier, a 3rd diode, a 4th diode, and a 2nd switching element; one end of the 26th resistor is connected to the actual position signal, and the other end of the 26th resistor is connected to the input terminal of the 3rd diode, the output terminal of the 4th diode, and the first input terminal of the 8th operational amplifier; one end of the 27th resistor is connected to the target position signal, and the other end of the 27th resistor is connected to the input terminal of the 3rd diode, the output terminal of the 4th diode, and the first input terminal of the 8th operational amplifier; the output terminal of the 3rd diode and the input terminal of the 4th diode are both connected to the output terminal of the 8th operational amplifier; one end of the 28th resistor is connected to the first input terminal of the 8th operational amplifier, and the other end of the 28th resistor is connected to the output terminal of the 8th operational amplifier; one end of the 29th resistor is grounded, and the other end of the 29th resistor is connected to the second input terminal of the 8th operational amplifier; the third... One end of the 10th resistor is connected to the output terminal of the 8th operational amplifier, and the other end of the 30th resistor is grounded; the output terminal of the 8th operational amplifier is connected to the first input terminal of the 9th operational amplifier via the 31st and 32nd resistors in sequence; one end of the 8th capacitor is connected to the first input terminal of the 9th operational amplifier, and the other end of the 8th capacitor is connected to the output terminal of the 9th operational amplifier; the first end of the second switching element is connected to the first input terminal of the 9th operational amplifier, the third end of the second switching element is connected to the output terminal of the 9th operational amplifier, and the second end of the second switching element is connected to the integration control signal via the 33rd resistor; one end of the 34th resistor is connected to an external power supply, the other end of the 34th resistor is grounded via the 9th capacitor, and the other end of the 34th resistor is connected to the 33rd resistor; the second input terminal of the 9th operational amplifier is grounded, and the output terminal of the 9th operational amplifier outputs a position difference signal; the 33rd resistor, the 34th resistor, the 9th capacitor, and the second switching element together constitute a position integration switch, which is used to receive the integration control signal and change the operating state of the position loop circuit according to the integration control signal.

[0009] According to one embodiment of this application, the current correction module includes: a current sampling circuit and a current loop circuit; the current sampling circuit is connected to the galvanometer motor and the current loop circuit, and is used to acquire the real-time current signal of the galvanometer motor and transmit the real-time current signal to the current loop circuit; the current loop circuit is connected to the control module, the position correction module, the speed compensation module and the drive module, and is used to obtain a reference current signal based on the position difference signal, the speed compensation signal and the target position signal; and obtain a motor drive signal based on the reference current signal and the real-time current signal; and transmit the motor drive signal to the drive module.

[0010] According to one embodiment of this application, the current loop circuit includes: a 36th resistor, a 37th resistor, a 38th resistor, a 39th resistor, a 40th resistor, a 41st resistor, a 42nd resistor, a 43rd resistor, a 44th resistor, a 45th resistor, a 46th resistor, a 47th resistor, a 48th resistor, a 49th resistor, a 10th capacitor, an 11th capacitor, an 11th operational amplifier, a 12th operational amplifier, a 13th operational amplifier, and a third switching element; one end of the 36th resistor is connected to a target position signal, and the other end of the 36th resistor is connected to the first input terminal of the 11th operational amplifier; one end of the 37th resistor is connected to the 11th operational amplifier... The first input terminal of the operational amplifier is connected, and the other end of the thirty-seventh resistor is connected to the output terminal of the eleventh operational amplifier; the second input terminal of the eleventh operational amplifier is grounded, and the output terminal of the eleventh operational amplifier is connected to one end of the forty-first resistor via the thirty-eighth resistor, and the output terminal of the eleventh operational amplifier is connected to one end of the forty-second resistor via the thirty-eighth resistor; one end of the thirty-ninth resistor is connected to a position difference signal, and the other end of the thirty-ninth resistor is connected to one end of the forty-first resistor and one end of the forty-second resistor; one end of the fortyth resistor is connected to a speed compensation signal, and the other end of the fortyth resistor is connected to the fourth... One end of resistor eleven and one end of resistor forty-second are both connected; the other end of resistor forty-first is connected to the first input terminal of operational amplifier twelfth; the other end of resistor forty-second is connected to the second input terminal of operational amplifier twelfth; one end of resistor forty-third is connected to the first input terminal of operational amplifier twelfth, and the other end of resistor forty-third is connected to the output terminal of operational amplifier twelfth; the output terminal of operational amplifier twelfth is connected to the first input terminal of operational amplifier thirteenth via resistor forty-fourth; one end of resistor forty-fifth is connected to a real-time current signal, and the other end of resistor forty-fifth is connected to operational amplifier thirteenth. The first input terminal is connected; one end of the tenth capacitor is connected to the first input terminal of the thirteenth operational amplifier, the other end of the tenth capacitor is connected to the output terminal of the thirteenth operational amplifier, and the other end of the tenth capacitor is connected to the first terminal of the third switching element; the third terminal of the third switching element is connected to the first input terminal of the thirteenth operational amplifier, and the second terminal of the third switching element is connected to the integration control signal via the forty-seventh resistor; one end of the forty-sixth resistor is connected to an external power supply, the other end of the forty-sixth resistor is grounded via the eleventh capacitor, and the other end of the forty-sixth resistor is connected to the second terminal of the three switching elements via the forty-seventh resistor;The output of the thirteenth operational amplifier is grounded sequentially via the forty-eighth and forty-ninth resistors, and the output of the thirteenth operational amplifier outputs the motor drive signal via the forty-eighth resistor; the forty-sixth resistor, forty-seventh resistor, eleventh capacitor, and third switching element together constitute a current integrating switch, which is used to receive the integrating control signal and change the operating state of the current loop circuit according to the integrating control signal.

[0011] According to one embodiment of this application, the position sampling circuit includes: a photoelectric feedback component and a voltage sampling circuit; the photoelectric feedback component is matched with the motor shaft position of the galvanometer motor; it is used to generate a first voltage signal and a second voltage signal based on the motor shaft position of the galvanometer motor; the voltage sampling circuit is connected to the photoelectric feedback component, the position loop circuit and the speed compensation module, and is used to acquire the first voltage signal and the second voltage signal, generate an actual position signal based on the first voltage signal and the second voltage signal, and transmit the actual position signal to the position loop circuit and the speed compensation module.

[0012] According to one embodiment of this application, the photoelectric feedback component includes: a first silicon photovoltaic cell group, a second silicon photovoltaic cell group, and a light source device; the first silicon photovoltaic cell group is disposed on both sides of the motor shaft in a first direction; the second silicon photovoltaic cell group is disposed on both sides of the motor shaft in a second direction; the light source device is disposed above the center of the first silicon photovoltaic cell group and the second silicon photovoltaic cell group; the first silicon photovoltaic cell group is used to generate a first voltage signal based on the motor shaft position of the galvanometer motor; the second silicon photovoltaic cell group is used to generate a second voltage signal based on the motor shaft position of the galvanometer motor.

[0013] According to an embodiment of this application, the galvanometer motor control circuit according to claim 8 further includes a light source control circuit, which is connected to the first silicon photovoltaic cell group, the second silicon photovoltaic cell group and the light source device, and is used to control the brightness of the light source device based on the first voltage signal and the second voltage signal.

[0014] According to one embodiment of this application, the light source control circuit includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor, a first switching element, and a first operational amplifier; one end of the first resistor is connected to a first voltage signal, and the other end is connected to a first input terminal of the first operational amplifier; one end of the second resistor is connected to a second voltage signal, and the other end is connected to a first input terminal of the first operational amplifier; one end of the third resistor is connected to a reference voltage, and the other end is connected to a first input terminal of the first operational amplifier; one end of the fourth resistor is grounded, and the other end is connected to a second input terminal of the first operational amplifier; one end of the first capacitor is connected to the second input terminal of the first operational amplifier, and the other end is connected to the output terminal of the first operational amplifier; the output terminal of the first operational amplifier is connected to a first terminal of the first switching element; the second terminal of the first switching element is connected to an external power supply, and the third terminal of the first switching element is grounded through the second capacitor; one end of the fifth resistor is connected to the output terminal of the first operational amplifier, and the other end of the fifth resistor is connected to the light source device through the sixth resistor.

[0015] According to one embodiment of this application, the galvanometer motor control circuit further includes: a buffer circuit; the input terminal of the buffer circuit is connected to the control module, and the output terminal of the buffer circuit is connected to the position loop circuit and the current loop circuit; used to acquire the target position signal, perform signal processing on the target position signal, and transmit the signal-processed target position signal to the position loop circuit and the current loop circuit.

[0016] According to one embodiment of this application, the galvanometer motor control circuit further includes: an enable circuit; the enable circuit is connected to the control module, the position correction module, the current correction module, and the drive module; and is used to control the operating state of the position correction module and the current correction module according to the integral enable signal transmitted by the control module, and to control the operating state of the drive module according to the power amplifier enable signal transmitted by the control module.

[0017] According to one embodiment of this application, the enabling circuit includes an integral control circuit and a power amplifier control circuit; the integral control circuit is connected to the control module, the position correction module, and the current correction module, and is used to receive the integral enable signal and control the operating state of the position correction module and the current correction module according to the integral enable signal; the power amplifier control circuit is connected to the control module and the drive module, and is used to receive the power amplifier enable signal and control the operating state of the drive module according to the power amplifier enable signal.

[0018] According to one embodiment of this application, the integral control circuit includes: a 50th resistor, a 51st resistor, a 52nd resistor, a 53rd resistor, a fourth switching element, and a first optocoupler; one end of the 50th resistor is connected to an integral enable signal, the other end of the 50th resistor is connected to a first end of the fourth switching element, and the other end of the 50th resistor is grounded via the 51st resistor; the second end of the fourth switching element is connected to a fourth end of the first optocoupler, and the second end of the fourth switching element is connected to an external power supply sequentially via the 53rd resistor and the 52nd resistor, and the third end of the fourth switching element is grounded; the first end of the first optocoupler is connected to an external power supply via the 52nd resistor, the second end of the first optocoupler outputs an integral control signal, and the third end of the first optocoupler is grounded.

[0019] According to one embodiment of this application, the power amplifier control circuit includes: a 54th resistor, a 55th resistor, a 56th resistor, a 57th resistor, a 58th resistor, a 59th resistor, a 60th resistor, a fifth switching element, a second optocoupler, a 12th capacitor, and a fifth diode; one end of the 54th resistor is connected to a power amplifier enable signal, and the other end of the 54th resistor is connected to a first end of the fifth switching element, and the other end of the 54th resistor is grounded via the 55th resistor; the second end of the fifth switching element is connected to a fourth end of the second optocoupler, and the second end of the fifth switching element is sequentially connected via the 57th resistor and the 56th resistor. The fifth switching element is connected to an external power source, and its third terminal is grounded. The first terminal of the second optocoupler is connected to the external power source via the fifty-sixth resistor, and its second terminal outputs a power amplifier control signal via the sixtieth resistor. The third terminal of the second optocoupler is grounded. One end of the fifty-eighth resistor is connected to the second terminal of the second optocoupler, and its other end is grounded. One end of the twelfth capacitor is connected to the second terminal of the second optocoupler, and its other end is grounded. The input terminal of the fifth diode is grounded, and its output terminal is connected to the external power source sequentially via the sixtieth and fifty-ninth resistors.

[0020] According to one embodiment of this application, the galvanometer motor control circuit further includes: a position processing module; the input terminal of the position processing module is connected to the voltage sampling circuit, and the output terminal of the position processing module is connected to the speed compensation module and the position loop circuit, for receiving the actual position signal, performing position processing on the actual position signal, and sending the position-processed actual position signal to the speed compensation module and the position loop circuit, wherein the position processing includes: inverting and amplifying the actual position signal.

[0021] According to one embodiment of this application, the position processing module includes: a sixty-first resistor, a sixty-second resistor, a sixty-third resistor, and a fourteenth operational amplifier; one end of the sixty-first resistor is connected to the actual position signal, and the other end of the sixty-first resistor is connected to the first input terminal of the fourteenth operational amplifier; one end of the sixty-second resistor is grounded, and the other end of the sixty-second resistor is connected to the second input terminal of the fourteenth operational amplifier; one end of the sixty-third resistor is connected to the first input terminal of the fourteenth operational amplifier, and the other end of the sixty-third resistor is connected to the output terminal of the fourteenth operational amplifier; the output terminal of the fourteenth operational amplifier outputs the actual position signal after position processing.

[0022] Beneficial effects: The galvanometer motor control circuit uses a dual control structure of position correction module and current correction module to control the galvanometer motor. This solution can significantly improve the driving accuracy of the galvanometer motor. Moreover, this solution is implemented with a simple circuit. Compared with the solution that uses a high-specification main control chip to control the galvanometer motor, this solution has a lower cost. In summary, this solution has the advantages of both control accuracy and cost. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A block diagram of a galvanometer motor control circuit provided for one embodiment of this application;

[0025] Figure 2 A circuit diagram of a light source control circuit according to the above embodiments of this application is shown;

[0026] Figure 3 A circuit diagram of a voltage sampling circuit according to the above embodiments of this application is shown;

[0027] Figure 4 A circuit diagram of a buffer circuit according to the above embodiments of this application is shown;

[0028] Figure 5 A circuit diagram of the position loop circuit according to the above embodiments of this application is shown;

[0029] Figure 6 A circuit diagram of a current sampling circuit according to the above embodiments of this application is shown;

[0030] Figure 7 A circuit diagram of a current loop circuit according to the above embodiments of this application is shown;

[0031] Figure 8 A circuit diagram of the integral control circuit according to the above embodiments of this application is shown;

[0032] Figure 9 A circuit diagram of a power amplifier control circuit according to the above embodiments of this application is shown;

[0033] Figure 10 A circuit diagram of the position processing module according to the above embodiments of this application is shown;

[0034] Figure 11 A circuit diagram of a speed compensation module according to the above embodiments of this application is shown;

[0035] Figure 12 A flowchart of a galvanometer motor control method provided in one embodiment of this application;

[0036] Figure 13 A module block diagram of a position sampling circuit provided in one embodiment of this application;

[0037] Figure 14 A block diagram of an enable circuit provided for one embodiment of this application;

[0038] Figure 15 A schematic diagram of a chip acquisition circuit provided for one embodiment of this application.

[0039] Reference numerals: 1. Galvanometer motor control circuit; 10. Control module; 20. Position correction module; 21. Position sampling circuit; 211. Photoelectric feedback component; 2111. Light source control circuit; 212. Voltage sampling circuit; 22. Position loop circuit; 30. Speed ​​compensation module; 40. Current correction module; 41. Current sampling circuit; 42. Current loop circuit; 50. Drive module; 60. Buffer circuit; 70. Enable circuit; 71. Integral control circuit; 72. Power amplifier control circuit; 80. Position processing module. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] Considering that existing control circuits for galvanometer motors cannot simultaneously achieve the advantages of control accuracy and cost, this application provides a galvanometer motor control circuit 1 that can balance the advantages of control accuracy and cost.

[0042] For details, please refer to the appendix. Figure 1 One embodiment of this application provides a galvanometer motor control circuit 1, which is used to drive a galvanometer motor. The galvanometer motor control circuit 1 includes a control module 10, a position correction module 20, a current correction module 40, and a drive module 50.

[0043] The control module 10 is connected to the position correction module 20 and the current correction module 40 respectively; it is used to acquire the target position signal of the galvanometer motor and transmit the target position signal to the position correction module 20 and the current correction module 40.

[0044] The position correction module 20 is connected to the galvanometer motor and the current correction module 40 respectively, and is used to acquire the actual position signal of the galvanometer motor, obtain the position difference signal of the galvanometer motor based on the target position signal and the actual position signal, and transmit the position difference signal to the current correction module 40.

[0045] The current correction module 40 is connected to the galvanometer motor and the drive module 50, and is used to acquire the real-time current signal of the galvanometer motor, obtain a reference current signal based on the position difference signal and the target position signal; and obtain a motor drive signal based on the reference current signal and the real-time current signal; and transmit the motor drive signal to the drive module 50.

[0046] The drive module 50 is connected to the galvanometer motor and is used to drive the galvanometer motor according to the motor drive signal.

[0047] It should be noted that, in actual conditions, the galvanometer motor is driven by a rotating shaft within the motor to deflect within a certain angular range (typically ±10°). Therefore, the position of the galvanometer motor refers to the position where the galvanometer motor deflects at that angle. It should also be noted that the target position signal represents the target position the galvanometer motor is to move to; the actual position signal represents the current position of the galvanometer motor; the real-time current signal is obtained by sampling the current of the galvanometer motor through a current sampling module, representing the current magnitude of the galvanometer motor; the position difference signal is obtained by subtracting the target position signal and the actual position signal, representing the difference between the target position and the actual position of the galvanometer motor; the error current signal is obtained by subtracting the reference current signal and the real-time current signal, representing the difference between the target current and the actual current of the galvanometer motor; the motor drive signal is obtained by integrating the error current signal according to a preset rule, and the motor drive signal is used to drive the galvanometer motor.

[0048] It is worth noting that the galvanometer motor control circuit 1 controls the galvanometer motor through a dual control structure of position correction module 20 and current correction module 40. This solution can significantly improve the driving accuracy of the galvanometer motor. Moreover, this solution is implemented through a simple circuit. Compared with the solution that uses a high-specification main control chip to control the galvanometer motor, this solution has a lower cost. In summary, this solution takes into account the advantages of control accuracy and cost.

[0049] In other embodiments of this application, the galvanometer motor control circuit 1 further includes a speed compensation module 30, which is connected to both the position correction module 20 and the current correction module 40. The speed compensation module 30 receives the actual position signal from the position correction module 20 and obtains a speed compensation signal based on the actual position signal, and then transmits the speed compensation signal to the current correction module 40 so that the current correction module 40 obtains a reference current signal based on the position difference signal, the speed compensation signal, and the target position signal.

[0050] It should be noted that after receiving the actual position signal, the speed compensation module 30 differentiates the actual position signal through an operational amplifier to obtain a speed compensation signal that represents the rate of position change, and then amplifies the speed compensation signal through the operational amplifier.

[0051] It should be noted that the speed compensation signal is a signal used to compensate the circuit. The actual position signal is processed by the circuit to obtain the speed signal, which represents the rate of position change. The speed signal is then amplified according to a preset rule to obtain the speed compensation signal.

[0052] In other embodiments of this application, the position correction module 20 includes: a position sampling circuit 21 and a position loop circuit 22; the position sampling circuit 21 is connected to the galvanometer motor, the position loop circuit 22 and the speed compensation module 30, and is used to acquire the actual position signal of the galvanometer motor and transmit the actual position signal to the position loop circuit 22 and the speed compensation module 30; the position loop circuit 22 is connected to the current correction module 40 and the control module 10, and is used to obtain the position difference signal of the galvanometer motor according to the target position signal and the actual position signal; and transmit the position difference signal to the current correction module 40.

[0053] Among them, such as Figure 13 As shown, the position sampling circuit 21 includes: a photoelectric feedback component 211 and a voltage sampling circuit 212; the photoelectric feedback component 211 is disposed on the motor shaft of the galvanometer motor; it is used to generate a first voltage signal and a second voltage signal based on the position of the motor shaft of the galvanometer motor according to the photoelectric feedback principle; the voltage sampling circuit 212 is connected to the photoelectric feedback component 211, the position loop circuit 22 and the speed compensation module 30, and is used to acquire the first voltage signal and the second voltage signal, and calculate the difference between the first voltage signal and the second voltage signal according to the first voltage signal and the second voltage signal, thereby generating an actual position signal, and transmitting the actual position signal to the position loop circuit 22 and the speed compensation module 30.

[0054] In other embodiments of this application, the photoelectric feedback component 211 includes: a first silicon photovoltaic cell group, a second silicon photovoltaic cell group, and a light source device; the first silicon photovoltaic cell group is disposed on both sides of the motor shaft in a first direction; the second silicon photovoltaic cell group is disposed on both sides of the motor shaft in a second direction; the light source device is disposed above the center of the first silicon photovoltaic cell group and the second silicon photovoltaic cell group; the first silicon photovoltaic cell group is used to generate a first voltage signal based on the motor shaft position of the galvanometer motor; the second silicon photovoltaic cell group is used to generate a second voltage signal based on the motor shaft position of the galvanometer motor.

[0055] It should be noted that the photoelectric feedback component 211 also includes a light source control circuit 2111, which is connected to the first silicon photovoltaic cell group, the second silicon photovoltaic cell group and the light source device, and is used to control the brightness of the light source device based on the first voltage signal and the second voltage signal.

[0056] It should be noted that since the galvanometer motor can only deflect within a certain angle range (usually about ±10°), the working principle of its position feedback is as follows: The silicon photocells are evenly distributed around the motor shaft and are divided into two groups in a diagonal distribution. The output voltage of the first group of diagonal photocells is denoted as the first voltage signal, and the output voltage of the other group of diagonal photocells is denoted as the second voltage signal. The baffle is fixedly coaxial with the motor shaft, and the light source device is located directly above the center of the silicon photocell array. When the motor rotates and drives the baffle to rotate, the light shielding situation of the photocells changes, resulting in synchronous reverse changes in the voltage values of the first voltage signal and the second voltage signal. For example, if the first voltage signal increases by 10 mV, the second voltage signal decreases by 10 mV correspondingly. At the same time, the sum of the first voltage signal and the second voltage signal always remains constant (with the same DC bias). Therefore, by calculating the difference value between the first voltage signal and the second voltage signal, a voltage value linearly related to the deflection angle of the motor can be obtained. Based on this characteristic, the voltage sampling circuit 212 is designed. This circuit filters and differentiates the first voltage signal and the second voltage signal, and the output signal is the feedback voltage value of the motor position. Subsequent motor position control will use this as the position feedback reference.

[0057] However, the light intensity of the light source device may fluctuate due to environmental light or other factors, resulting in a change in the linear proportionality coefficient between the motor position and the feedback voltage, and ultimately causing an error fluctuation in the actual deflection angle. To solve this problem, the light source control circuit 2111 is designed. In this circuit, a reference voltage is set as the desired sum of the first voltage signal and the second voltage signal. When the sum of the first voltage signal and the second voltage signal deviates from the reference voltage, the circuit will automatically adjust the supply current of the light source device, thereby stabilizing the sum of the first voltage signal and the second voltage signal. The specific working principle is as follows: When |first voltage signal + second voltage signal| > Vref (the set reference voltage), the output of the operational amplifier decreases, that is, the base voltage of the first switching element is controlled to decrease, thereby controlling the emitter current to decrease; if |first voltage signal + second voltage signal| < Vref, the output of the operational amplifier increases, that is, the base voltage of the first switching element is controlled to increase, thereby controlling the emitter current to increase, and finally controlling |first voltage signal + second voltage signal| = Vref, that is, ensuring that the sum of the feedback voltages remains constant even when the light source device is affected.

[0058] It is worth noting that a baffle is provided on the rotating shaft of the galvanometer motor. When the galvanometer motor drives the baffle to rotate, the light blocking situation of the first silicon photovoltaic cell group and the second silicon photovoltaic cell group changes, causing the voltage values ​​of the first voltage signal and the second voltage signal to change synchronously and in opposite directions. However, the sum of the voltage values ​​of the first voltage signal and the second voltage signal always remains constant (with the same DC bias). However, the light intensity of the light source may fluctuate due to the influence of ambient light or other factors, which will cause the linear proportional coefficient between the position of the galvanometer motor and the first voltage signal and the second voltage signal to change. Therefore, the light source control circuit 2111 is provided in this solution, which can control the brightness of the light source device based on the first voltage signal and the second voltage signal, so as to ensure that the sum of the first voltage signal and the second voltage signal remains constant even when the light intensity of the light source is affected, thereby improving the stability of the galvanometer motor control circuit 1 in controlling the galvanometer motor.

[0059] In one embodiment, such as Figure 2 As shown, the light source control circuit 2111 includes: a first resistor R11, a second resistor R12, a third resistor R67, a fourth resistor R14, a fifth resistor R15, a sixth resistor R16, a first capacitor C5, a second capacitor C6, a first switching element Q1, and a first operational amplifier.

[0060] One end of the first resistor R11 is connected to a first voltage signal, and the other end is connected to the first input terminal of the first operational amplifier; one end of the second resistor R12 is connected to a second voltage signal, and the other end is connected to the first input terminal of the first operational amplifier; one end of the third resistor R67 is connected to a reference voltage, and the other end is connected to the first input terminal of the first operational amplifier; one end of the fourth resistor R14 is grounded, and the other end is connected to the second input terminal of the first operational amplifier; one end of the first capacitor C5 is connected to the second input terminal of the first operational amplifier, and the other end is connected to the output terminal of the first operational amplifier; the output terminal of the first operational amplifier is connected to the first terminal of the first switching element Q1; the second terminal of the first switching element Q1 is connected to an external power supply, and the third terminal of the first switching element Q1 is grounded through the second capacitor C6; one end of the fifth resistor R15 is connected to the output terminal of the first operational amplifier, and the other end of the fifth resistor R15 is connected to the light source device through the sixth resistor R16.

[0061] In another embodiment of this application, such as Figure 3As shown, the voltage sampling circuit 212 includes: a seventh resistor R77, an eighth resistor R2, a ninth resistor R5, a tenth resistor R6, an eleventh resistor R3, a twelfth resistor R7, a thirteenth resistor R4, a fourteenth resistor R8, a fifteenth resistor R9, a sixteenth resistor R10, a third capacitor C1, a fourth capacitor C2, a fifth capacitor C3, a sixth capacitor C4, a second operational amplifier, a third operational amplifier, and a fourth operational amplifier; one end of the seventh resistor R77 is connected to a first voltage signal, and the other end of the seventh resistor R77 is connected to the first input terminal of the second operational amplifier; one end of the eighth resistor R2 is grounded, and the other end of the eighth resistor R2 is connected to the second input terminal of the second operational amplifier. The input terminals are connected as follows: one end of the ninth resistor R5 is connected to the second voltage signal, and the other end of the ninth resistor R5 is connected to the first input terminal of the third operational amplifier; one end of the tenth resistor R6 is grounded, and the other end of the tenth resistor R6 is connected to the second input terminal of the third operational amplifier; one end of the third capacitor C1 is connected to the first input terminal of the second operational amplifier, and the other end of the third capacitor C1 is connected to the output terminal of the second operational amplifier; one end of the eleventh resistor R3 is connected to the first input terminal of the second operational amplifier, and the other end of the eleventh resistor R3 is connected to the output terminal of the second operational amplifier; one end of the fourth capacitor C2 is connected to the third operational amplifier... The first input terminal is connected, and the other end of the fourth capacitor C2 is connected to the output terminal of the third operational amplifier; one end of the twelfth resistor R7 is connected to the first input terminal of the third operational amplifier, and the other end of the twelfth resistor R7 is connected to the output terminal of the third operational amplifier; the output terminal of the second operational amplifier is connected to the first input terminal of the fourth operational amplifier via the thirteenth resistor R4, and the output terminal of the second operational amplifier is connected to the other end of the eleventh resistor R3; the output terminal of the third operational amplifier is connected to the second input terminal of the fourth operational amplifier via the fourteenth resistor R8, and the output terminal of the third operational amplifier is connected to the other end of the twelfth resistor R7. The fifth capacitor C3 is connected to the first input terminal of the fourth operational amplifier, and the other end of the fifth capacitor C3 is connected to the output terminal of the fourth operational amplifier; the fifteenth resistor R9 is connected to the first input terminal of the fourth operational amplifier, and the other end of the fifteenth resistor R9 is connected to the output terminal of the fourth operational amplifier; one end of the sixteenth resistor R10 is grounded, and the other end of the sixteenth resistor R10 is connected to the second input terminal of the fourth operational amplifier; one end of the sixth capacitor C4 is grounded, and the other end of the sixth capacitor C4 is connected to the second input terminal of the fourth operational amplifier; the output terminal of the fourth operational amplifier is connected to both the speed compensation module 30 and the position loop circuit 22.

[0062] It should be noted that after receiving the first voltage signal and the second voltage signal, the voltage sampling circuit 212 filters the first voltage signal and the second voltage signal respectively, and performs differential operation on the filtered first voltage signal and the second voltage signal to obtain the actual position signal reflecting the actual position of the galvanometer motor.

[0063] like Figure 5As shown, the position loop circuit 22 is a position PI controller, including: a 26th resistor R27, a 27th resistor R28, a 28th resistor R29, a 29th resistor R35, a 30th resistor R32, a 31st resistor R33, a 32nd resistor R34, a 33rd resistor R68, a 34th resistor R69, an 8th capacitor C8, a 9th capacitor C14, an 8th operational amplifier, a 9th operational amplifier, a 3rd diode D6, a 4th diode D7, and a 2nd switching element Q2; one end of the 26th resistor R27 is connected to the actual position signal, and the other end of the 26th resistor R27 is connected to the output of the 3rd diode D6. The input terminal, the output terminal of the fourth diode D7, and the first input terminal of the eighth operational amplifier are all connected; one end of the twenty-seventh resistor R28 is connected to the target position signal, and the other end of the twenty-seventh resistor R28 is connected to the input terminal of the third diode D6, the output terminal of the fourth diode D7, and the first input terminal of the eighth operational amplifier; the output terminal of the third diode D6 and the input terminal of the fourth diode D7 are both connected to the output terminal of the eighth operational amplifier; one end of the twenty-eighth resistor R29 is connected to the first input terminal of the eighth operational amplifier, and the other end of the twenty-eighth resistor R29 is connected to the eighth operational amplifier. The output terminal of the eighth operational amplifier is connected; one end of the twenty-ninth resistor R35 is grounded, and the other end of the twenty-ninth resistor R35 is connected to the second input terminal of the eighth operational amplifier; one end of the thirtieth resistor R32 is connected to the output terminal of the eighth operational amplifier, and the other end of the thirtieth resistor R32 is grounded; the output terminal of the eighth operational amplifier is connected to the first input terminal of the ninth operational amplifier via the thirty-first resistor R33 and the thirty-second resistor R34 in sequence; one end of the eighth capacitor C8 is connected to the first input terminal of the ninth operational amplifier, and the other end of the eighth capacitor C8 is connected to the output terminal of the ninth operational amplifier; The first terminal of the second switching element Q2 is connected to the first input terminal of the ninth operational amplifier, and the third terminal of the second switching element Q2 is connected to the output terminal of the ninth operational amplifier. The second terminal of the second switching element Q2 is connected to the integration control signal via the thirty-third resistor R68. One end of the thirty-fourth resistor R69 is connected to an external power supply, and the other end of the thirty-fourth resistor R69 is grounded via the ninth capacitor C14. The other end of the thirty-fourth resistor R69 is connected to the thirty-third resistor R68. The second input terminal of the ninth operational amplifier is grounded, and the output terminal of the ninth operational amplifier outputs a position difference signal. It should be noted that the integration control signal is the signal used by the integration control circuit 71 to control the operating state of the position correction module 20 and the current correction module 40 after receiving the integration enable signal.

[0064] It should be noted that after the position loop circuit 22 receives the target position signal, the integration control signal and the actual position signal, it calculates the difference between the target position signal and the actual position signal, and limits the error of the difference through the third diode D6 and the fourth diode D7. Then, based on the integration control signal, it determines whether to integrate through the ninth operational amplifier to obtain the position difference signal.

[0065] In other embodiments of this application, the current correction module 40 includes: a current sampling circuit 41 and a current loop circuit 42;

[0066] The current sampling circuit 41 is connected to the galvanometer motor and the current loop circuit 42, and is used to acquire the real-time current signal of the galvanometer motor and transmit the real-time current signal to the current loop circuit 42.

[0067] The current loop circuit 42 is connected to the control module 10, the position correction module 20, the speed compensation module 30, and the drive module 50. It is used to obtain a reference current signal based on the position difference signal, the speed compensation signal, and the target position signal; and to obtain a motor drive signal based on the reference current signal and the real-time current signal; and to transmit the motor drive signal to the drive module 50.

[0068] Among them, such as Figure 6 As shown, the current sampling circuit 41 includes a thirty-fifth resistor R85 and a tenth operational amplifier; one end of the thirty-fifth resistor R85 is connected to the second output terminal of the drive module 50 and to the first input terminal of the tenth operational amplifier, and the other end of the thirty-fifth resistor R85 is connected to the other end of the galvanometer motor and to the second input terminal of the tenth operational amplifier; the output terminal of the tenth operational amplifier outputs a real-time current signal.

[0069] like Figure 7As shown, the current loop circuit 42 includes: a 36th resistor R51, a 37th resistor R50, a 38th resistor R52, a 39th resistor R53, a 40th resistor R54, a 41st resistor R55, a 42nd resistor R56, a 43rd resistor R57, a 44th resistor R58, a 45th resistor R59, a 46th resistor R70, a 47th resistor R71, a 48th resistor R60, a 49th resistor R61, a 10th capacitor C10, an 11th capacitor C15, an 11th operational amplifier, a 12th operational amplifier, a 13th operational amplifier, and a third switching element Q3; one end of the 36th resistor R51 is connected to the target position signal, and the other end of the 36th resistor R51 is connected to the target position signal. The first input terminal of the eleventh operational amplifier is connected; one end of the thirty-seventh resistor R50 is connected to the first input terminal of the eleventh operational amplifier, and the other end of the thirty-seventh resistor R50 is connected to the output terminal of the eleventh operational amplifier; the second input terminal of the eleventh operational amplifier is grounded; the output terminal of the eleventh operational amplifier is connected to one end of the forty-first resistor R55 via the thirty-eighth resistor R52, and the output terminal of the eleventh operational amplifier is connected to one end of the forty-second resistor R56 via the thirty-eighth resistor R52; one end of the thirty-ninth resistor R53 is connected to the position difference signal, and the other end of the thirty-ninth resistor R53 is connected to one end of the forty-first resistor R55. One end of the forty-second resistor R56 is connected to the speed compensation signal; one end of the forty-first resistor R54 is connected to the speed compensation signal, and the other end of the forty-second resistor R54 is connected to one end of the forty-first resistor R55 and one end of the forty-second resistor R56; the other end of the forty-first resistor R55 is connected to the first input terminal of the twelfth operational amplifier; the other end of the forty-second resistor R56 is connected to the second input terminal of the twelfth operational amplifier; one end of the forty-third resistor R57 is connected to the first input terminal of the twelfth operational amplifier, and the other end of the forty-third resistor R57 is connected to the output terminal of the twelfth operational amplifier; the output terminal of the twelfth operational amplifier is connected via the forty-fourth resistor R56. Resistor R58 is connected to the first input terminal of the thirteenth operational amplifier; one end of the forty-fifth resistor R59 is connected to a real-time current signal, and the other end of the forty-fifth resistor R59 is connected to the first input terminal of the thirteenth operational amplifier; one end of the tenth capacitor C10 is connected to the first input terminal of the thirteenth operational amplifier, and the other end of the tenth capacitor C10 is connected to the output terminal of the thirteenth operational amplifier, and the other end of the tenth capacitor C10 is connected to the first terminal of the third switching element Q3; the third terminal of the third switching element Q3 is connected to the first input terminal of the thirteenth operational amplifier, and the second terminal of the third switching element Q3 is connected to an integration control signal via the forty-seventh resistor R71;One end of the forty-sixth resistor R70 is connected to an external power supply, and the other end of the forty-sixth resistor R70 is grounded via the eleventh capacitor C15. The other end of the forty-sixth resistor R70 is also connected to the second terminal of the three-switch element via the forty-seventh resistor R71. The output terminal of the thirteenth operational amplifier is grounded sequentially via the forty-eighth resistor R60 and the forty-ninth resistor R61, and the output terminal of the thirteenth operational amplifier outputs the motor drive signal via the forty-eighth resistor R60. It should be noted that the current loop circuit 42 uses the speed compensation signal and the target position signal as feedforward signals, which can improve the response time and make the control system more stable, thereby making the overall performance of the controlled galvanometer motor more excellent.

[0070] It should be noted that the current loop circuit 42 receives the position difference signal, the speed compensation signal, the target position signal, the integral control signal, and the real-time current signal. It uses the speed compensation signal and the target position signal as feedforward signals, and obtains a reference current signal based on the position difference signal. It calculates the difference between the reference current signal and the real-time current signal, and determines whether to integrate the result of the difference based on the integral control signal to obtain the motor drive signal.

[0071] In other embodiments of this application, the galvanometer motor control circuit 1 further includes a buffer circuit 60;

[0072] The input terminal of the buffer circuit 60 is connected to the control module 10, and the output terminal of the buffer circuit 60 is connected to the position loop circuit 22 and the current loop circuit 42; it is used to acquire the target position signal, process the target position signal, and transmit the processed target position signal to the position loop circuit 22 and the current loop circuit 42.

[0073] It should be noted that the signal processing includes removing DC bias, controlling signal amplitude, and smoothing.

[0074] It is worth noting that the buffer circuit 60 can buffer the target position signal, avoiding the occurrence of sudden changes in current caused by the step signal form of the target position signal, thereby improving the overall stability of the galvanometer motor control circuit 1.

[0075] Among them, such as Figure 4As shown, the buffer circuit 60 includes: a seventeenth resistor R49, an eighteenth resistor R80, a nineteenth resistor R42, a twentieth resistor R45, a twenty-first resistor R46, a twenty-second resistor R47, a twenty-third resistor R41, a twenty-fourth resistor R43, a twenty-fifth resistor R44, a seventh capacitor C9, a fifth operational amplifier, a sixth operational amplifier, a seventh operational amplifier, a first diode D7, and a second diode D8; one end of the seventeenth resistor R49 is connected to a reference voltage, and the other end of the seventeenth resistor R49 is connected to the first input terminal of the fifth operational amplifier; the eighteenth resistor R80... One end of the eighteenth resistor R80 is connected to the first input terminal of the fifth operational amplifier, and the other end of the eighteenth resistor R80 is connected to the output terminal of the fifth operational amplifier; the second input terminal of the fifth operational amplifier is connected to the target position signal, and the output terminal of the fifth operational amplifier is connected to the first input terminal of the sixth operational amplifier via the nineteenth resistor R42; one end of the twentieth resistor R45 is connected to the output terminal of the seventh operational amplifier, and the other end of the twentieth resistor R45 is connected to the second input terminal of the sixth operational amplifier; one end of the twenty-first resistor R46 is grounded, and the other end of the twenty-first resistor R46... One end of the resistor R47 is connected to the second input terminal of the sixth operational amplifier; one end of the 22nd resistor R47 is grounded, and the other end of the 22nd resistor R47 is connected to the second input terminal of the sixth operational amplifier; one end of the 23rd resistor R41 is connected to the first input terminal of the sixth operational amplifier, and the other end of the 23rd resistor R41 is connected to the output terminal of the sixth operational amplifier; the output terminal of the sixth operational amplifier is connected to the first input terminal of the seventh operational amplifier via the 24th resistor R43 and the 25th resistor R44 in sequence; the input terminal of the first diode D7 is grounded, and the output terminal of the first diode D7 is connected to the first input terminal of the seventh operational amplifier via the 25th resistor R44; the output terminal of the second diode D8 is grounded, and the input terminal of the second diode D8 is connected to the first input terminal of the seventh operational amplifier via the 25th resistor R44; one end of the seventh capacitor C9 is connected to the first input terminal of the seventh operational amplifier, and the other end of the seventh capacitor C9 is connected to the output terminal of the seventh operational amplifier; the second input terminal of the seventh operational amplifier is grounded, and the output terminal of the seventh operational amplifier is connected to both the position loop circuit 22 and the current loop circuit 42.

[0076] It should be noted that the buffer circuit 60 removes the DC bias through the fifth operational amplifier, and then forms a ramp generator with the help of the sixth and seventh operational amplifiers to buffer the signal of the circuit 60, avoiding the direct current surge caused by the step signal of the target position signal. The amplitude of the signal is controlled by the first diode D7 and the second diode D8, so that the output target position signal can change gradually at a certain rate until the target position signal equals the target value (the target value corresponding to the step signal of the target position signal). This can effectively alleviate the current surge problem caused by the signal surge and enhance the stability and reliability of the entire system.

[0077] In other embodiments of this application, the enabling circuit 70 controls the operating states of the position correction module 20, the current correction module 40, and the drive module 50 based on the integration enable signal and the power amplifier enable signal. Specifically, the galvanometer motor control circuit 1 further includes: an enabling circuit 70; the enabling circuit 70 is connected to the control module 10, the position correction module 20, the current correction module 40, and the drive module 50; it is used to control the operating states of the position correction module 20 and the current correction module 40 based on the integration enable signal transmitted by the control module 10, and to control the operating state of the drive module 50 based on the power amplifier enable signal transmitted by the control module 10.

[0078] In other embodiments of this application, such as Figure 14 As shown, the enabling circuit 70 includes an integral control circuit 71 and a power amplifier control circuit 72. The integral control circuit 71 is connected to the control module 10, the position correction module 20, and the current correction module 40, and is used to receive the integral enable signal and control the working state of the position correction module 20 and the current correction module 40 according to the integral enable signal. The power amplifier control circuit 72 is connected to the control module 10 and the drive module 50, and is used to receive the power amplifier enable signal and control the working state of the drive module 50 according to the power amplifier enable signal.

[0079] It should be noted that this application divides the enabling circuit 70 into two parts: an integral control circuit 71 and a power amplifier control circuit 72. That is, the integral circuit and the power amplifier circuit are controlled independently. Compared with the scheme of directly controlling the integral circuit and the power amplifier circuit through the entire circuit (that is, the integral circuit and the power amplifier circuit can only be powered on at the same time), this scheme can manage the power-on timing of the galvanometer motor by means of the integral control circuit 71 and the power amplifier control circuit 72, thereby avoiding hardware damage or logic errors caused by mismatch of power supply voltage rise speed or incorrect power supply sequence, and ensuring that each component can start working under the best conditions.

[0080] like Figure 8As shown, the integral control circuit 71 includes: a 50th resistor R72, a 51st resistor R73, a 52nd resistor R75, a 53rd resistor R74, a fourth switching element Q4, and a first optocoupler P1; one end of the 50th resistor R72 is connected to an integral enable signal, the other end of the 50th resistor R72 is connected to the first end of the fourth switching element Q4, and the other end of the 50th resistor R72 is grounded via the 51st resistor R73; the second end of the fourth switching element Q4 is connected to the fourth end of the first optocoupler P1, and the second end of the fourth switching element Q4 is connected to an external power supply sequentially via the 53rd resistor R74 and the 52nd resistor R75, and the third end of the fourth switching element Q4 is grounded; the first end of the first optocoupler P1 is connected to an external power supply via the 52nd resistor R75, the second end of the first optocoupler P1 outputs an integral control signal, and the third end of the first optocoupler P1 is grounded.

[0081] It should be noted that when the integration enable signal is high, the fourth switching element Q4 is turned on, the first optocoupler P1 is turned on, and the position correction module 20 and the current correction module 40 are not working; when the integration enable signal is low, the fourth switching element Q4 is turned off, the first optocoupler P1 is turned off, and the position correction module 20 and the current correction module 40 are working normally; when the power amplifier enable signal is high, the fifth switching element Q5 is turned on, the second optocoupler P2 is turned on, and the drive module 50 is not working; when the power amplifier enable signal is low, the fifth switching element Q5 is turned off, the second optocoupler P2 is turned off, and the drive module 50 is working normally. Those skilled in the art should understand that the conduction conditions between different types of switching elements are different, and the high and low level states of the integration enable signal and the power amplifier enable signal will be designed according to the actual circuit.

[0082] like Figure 9 As shown, the power amplifier control circuit 72 includes: the 54th resistor R76, the 55th resistor R86, the 56th resistor R79, the 57th resistor R78, the 58th resistor R87, the 59th resistor R81, the 60th resistor R82, the fifth switching element Q5, the second optocoupler P2, the 12th capacitor C16, and the fifth diode D16.

[0083] One end of the 54th resistor R76 is connected to the power amplifier enable signal, and the other end of the 54th resistor R76 is connected to the first end of the fifth switching element Q5, and the other end of the 54th resistor R76 is grounded via the 55th resistor R86; the second end of the fifth switching element Q5 is connected to the fourth end of the second optocoupler P2, and the second end of the fifth switching element Q5 is connected to an external power supply via the 57th resistor R78 and the 56th resistor R79 in sequence, and the third end of the fifth switching element Q5 is grounded; the first end of the second optocoupler P2 is connected to an external power supply via the 56th resistor R79. The second terminal of the second optocoupler P2 outputs a power amplifier control signal via the sixtieth resistor R82, and the third terminal of the second optocoupler P2 is grounded. One end of the fifty-eighth resistor R87 is connected to the second terminal of the second optocoupler P2, and the other end of the fifty-eighth resistor R87 is grounded. One end of the twelfth capacitor C16 is connected to the second terminal of the second optocoupler P2, and the other end of the twelfth capacitor C16 is grounded. The input terminal of the fifth diode D16 is grounded, and the output terminal of the fifth diode D16 is connected to an external power supply via the sixtieth resistor R82 and the fifty-ninth resistor R81. It should be noted that the power amplifier control signal is the signal used by the power amplifier control circuit 72 to control the operating state of the drive module 50 after receiving the power amplifier enable signal.

[0084] In other embodiments of this application, the galvanometer motor control circuit 1 further includes: a position processing module 80.

[0085] The input terminal of the position processing module 80 is connected to the voltage sampling circuit 212, and the output terminal of the position processing module 80 is connected to the speed compensation module 30 and the position loop circuit 22. It is used to receive the actual position signal, perform position processing on the actual position signal, and send the position-processed actual position signal to the speed compensation module 30 and the position loop circuit 22. The position processing includes: inverting and amplifying the actual position signal.

[0086] like Figure 10As shown, the position processing module 80 includes: a sixty-first resistor R24, a sixty-second resistor R26, a sixty-third resistor R25, and a fourteenth operational amplifier; one end of the sixty-first resistor R24 ​​is connected to the actual position signal, and the other end of the sixty-first resistor R24 ​​is connected to the first input terminal of the fourteenth operational amplifier; one end of the sixty-second resistor R26 is grounded, and the other end of the sixty-second resistor R26 is connected to the second input terminal of the fourteenth operational amplifier; one end of the sixty-third resistor R25 is connected to the first input terminal of the fourteenth operational amplifier, and the other end of the sixty-third resistor R25 is connected to the output terminal of the fourteenth operational amplifier; the output terminal of the fourteenth operational amplifier outputs the actual position signal after position processing.

[0087] like Figure 11 As shown, the speed compensation module 30 includes: a 30th resistor R32, a 64th resistor R19, a 65th resistor R20, a 66th resistor R21, a 67th resistor R22, a 68th resistor R30, a 69th resistor R31, a 70th resistor R23, a 13th capacitor C20, a 14th capacitor C7, a 15th operational amplifier, and a 16th operational amplifier; one end of the 64th resistor R19 is connected to the actual position signal, and the other end of the 64th resistor R19 is connected to the first input terminal of the 15th operational amplifier via the 13th capacitor C20; one end of the 14th capacitor C7 is connected to the first input terminal of the 15th operational amplifier, and the other end of the 14th capacitor C7 is connected to the output terminal of the 15th operational amplifier; one end of the 65th resistor R20 is connected to the output terminal of the 15th operational amplifier. The first input terminal is connected, and the other end of the sixty-fifth resistor R20 is connected to the output terminal of the fifteenth operational amplifier via the sixty-sixth resistor R21. The second input terminal of the fifteenth operational amplifier is grounded, and the output terminal of the fifteenth operational amplifier is connected to the first input terminal of the sixteenth operational amplifier via the sixty-seventh resistor R22. The output terminal of the fifteenth operational amplifier is grounded sequentially via the sixty-seventh resistor R22, the sixty-eighth resistor R30, the sixty-ninth resistor R31, and the thirtieth resistor R32. One end of the seventieth resistor R23 is connected to the first input terminal of the sixteenth operational amplifier, and the other end is connected to the output terminal of the sixteenth operational amplifier. The second input terminal of the sixteenth operational amplifier is grounded, and the output terminal of the sixteenth operational amplifier outputs a speed compensation signal. It is worth noting that the sixty-sixth resistor R21 is an adjustable resistor, and its resistance value can be adjusted to improve the overall compensation effect. It should be noted that the speed compensation module 30 and the position loop circuit 22 share the thirtieth resistor R32.

[0088] It should be noted that after receiving the actual position signal, the speed compensation module 30 differentiates the actual position signal through the fifteenth operational amplifier to obtain a speed compensation signal that represents the rate of position change, and then amplifies the speed compensation signal through the sixteenth operational amplifier.

[0089] It should be noted that the differential time of the actual position signal can be adjusted by adjusting the resistance value of the sixty-sixth resistor R21.

[0090] The galvanometer motor control circuit 1 uses a dual control structure of position correction module 20 and current correction module 40, and the speed compensation module 30 compensates for the speed based on the actual position of the galvanometer motor. This solution can significantly improve the driving accuracy of the galvanometer motor. Moreover, this solution is implemented with a simple circuit. Compared with the solution that uses a high-specification main control chip to control the galvanometer motor, this solution has a lower cost. In summary, this solution has the advantages of both control accuracy and cost.

[0091] like Figure 15As shown, it is worth noting that the galvanometer motor control circuit 1 also includes a chip acquisition circuit. One end of the chip acquisition circuit is connected to the position sampling circuit 21, and the other end is connected to the control module 10, for feeding back the actual position signal to the control module 10. The chip acquisition circuit includes: a seventy-first resistor R62, a seventy-second resistor R63, a seventy-third resistor R64, a seventy-fourth resistor R65, a seventy-fifth resistor R66, a seventy-sixth resistor R88, a fifteenth capacitor C11, a sixteenth capacitor C12, a seventeenth capacitor C13, and a seventeenth operational amplifier. One end of the seventy-first resistor R62 is connected to the actual position signal, and the other end of the seventy-first resistor R62 is connected to the second input terminal of the seventeenth operational amplifier. The other end of the seventy-first resistor R62 is connected to an external power supply via the seventy-second resistor R63, and the other end of the seventy-first resistor R62 is grounded via the seventy-third resistor R64. One end of the fifteenth capacitor C11 is connected to the... The second input terminal of the seventeenth operational amplifier is connected, and the other end of the fifteenth capacitor C11 is connected to the second enable terminal of the seventeenth operational amplifier and grounded; one end of the seventy-fourth resistor R65 is grounded, and the other end of the seventy-fourth resistor R65 is connected to the first input terminal of the seventeenth operational amplifier; one end of the seventy-fifth resistor R66 is connected to the first input terminal of the seventeenth operational amplifier, and the other end of the seventy-fifth resistor R66 is connected to the output terminal of the seventeenth operational amplifier; one end of the sixteenth capacitor C12 is connected to the first enable terminal of the seventeenth operational amplifier, and the other end of the sixteenth capacitor C12 is connected to the output terminal of the seventeenth operational amplifier; the first enable terminal of the seventeenth operational amplifier is connected to an external power supply, and the output terminal of the seventeenth operational amplifier sends an actual position signal to the control module 10 via the seventy-sixth resistor R88, and the output terminal of the seventeenth operational amplifier is grounded sequentially via the seventy-sixth resistor R88 and the seventeenth capacitor C13.

[0092] It is worth noting that, such as Figure 12 As shown, one embodiment of this application provides a galvanometer motor control method, which is applied to a galvanometer motor. The galvanometer motor control method includes:

[0093] One embodiment of this application provides a galvanometer motor control method, the method being applied to a galvanometer motor, the galvanometer motor control method comprising:

[0094] Step 1201: Based on the preset power-on rules, perform power-on timing management on the galvanometer motor.

[0095] Step 1202: Obtain the initial parameters of the galvanometer motor, including the boundary position and center position of the galvanometer motor.

[0096] Step 1203: Reset the galvanometer motor according to the initial parameters.

[0097] Step 1204: Obtain the target position signal of the galvanometer motor, the actual position signal of the galvanometer motor, and the real-time current signal of the galvanometer motor.

[0098] Step 1205: Obtain the position difference signal of the galvanometer motor based on the target position signal and the actual position signal.

[0099] Step 1206: Obtain the velocity compensation signal based on the actual position signal.

[0100] Step 1207: Obtain a reference current signal based on the position difference signal, the velocity compensation signal, and the target position signal.

[0101] Step 1208: Obtain the error current signal based on the reference current signal and the real-time current signal.

[0102] Step 1209: Obtain the motor drive signal based on the error current signal.

[0103] Step 1210: Drive the galvanometer motor according to the motor drive signal.

[0104] It should be noted that, in actual conditions, the galvanometer motor deflects within a certain angular range (typically ±10°) via its internal shaft. Therefore, the position of the galvanometer motor refers to the position where its shaft deflects at this angle. The target position signal represents the target position that the galvanometer motor shaft is to move to, the actual position signal represents the current position of the galvanometer motor shaft, and the real-time current signal is obtained by sampling the current current of the galvanometer motor through a current sampling module, representing the current magnitude of the galvanometer motor's current.

[0105] The galvanometer motor control method described in this application obtains a reference current signal by processing the target position signal and the actual position signal. Then, the reference current signal and the real-time current signal of the galvanometer motor are processed to drive the galvanometer motor. Compared with the scheme of directly driving the galvanometer motor based on the target position signal, this scheme has higher driving accuracy for the galvanometer motor. Moreover, the steps of this scheme can be implemented with simple circuits. Compared with the scheme of controlling the galvanometer motor with a high-specification main control chip, this scheme has lower cost. In summary, this scheme has the advantages of both control accuracy and cost.

[0106] It should be noted that the boundary position is the extreme position to which the galvanometer motor can deflect, and the center position between the two extreme positions is the default initial position of the galvanometer motor. The reset process involves moving the galvanometer motor to the center position. The position difference signal is obtained by subtracting the target position signal and the actual position signal, and the position difference signal represents the difference between the target position and the actual position of the galvanometer motor. A velocity signal is obtained by differentiating multiple actual position signals over a period of time. The velocity signal is obtained by processing the actual position signals through the circuit to represent the rate of position change, and then amplifying the velocity signal according to a preset rule to obtain a velocity compensation signal for circuit compensation. The reference current signal is obtained by superimposing the position difference signal, the velocity compensation signal, and the target position signal. The difference between the reference current signal and the actual current signal is used to obtain the error current signal. The error current signal represents the difference between the target current and the actual current of the galvanometer motor. The error current signal is integrated according to a preset rule to obtain the motor drive signal, which is used to drive the galvanometer motor.

[0107] The power-on timing management of the galvanometer motor based on preset power-on rules includes:

[0108] S11. Power on the control module and initialize the control module.

[0109] S12. Power on the position correction module, current correction module and drive module.

[0110] S13. Enable the drive module and start the timer.

[0111] S14. Control the position correction module and the current correction module to output 0 or not enable within a preset time. If the position correction module and the current correction module are not enabled, control the position correction module and the current correction module to be enabled after the preset time is reached.

[0112] S15. Obtain the actual position signal of the galvanometer motor, and based on the actual position signal and the target position signal, control the galvanometer motor to reach the target position through the position correction module, the current correction module and the drive module.

[0113] It should be noted that this application provides two solutions. One is a hardware and software combined solution, specifically: powering on the control module 10 and initializing the control module 10; powering on the position correction module 20, current correction module 40, and drive module 50; enabling the drive module 50 and starting the timer; enabling the position correction module 20 and current correction module 40 after the preset time is reached; acquiring the actual position signal of the galvanometer motor; and controlling the galvanometer motor to reach the target position based on the actual position signal and the target position signal through the position correction module 20, current correction module 40, and drive module 50.

[0114] Another solution is a purely software implementation, specifically: powering on the control module 10 and initializing it; powering on the position correction module 20, current correction module 40, and drive module 50; enabling the drive module 50, position correction module 20, and current correction module 40; controlling the position correction module 20 and current correction module 40 to output 0 for a preset time; acquiring the actual position signal of the galvanometer motor; and controlling the galvanometer motor to reach the target position based on the actual position signal and the target position signal, through the position correction module 20, current correction module 40, and drive module 50.

[0115] It should be noted that by controlling the output of the position correction module 20 and the current correction module 40 to be 0 within a preset time or delaying their activation by a preset time, the problem in the prior art where the position correction module 20 and the current correction module 40 saturate their output, causing the drive module 50 to receive abnormal signals, leading to overcurrent triggering of short-circuit protection after the galvanometer motor's oscillation reaches its amplitude, resulting in continuous starting and stopping of the galvanometer motor and repeated oscillations with the edge, is solved. This significantly improves the overall performance and reliability of the galvanometer motor control circuit 1. Furthermore, it reduces energy loss caused by abnormal motor oscillation, reduces mechanical wear caused by repeated oscillations with the edge, and extends the service life of the motor and its transmission components. Simultaneously, the stable operation of the galvanometer motor avoids positioning abnormalities, ensuring accuracy in high-precision control scenarios.

[0116] In this embodiment, the speed compensation signal is mainly used to compensate the loop part of the galvanometer motor circuit. When the position of the galvanometer motor changes abruptly, the speed compensation signal can be used for advance compensation, thereby reducing the occurrence of overshoot and speeding up the system response.

[0117] This embodiment manages the power-on timing of the galvanometer motor, preventing hardware damage or logic errors caused by mismatched power supply voltage rise rates or incorrect power supply sequence, ensuring that each component starts operating under optimal conditions. Resetting the galvanometer motor clears its state or restores it to a known initial state, helping to eliminate potential problems from previous operation and ensuring consistent normal operation and response. This not only improves the stability and reliability of the galvanometer motor but also enhances its compatibility and maintainability, laying a solid foundation for subsequent functional expansion and troubleshooting.

[0118] It is worth noting that this application addresses the problem in existing technologies where there is no module that feeds back to the MCU, and the MCU only issues commands without intervention during the control process, resulting in poor real-time control. This is achieved by monitoring the motor position in real time during operation to ensure the motor does not exceed its limits and by intervening in control when abnormal conditions occur, shutting down the drive output, or fine-tuning the control signal. Furthermore, by controlling the power-on timing with the MCU, this application solves the problem in existing technologies where the integrator circuit is uncontrollable or the timing between the integrator circuit and the power amplifier drive is not managed, leading to saturation before the power amplifier outputs. Finally, by adding a light source control circuit 2111, this application achieves dynamic adjustment of the light source current, solving the problem in existing technologies where the LED power supply for the motor's photoelectric feedback is poorly designed, resulting in poor motor compatibility and the need for self-adjustment.

[0119] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0120] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0121] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A galvanometer motor control circuit, characterized in that, The galvanometer motor control circuit is used to drive the galvanometer motor. The galvanometer motor control circuit includes: a control module, a position correction module, a current correction module, and a drive module. The control module is connected to the position correction module and the current correction module respectively; it is used to acquire the target position signal of the galvanometer motor and transmit the target position signal to the position correction module and the current correction module. The position correction module is connected to the galvanometer motor and the current correction module respectively, and is used to acquire the actual position signal of the galvanometer motor, obtain the position difference signal of the galvanometer motor based on the target position signal and the actual position signal, and transmit the position difference signal to the current correction module. The current correction module is connected to the galvanometer motor and the drive module, and is used to acquire the real-time current signal of the galvanometer motor, obtain a reference current signal based on the position difference signal and the target position signal; and obtain a motor drive signal based on the reference current signal and the real-time current signal; and transmit the motor drive signal to the drive module. The drive module is connected to the galvanometer motor and is used to drive the galvanometer motor according to the motor drive signal.

2. The galvanometer motor control circuit according to claim 1, characterized in that, The galvanometer motor control circuit also includes a speed compensation module, which is connected to both the position correction module and the current correction module. The speed compensation module is used to receive the actual position signal from the position correction module, obtain a speed compensation signal based on the actual position signal, and transmit the speed compensation signal to the current correction module. This allows the current correction module to obtain a reference current signal based on the position difference signal, the velocity compensation signal, and the target position signal.

3. The galvanometer motor control circuit according to claim 2, characterized in that, The position correction module includes: a position sampling circuit and a position loop circuit; The position sampling circuit is connected to the galvanometer motor, the position loop circuit, and the speed compensation module, and is used to acquire the actual position signal of the galvanometer motor and transmit the actual position signal to the position loop circuit and the speed compensation module. The position loop circuit is connected to the current correction module and the control module, and is used to obtain the position difference signal of the galvanometer motor based on the target position signal and the actual position signal; and transmit the position difference signal to the current correction module.

4. The galvanometer motor control circuit according to claim 3, characterized in that, The position loop circuit includes: a 26th resistor, a 27th resistor, a 28th resistor, a 29th resistor, a 30th resistor, a 31st resistor, a 32nd resistor, a 33rd resistor, a 34th resistor, an 8th capacitor, a 9th capacitor, an 8th operational amplifier, a 9th operational amplifier, a 3rd diode, a 4th diode, and a 2nd switching element; one end of the 26th resistor is connected to the actual position signal, and the other end of the 26th resistor is connected to the input terminal of the 3rd diode, the output terminal of the 4th diode, and the first input terminal of the 8th operational amplifier; one end of the 27th resistor is connected to the target position signal, and the other end of the 27th resistor is connected to the input terminal of the 3rd diode, the output terminal of the 4th diode, and the first input terminal of the 8th operational amplifier; the output terminals of the 3rd diode and the input terminals of the 4th diode are both connected to the output terminal of the 8th operational amplifier; one end of the 28th resistor is connected to the first input terminal of the 8th operational amplifier, and the other end of the 28th resistor is connected to the output terminal of the 8th operational amplifier; one end of the 29th resistor is grounded, and the 20th... The other end of resistor 9 is connected to the second input terminal of the eighth operational amplifier; one end of resistor 30 is connected to the output terminal of the eighth operational amplifier, and the other end of resistor 30 is grounded; the output terminal of the eighth operational amplifier is connected to the first input terminal of the ninth operational amplifier via resistors 31 and 32 in sequence; one end of capacitor 8 is connected to the first input terminal of the ninth operational amplifier, and the other end of capacitor 8 is connected to the output terminal of the ninth operational amplifier; the first end of the second switching element is connected to the first input terminal of the ninth operational amplifier, the third end of the second switching element is connected to the output terminal of the ninth operational amplifier, and the second end of the second switching element is connected to the integration control signal via resistor 33; one end of resistor 34 is connected to an external power supply, the other end of resistor 34 is grounded via capacitor 9, and the other end of resistor 34 is connected to the end of resistor 33 away from the second switching element; the second input terminal of the ninth operational amplifier is grounded, and the output terminal of the ninth operational amplifier outputs a position difference signal; The thirty-third resistor, the thirty-fourth resistor, the ninth capacitor, and the second switching element together constitute a position integral switch. The position integral switch is used to receive an integral control signal and change the operating state of the position loop circuit according to the integral control signal.

5. The galvanometer motor control circuit according to claim 3, characterized in that, The current correction module includes: a current sampling circuit and a current loop circuit; The current sampling circuit is connected to the galvanometer motor and the current loop circuit, and is used to acquire the real-time current signal of the galvanometer motor and transmit the real-time current signal to the current loop circuit. The current loop circuit is connected to the control module, the position correction module, the speed compensation module, and the drive module. It is used to obtain a reference current signal based on the position difference signal, the speed compensation signal, and the target position signal; and to obtain a motor drive signal based on the reference current signal and the real-time current signal; and to transmit the motor drive signal to the drive module.

6. The galvanometer motor control circuit according to claim 5, characterized in that, The current loop circuit includes: a 36th resistor, a 37th resistor, a 38th resistor, a 39th resistor, a 40th resistor, a 41st resistor, a 42nd resistor, a 43rd resistor, a 44th resistor, a 45th resistor, a 46th resistor, a 47th resistor, a 48th resistor, a 49th resistor, a 10th capacitor, an 11th capacitor, an 11th operational amplifier, a 12th operational amplifier, a 13th operational amplifier, and a third switching element; one end of the 36th resistor is connected to the target position signal, and the other end of the 36th resistor is connected to the first input terminal of the 11th operational amplifier; one end of the 37th resistor is connected to the first input terminal of the 11th operational amplifier. One end of the 37th resistor is connected to the output terminal of the 11th operational amplifier; the second input terminal of the 11th operational amplifier is grounded, and the output terminal of the 11th operational amplifier is connected to one end of the 41st resistor via the 38th resistor, and the output terminal of the 11th operational amplifier is connected to one end of the 42nd resistor via the 38th resistor; one end of the 39th resistor is connected to a position difference signal, and the other end of the 39th resistor is connected to one end of both the 41st and 42nd resistors; one end of the 40th resistor is connected to a speed compensation signal, and the other end of the 40th resistor is connected to one end of the 41st resistor. One end of the forty-first resistor is connected to the first input terminal of the twelfth operational amplifier; the other end of the forty-second resistor is connected to the second input terminal of the twelfth operational amplifier; one end of the forty-third resistor is connected to the first input terminal of the twelfth operational amplifier, and the other end of the forty-third resistor is connected to the output terminal of the twelfth operational amplifier; the output terminal of the twelfth operational amplifier is connected to the first input terminal of the thirteenth operational amplifier via the forty-fourth resistor; one end of the forty-fifth resistor is connected to a real-time current signal, and the other end of the forty-fifth resistor is connected to the first input terminal of the thirteenth operational amplifier. The input terminals are connected as follows: one end of the tenth capacitor is connected to the first input terminal of the thirteenth operational amplifier, the other end of the tenth capacitor is connected to the output terminal of the thirteenth operational amplifier, and the other end of the tenth capacitor is connected to the first terminal of the third switching element; the third terminal of the third switching element is connected to the first input terminal of the thirteenth operational amplifier, and the second terminal of the third switching element is connected to the integration control signal via the forty-seventh resistor; one end of the forty-sixth resistor is connected to an external power supply, the other end of the forty-sixth resistor is grounded via the eleventh capacitor, and the other end of the forty-sixth resistor is connected to the second terminal of the three switching elements via the forty-seventh resistor;The output terminal of the thirteenth operational amplifier is grounded sequentially through the forty-eighth resistor and the forty-ninth resistor, and the output terminal of the thirteenth operational amplifier outputs the motor drive signal through the forty-eighth resistor; The forty-sixth resistor, the forty-seventh resistor, the eleventh capacitor, and the third switching element together constitute a current integrating switch. The current integrating switch is used to receive an integrating control signal and change the operating state of the current loop circuit according to the integrating control signal.

7. The galvanometer motor control circuit according to claim 3, characterized in that, The position sampling circuit includes: a photoelectric feedback component and a voltage sampling circuit; The photoelectric feedback component is matched with the motor shaft position of the galvanometer motor; it is used to generate a first voltage signal and a second voltage signal based on the motor shaft position of the galvanometer motor. The voltage sampling circuit is connected to the photoelectric feedback component, the position loop circuit, and the speed compensation module. It is used to acquire the first voltage signal and the second voltage signal, generate an actual position signal based on the first voltage signal and the second voltage signal, and transmit the actual position signal to the position loop circuit and the speed compensation module.

8. The galvanometer motor control circuit according to claim 7, characterized in that, The photoelectric feedback component includes: a first silicon photovoltaic cell group, a second silicon photovoltaic cell group, and a light source device; The first silicon photovoltaic cell array is disposed on both sides of the motor shaft in a first direction; the second silicon photovoltaic cell array is disposed on both sides of the motor shaft in a second direction; the light source device is disposed above the center of the first silicon photovoltaic cell array and the second silicon photovoltaic cell array. The first silicon photovoltaic cell array is used to generate a first voltage signal based on the position of the motor shaft of the galvanometer motor; The second silicon photovoltaic cell is used to generate a second voltage signal based on the position of the motor shaft of the galvanometer motor.

9. The galvanometer motor control circuit according to claim 8, characterized in that, The photoelectric feedback component further includes a light source control circuit, which is connected to the first silicon photovoltaic cell group, the second silicon photovoltaic cell group, and the light source device, and is used to control the brightness of the light source device based on the first voltage signal and the second voltage signal.

10. The galvanometer motor control circuit according to claim 9, characterized in that, The light source control circuit includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor, a first switching element, and a first operational amplifier; One end of the first resistor is connected to the first voltage signal, and the other end is connected to the first input terminal of the first operational amplifier. One end of the second resistor is connected to the second voltage signal, and the other end is connected to the first input terminal of the first operational amplifier; One end of the third resistor is connected to a reference voltage, and the other end is connected to the first input terminal of the first operational amplifier. One end of the fourth resistor is grounded, and the other end is connected to the second input terminal of the first operational amplifier. One end of the first capacitor is connected to the second input terminal of the first operational amplifier, and the other end is connected to the output terminal of the first operational amplifier. The output terminal of the first operational amplifier is connected to the first terminal of the first switching element; The second terminal of the first switching element is connected to an external power supply, and the third terminal of the first switching element is grounded through the second capacitor; The first end of the fifth resistor is connected to the output terminal of the first operational amplifier, and the second end of the fifth resistor is connected to the light source device through the sixth resistor; the second end of the fifth resistor is connected to the third end of the first switching element.

11. The galvanometer motor control circuit according to claim 5, characterized in that, The galvanometer motor control circuit also includes: a buffer circuit; The input terminal of the buffer circuit is connected to the control module, and the output terminal of the buffer circuit is connected to the position loop circuit and the current loop circuit; it is used to acquire the target position signal, process the target position signal, and transmit the processed target position signal to the position loop circuit and the current loop circuit.

12. The galvanometer motor control circuit according to claim 1, characterized in that, The galvanometer motor control circuit also includes: an enable circuit; The enabling circuit is connected to the control module, the position correction module, the current correction module, and the drive module; it is used to control the operating state of the position correction module and the current correction module according to the integral enable signal transmitted by the control module, and to control the operating state of the drive module according to the power amplifier enable signal transmitted by the control module.

13. The galvanometer motor control circuit according to claim 12, characterized in that, The enabling circuit includes an integral control circuit and a power amplifier control circuit; The integral control circuit is connected to the control module, the position correction module, and the current correction module, and is used to receive the integral enable signal and control the working state of the position correction module and the current correction module according to the integral enable signal. The power amplifier control circuit is connected to the control module and the drive module, and is used to receive the power amplifier enable signal and control the working state of the drive module according to the power amplifier enable signal.

14. The galvanometer motor control circuit according to claim 13, characterized in that, The integral control circuit includes: a 50th resistor, a 51st resistor, a 52nd resistor, a 53rd resistor, a fourth switching element, and a first optocoupler; one end of the 50th resistor is connected to an integral enable signal, the other end of the 50th resistor is connected to the first end of the fourth switching element, and the other end of the 50th resistor is grounded via the 51st resistor; the second end of the fourth switching element is connected to the fourth end of the first optocoupler, and the second end of the fourth switching element is connected to an external power supply sequentially via the 53rd resistor and the 52nd resistor, and the third end of the fourth switching element is grounded; the first end of the first optocoupler is connected to an external power supply via the 52nd resistor, the second end of the first optocoupler outputs an integral control signal, and the third end of the first optocoupler is grounded.

15. The galvanometer motor control circuit according to claim 13, characterized in that, The power amplifier control circuit includes: a 54th resistor, a 55th resistor, a 56th resistor, a 57th resistor, a 58th resistor, a 59th resistor, a 60th resistor, a fifth switching element, a second optocoupler, a 12th capacitor, and a fifth diode; one end of the 54th resistor is connected to the power amplifier enable signal, and the other end of the 54th resistor is connected to the first end of the fifth switching element, and the other end of the 54th resistor is grounded via the 55th resistor; the second end of the fifth switching element is connected to the fourth end of the second optocoupler, and the second end of the fifth switching element is connected to an external power supply sequentially via the 57th resistor and the 56th resistor. The third terminal of the fifth switching element is grounded; the first terminal of the second optocoupler is connected to an external power supply via the fifty-sixth resistor, the second terminal of the second optocoupler outputs a power amplifier control signal via the sixtieth resistor, and the third terminal of the second optocoupler is grounded; one end of the fifty-eighth resistor is connected to the second terminal of the second optocoupler, and the other end of the fifty-eighth resistor is grounded; one end of the twelfth capacitor is connected to the second terminal of the second optocoupler, and the other end of the twelfth capacitor is grounded; the input terminal of the fifth diode is grounded, and the output terminal of the fifth diode is connected to an external power supply sequentially via the sixtieth resistor and the fifty-ninth resistor.

16. The galvanometer motor control circuit according to claim 7, characterized in that, The galvanometer motor control circuit further includes: a position processing module; The input terminal of the position processing module is connected to the voltage sampling circuit, and the output terminal of the position processing module is connected to the speed compensation module and the position loop circuit. It is used to receive the actual position signal, perform position processing on the actual position signal, and send the position-processed actual position signal to the speed compensation module and the position loop circuit. The position processing includes: inverting and amplifying the actual position signal.

17. The galvanometer motor control circuit according to claim 16, characterized in that, The position processing module includes: a sixty-first resistor, a sixty-second resistor, a sixty-third resistor, and a fourteenth operational amplifier; one end of the sixty-first resistor is connected to the actual position signal, and the other end of the sixty-first resistor is connected to the first input terminal of the fourteenth operational amplifier; one end of the sixty-second resistor is grounded, and the other end of the sixty-second resistor is connected to the second input terminal of the fourteenth operational amplifier; one end of the sixty-third resistor is connected to the first input terminal of the fourteenth operational amplifier, and the other end of the sixty-third resistor is connected to the output terminal of the fourteenth operational amplifier; the output terminal of the fourteenth operational amplifier outputs the actual position signal after position processing.

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