An open loop and closed loop hybrid voice coil motor control system and method

Abstract

This invention discloses a voice coil motor control system and method that integrates open-loop and closed-loop control. The system includes a voice coil motor, a laser source, a Michelson interferometer, a laser signal conditioning circuit, a dynamic hysteresis comparison circuit, a peak detection circuit, an ADC sampling and conversion circuit, a control processing module, and a drive circuit. The interference signal generated by the Michelson interferometer is conditioned, shaped, and its peak value is acquired before being sent to the control module. The module automatically switches between open-loop and closed-loop control modes based on the comparison result between the signal peak value and the threshold. The closed-loop mode uses an incremental PID algorithm to calculate the control voltage. The beneficial effects of this invention are: by combining the two control methods complementarily, it solves the problem of easy runaway in traditional single closed-loop control, effectively improves the operational stability and reliability of the voice coil motor control system, enhances the adaptability to operating conditions, and ensures the long-term stable operation of precision equipment.

Description

Technical Field

[0001] This invention relates to the field of voice coil motor control technology, and more specifically to a voice coil motor control system and method that integrates open-loop and closed-loop control. Background Technology

[0002] Voice coil motors are a type of special direct-drive motor. Their working principle involves placing a current-carrying coil in a magnetic field, which generates an electromagnetic force. The magnitude of this force is directly proportional to the current flowing through the coil. Currently, the reliability requirements for voice coil motors are continuously increasing in the field of precision instruments.

[0003] At present, the industry generally adopts single closed-loop control to achieve high-precision control, but this solution has obvious shortcomings: when the motor is disturbed by external factors, it is easy to run out of control, which can lead to the failure of the entire system and threaten the safety of equipment operation. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and provides a voice coil motor control system and method that integrates open-loop and closed-loop operation.

[0005] A voice coil motor control system that integrates open-loop and closed-loop operation includes a voice coil motor, a laser light source, a Michelson interferometer, a laser signal conditioning circuit, a dynamic hysteresis comparison circuit, a peak detection circuit, an ADC sampling and conversion circuit, a control processing module, and a voice coil motor drive circuit. The voice coil motor is mechanically connected to the moving mirror of the Michelson interferometer and is used to drive the moving mirror of the Michelson interferometer to reciprocate. The laser source is optically connected to the Michelson interferometer to generate monochromatic laser light, which serves as a reference signal for the voice coil motor and the moving mirror of the Michelson interferometer. Driven by a voice coil motor, the Michelson interferometer generates a laser interference signal using a monochromatic laser source. The output of the laser interference signal is optically connected to the input of the laser signal conditioning circuit. The laser signal conditioning circuit is used to acquire laser interference signals. The laser signal conditioning circuit converts the laser interference signals into sinusoidal AC interference electrical signals and performs filtering and amplification processing. The input terminal of the dynamic hysteresis comparator circuit is electrically connected to the output terminal of the laser signal conditioning circuit, and the output terminal of the dynamic hysteresis comparator circuit is connected to the frequency sampling input terminal of the control processing module; the dynamic hysteresis comparator circuit is used to convert the sinusoidal laser interference signal transmitted by the laser signal conditioning circuit into a square wave signal of the same frequency; The input terminal of the peak detection circuit is electrically connected to the output terminal of the laser signal conditioning circuit. The peak detection circuit is used to synchronously acquire the peak value of the sinusoidal AC interference signal. The input terminal of the ADC sampling and conversion circuit is electrically connected to the output terminal of the peak detection circuit. The ADC sampling and conversion circuit acquires the analog signal representing the peak value of the sinusoidal AC interference signal transmitted by the peak detection circuit in real time, and converts the analog signal into a digital signal and outputs it to the control processing module. The input terminal of the control processing module is electrically connected to the output terminals of the dynamic hysteresis comparator circuit and the ADC sampling conversion circuit, respectively. The output terminal of the control processing module is electrically connected to the voice coil motor drive circuit. The control processing module receives the square wave signal output by the dynamic hysteresis comparator circuit and the digital signal transmitted by the ADC sampling conversion circuit. It selects the control mode according to the square wave signal and the digital signal, and calculates the driving voltage at both ends of the voice coil motor at the next moment. It then issues control commands to the voice coil motor drive circuit. The voice coil motor drive circuit receives instructions from the control processing module and outputs voltage to drive the voice coil motor to run.

[0006] The laser signal conditioning circuit includes: a laser signal photoelectric sensor, an IV conversion circuit, a high-pass filter circuit, and a signal amplification circuit; the laser signal photoelectric sensor, IV conversion circuit, high-pass filter circuit, and signal amplification circuit are connected in series; the output of the signal amplification circuit is electrically connected to the dynamic hysteresis comparison circuit and the peak detection circuit, respectively.

[0007] The dynamic hysteresis comparator circuit does not change the zero-crossing position of the signal during the conversion of the square wave signal, ensuring that an accurate signal source is provided for subsequent sampling.

[0008] The dynamic hysteresis comparator circuit includes: operational amplifier U1, DC blocking capacitor C1, input resistor R2, inverting input bias resistor R1, non-inverting input bias resistor R3, non-inverting input coupling capacitor C4, positive feedback resistor R4, first power supply decoupling capacitor C2, and second power supply decoupling capacitor C3. The positive terminal of the operational amplifier U1 is connected to the +5VA power supply, the negative terminal of the operational amplifier U1 is connected to the -5VA power supply, and the ground terminal of the operational amplifier U1 is connected to the analog ground AGND. A first power supply decoupling capacitor C2 is provided between the +5VA power supply and AGND, and a second power supply decoupling capacitor C3 is provided between the -5VA power supply and the analog ground AGND. The input signal terminal SIG A of operational amplifier U1 is connected to one end of the input resistor R2 through the DC blocking capacitor C1, and the other end of the input resistor R2 is connected to the inverting input terminal of operational amplifier U1; the inverting input terminal of operational amplifier U1 is connected to analog ground AGND through the inverting input bias resistor R1. The non-inverting input of operational amplifier U1 is connected to analog ground AGND through non-inverting bias resistor R3; the non-inverting input of operational amplifier U1 is connected to one end of capacitor C4, the other end of capacitor C4 is connected to one end of positive feedback resistor R4, and the other end of positive feedback resistor R4 is connected to the output of operational amplifier U1, forming an AC positive feedback loop. The output terminal of operational amplifier U1 is used as the circuit output terminal Out.

[0009] The peak detection circuit includes: operational amplifier U1A, operational amplifier U1D, input diode D1A, feedback diode D1B, feedback resistor R1, feedback capacitor C1, peak holding capacitor C2, high-impedance discharge resistor R4, and current limiting resistor R5. The input signal terminal Sig_IN is connected to the non-inverting input terminal of operational amplifier U1A; a feedback resistor R1, a feedback capacitor C1, and a feedback diode D1B are connected in parallel between the inverting input terminal and the output terminal of operational amplifier U1A. The output terminal of operational amplifier U1A is connected to the anode of input diode D1A; The cathode of the input diode D1A, one end of the high-impedance discharge resistor R4, one end of the current-limiting resistor R5, and the non-inverting input terminal of the operational amplifier U1D are connected to each other. The other end of the current-limiting resistor R5 is connected to the end of the peak holding capacitor C2; The other end of the peak holding capacitor C2 is connected to the end of the high-impedance discharge resistor R4, and together they are connected to analog ground AGND; The output terminal of operational amplifier U1D is used as the circuit output terminal Sig_out. The output terminal of operational amplifier U1D is connected to the inverting input terminal of operational amplifier U1D to form a voltage follower.

[0010] A voice coil motor control method that combines open-loop and closed-loop control, comprising the following steps: S1. After the system is powered on and initialized, the control processing module presets the target laser interference frequency and compares it with the ADC threshold voltage. The control processing module outputs an initialization command to the voice coil motor drive circuit, which outputs an initialization voltage to drive the voice coil motor to run. The voice coil motor drives the moving mirror of the Michelson interferometer to reciprocate slightly. The laser source outputs monochromatic laser to the Michelson interferometer, and the Michelson interferometer generates a laser interference signal by combining the displacement of the moving mirror. S2. The laser interference signal output from the Michelson interferometer is input to the laser signal conditioning circuit, which sequentially completes photoelectric conversion, IV conversion, filtering, and signal amplification, and finally outputs a sinusoidal AC interference signal. The sinusoidal AC interference signal output from the S3 laser signal conditioning circuit is input to the dynamic hysteresis comparison circuit and the peak detection circuit, respectively. The dynamic hysteresis comparison circuit converts the sinusoidal AC interference signal into a square wave signal of the same frequency. The peak detection circuit extracts the peak analog voltage of the current sinusoidal AC interference signal. The peak analog voltage is converted into a digital signal by the ADC sampling and conversion circuit and then sent to the control processing module. S4. The control processing module calculates the real-time interference frequency based on the square wave signal, compares the interference frequency with the preset target frequency to obtain the frequency deviation; the control processing module reads the digital signal output by the ADC sampling conversion circuit to obtain the peak voltage of the interference signal, and compares the peak voltage of the interference signal with the preset ADC comparison threshold voltage. When the peak value of the interference signal is less than the ADC comparison threshold voltage, the system selects the open-loop control mode and outputs the voltage increment according to the fixed increment parameter. When the peak value of the interference signal is greater than the ADC comparison threshold voltage, the system selects the closed-loop control mode and calculates the control voltage increment ΔV based on the obtained frequency deviation using the PID control algorithm.

[0011] The specific steps for calculating the interference frequency in S4 include: the control processing module configuring the internal counter through the MCU. The control processing module enables the rising edge interrupt of the square wave signal input pin; it sequentially records the counter values ​​when two adjacent rising edge interrupts are triggered, calculates the value difference, and obtains the count value corresponding to a single cycle of the square wave; based on the inherent clock frequency of the counter, it calculates the real-time frequency of the current square wave signal.

[0012] The specific algorithm formula for controlling the voltage increment ΔV is as follows:

[0013] in, e(k) represents the incremental voltage value; e(k) represents the velocity deviation at the kth iteration. This represents the velocity deviation at the (k-1)th iteration. This represents the velocity deviation for the (k-2)th iteration. For PID proportional parameters; These are PID integral parameters; These are the PID differential parameters.

[0014] In S4, the open-loop voltage increment is less than the maximum allowable drive voltage of the voice coil motor. Control voltage at the previous moment The difference.

[0015] The beneficial effects of this invention are as follows: Existing technologies mostly adopt a single closed-loop control method, which has poor adaptability to operating conditions. This invention integrates open-loop control function on the basis of closed-loop control, and the two control modes can be switched on demand and complement each other, which greatly improves the operational stability and reliability of the voice coil motor control system and eliminates the problem of motor runaway from the control logic level. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the working principle of a voice coil motor control system that combines open-loop and closed-loop operation. Figure 2 A logic flowchart illustrating the usage of a voice coil motor control system that integrates open-loop and closed-loop operation; Figure 3 This is a circuit diagram of the dynamic hysteresis comparator circuit in this embodiment; Figure 4 This is a waveform comparison diagram from this embodiment; Figure 5 This is the circuit diagram of the peak detection circuit. Detailed Implementation

[0017] Example like Figure 1 and Figure 2 As shown, a voice coil motor control system integrating open-loop and closed-loop circuits includes a voice coil motor, a laser light source, a Michelson interferometer, a laser signal conditioning circuit, a dynamic hysteresis comparison circuit, a peak detection circuit, an ADC sampling and conversion circuit, a control processing module, and a voice coil motor drive circuit. The voice coil motor is mechanically connected to the moving mirror of the Michelson interferometer and is used to drive the moving mirror of the Michelson interferometer to reciprocate. The laser source is optically connected to the Michelson interferometer to generate monochromatic laser light, which serves as a reference signal for the voice coil motor and the moving mirror of the Michelson interferometer. Driven by a voice coil motor, the Michelson interferometer generates a laser interference signal using a monochromatic laser source. The output of the laser interference signal is optically connected to the input of the laser signal conditioning circuit. The laser signal conditioning circuit is used to acquire laser interference signals. The laser signal conditioning circuit converts the laser interference signals into sinusoidal AC interference signals and performs filtering and amplification processing. The laser signal conditioning circuit includes: a laser signal photoelectric sensor, an IV conversion circuit, a high-pass filter circuit, and a signal amplification circuit. The laser signal photoelectric sensor, IV conversion circuit, high-pass filter circuit, and signal amplification circuit are arranged in series. The output terminal of the signal amplification circuit is electrically connected to the dynamic hysteresis comparison circuit and the peak detection circuit, respectively.

[0018] The input terminal of the dynamic hysteresis comparator circuit is electrically connected to the output terminal of the laser signal conditioning circuit, and the output terminal of the dynamic hysteresis comparator circuit is connected to the frequency sampling input terminal of the control processing module; the dynamic hysteresis comparator circuit is used to convert the sinusoidal laser interference signal transmitted by the laser signal conditioning circuit into a square wave signal of the same frequency; The input terminal of the peak detection circuit is electrically connected to the output terminal of the laser signal conditioning circuit. The peak detection circuit is used to synchronously acquire the peak value of the sinusoidal AC interference signal. The input terminal of the ADC sampling and conversion circuit is electrically connected to the output terminal of the peak detection circuit. The ADC sampling and conversion circuit acquires the analog signal representing the peak value of the sinusoidal AC interference signal transmitted by the peak detection circuit in real time, and converts the analog signal into a digital signal and outputs it to the control processing module. The input terminal of the control processing module is electrically connected to the output terminals of the dynamic hysteresis comparator circuit and the ADC sampling conversion circuit, respectively. The output terminal of the control processing module is electrically connected to the voice coil motor drive circuit. The control processing module receives the square wave signal output by the dynamic hysteresis comparator circuit and the digital signal transmitted by the ADC sampling conversion circuit. It selects the control mode according to the square wave signal and the digital signal, and calculates the driving voltage at both ends of the voice coil motor at the next moment. It then issues control commands to the voice coil motor drive circuit. The voice coil motor drive circuit receives instructions from the control processing module and outputs voltage to drive the voice coil motor to run.

[0019] A voice coil motor control method that combines open-loop and closed-loop control, comprising the following steps: S1. After the system is powered on and initialized, the control processing module presets the target laser interference frequency and compares it with the ADC threshold voltage. The control processing module outputs an initialization command to the voice coil motor drive circuit, which outputs an initialization voltage to drive the voice coil motor to run. The voice coil motor drives the moving mirror of the Michelson interferometer to reciprocate slightly. The laser source outputs monochromatic laser to the Michelson interferometer, and the Michelson interferometer generates a laser interference signal by combining the displacement of the moving mirror. S2. The laser interference signal output from the Michelson interferometer is input to the laser signal conditioning circuit, which sequentially completes photoelectric conversion, IV conversion, filtering, and signal amplification, and finally outputs a sinusoidal AC interference signal. The sinusoidal AC interference signal output from the S3 laser signal conditioning circuit is input to the dynamic hysteresis comparator circuit and the peak detection circuit, respectively. The dynamic hysteresis comparator circuit converts the sinusoidal AC interference signal into a square wave signal of the same frequency. The dynamic hysteresis comparator circuit does not change the zero-crossing position of the signal during the conversion of the square wave signal, ensuring that an accurate signal source is provided for subsequent sampling.

[0020] The peak detection circuit extracts the peak analog voltage of the current sinusoidal AC interference signal; the peak analog voltage is converted into a digital signal by the ADC sampling and conversion circuit and then sent to the control processing module. S4. The control processing module calculates the real-time interference frequency based on the square wave signal, compares the interference frequency with the preset target frequency to obtain the frequency deviation; the control processing module reads the digital signal output by the ADC sampling conversion circuit to obtain the peak voltage of the interference signal, and compares the peak voltage of the interference signal with the preset ADC comparison threshold voltage. When the peak value of the interference signal is less than the ADC comparison threshold voltage, the system selects the open-loop control mode and outputs the voltage increment according to the fixed increment parameter. When the peak value of the interference signal is greater than the ADC comparison threshold voltage, the system selects the closed-loop control mode and calculates the control voltage increment ΔV based on the obtained frequency deviation using the PID control algorithm.

[0021] The specific steps for calculating the interference frequency in S4 include: the control processing module configuring the internal counter through the MCU. The control processing module enables the rising edge interrupt of the square wave signal input pin; it sequentially records the counter values ​​when two adjacent rising edge interrupts are triggered, calculates the value difference, and obtains the count value corresponding to a single cycle of the square wave; based on the inherent clock frequency of the counter, it calculates the real-time frequency of the current square wave signal.

[0022] The specific algorithm formula for controlling the voltage increment ΔV is as follows:

[0023] in, e(k) represents the incremental voltage value; e(k) represents the velocity deviation at the kth iteration. This represents the velocity deviation at the (k-1)th iteration. This represents the velocity deviation for the (k-2)th iteration. For PID proportional parameters; These are PID integral parameters; These are the PID differential parameters.

[0024] In S4, the open-loop voltage increment is less than the maximum allowable drive voltage of the voice coil motor. Control voltage at the previous moment The difference.

[0025] Furthermore, such as Figure 3 As shown.

[0026] The dynamic hysteresis comparator circuit includes: operational amplifier U1, DC blocking capacitor C1, input resistor R2, inverting input bias resistor R1, non-inverting input bias resistor R3, non-inverting input coupling capacitor C4, positive feedback resistor R4, first power supply decoupling capacitor C2, and second power supply decoupling capacitor C3. The positive terminal of the operational amplifier U1 is connected to the +5VA power supply, the negative terminal of the operational amplifier U1 is connected to the -5VA power supply, and the ground terminal of the operational amplifier U1 is connected to the analog ground AGND. A first power supply decoupling capacitor C2 is provided between the +5VA power supply and AGND, and a second power supply decoupling capacitor C3 is provided between the -5VA power supply and the analog ground AGND. The input signal terminal SIG A of operational amplifier U1 is connected to one end of the input resistor R2 through the DC blocking capacitor C1, and the other end of the input resistor R2 is connected to the inverting input terminal of operational amplifier U1; the inverting input terminal of operational amplifier U1 is connected to analog ground AGND through the inverting input bias resistor R1. The non-inverting input terminal of operational amplifier U1 is connected to analog ground AGND through non-inverting bias resistor R3; the non-inverting input terminal of operational amplifier U1 is connected to one end of non-inverting coupling capacitor C4, the other end of non-inverting coupling capacitor C4 is connected to one end of positive feedback resistor R4, and the other end of positive feedback resistor R4 is connected to the output terminal of operational amplifier U1, forming an AC positive feedback loop. The output terminal of operational amplifier U1 is used as the circuit output terminal Out.

[0027] In this embodiment, the DC blocking capacitor C1, the inverting input bias resistor R1, and the input resistor R2 form a passive high-pass filter circuit to filter out the DC component in the laser interference signal. This circuit uses an OPA699 high-speed operational amplifier with a bandwidth greater than 100MHz. The potential at pin 5 of the operational amplifier determines the amplitude of the low-level output of the comparator circuit; when this pin is grounded, the low-level output is clamped to 0V.

[0028] The circuit works as follows: When the instantaneous value of the input interference signal is less than 0, the potential at the inverting input terminal of operational amplifier U1 is higher than the potential at the non-inverting input terminal, and pin 7 of operational amplifier U1 outputs a high level of 5V.

[0029] The voltage across the coupling capacitor C4 at the non-inverting input cannot change abruptly, and it is equivalent to a short circuit at the moment of power-on. The loop current is 5V / (R3+R4), and the potential at the non-inverting input of the operational amplifier U1 is clamped to 5V×R3 / (R3+R4).

[0030] The power supply continues to charge the non-inverting input coupling capacitor C4, and the loop current gradually decreases until it reaches zero. During the capacitor charging time, the potential at the non-inverting input of operational amplifier U1 remains above 0V, causing a hysteresis effect in the circuit; this characteristic can effectively suppress signal noise and prevent the comparator from flipping incorrectly.

[0031] When the non-inverting coupling capacitor C4 is fully charged and the loop current drops to zero, the potential at the non-inverting input of the operational amplifier U1 returns to 0V, and the comparison threshold returns to 0V accordingly.

[0032] Furthermore, to balance noise suppression with normal signal shaping and to avoid hysteresis affecting waveform flipping, the circuit parameters must meet the following constraints: interference signal frequency. .

[0033] Figure 4 The waveforms before and after passing through the dynamic hysteresis comparator circuit are compared. The zero-crossing position of the square wave output after comparison does not change.

[0034] Furthermore, such as Figure 5 As shown, the peak detection circuit in this embodiment adopts a positive peak detection circuit.

[0035] The peak detection circuit includes: operational amplifier U1A, operational amplifier U1D, input diode D1A, feedback diode D1B, feedback resistor R1, feedback capacitor C1, peak holding capacitor C2, high-impedance discharge resistor R4, and current limiting resistor R5. The input signal terminal Sig_IN is connected to the non-inverting input terminal of operational amplifier U1A; a feedback resistor R1, a feedback capacitor C1, and a feedback diode D1B are connected in parallel between the inverting input terminal and the output terminal of operational amplifier U1A. The output terminal of operational amplifier U1A is connected to the anode of input diode D1A; The cathode of the input diode D1A, one end of the high-impedance discharge resistor R4, one end of the current-limiting resistor R5, and the non-inverting input terminal of the operational amplifier U1D are connected to each other. The other end of the current-limiting resistor R5 is connected to the end of the peak holding capacitor C2; The other end of the peak holding capacitor C2 is connected to the end of the high-impedance discharge resistor R4, and together they are connected to analog ground AGND; The output terminal of operational amplifier U1D is used as the circuit output terminal Sig_out. The output terminal of operational amplifier U1D is connected to the inverting input terminal of operational amplifier U1D to form a voltage follower.

[0036] The input signal Sig_IN is connected to the non-inverting input of the operational amplifier U1A. The output of the operational amplifier U1A charges the peak holding capacitor C2 through the input diode D1A. When the signal rises, the voltage of the peak holding capacitor C2 rises with the positive peak value of the input. When the signal falls, the input diode D1A is reverse biased and cut off, and the peak holding capacitor C2 discharges slowly through the high-impedance bleeder resistor R4, keeping the voltage near the peak value.

[0037] A feedback resistor R1, a feedback capacitor C1, and a feedback diode D1B are connected in parallel between the inverting input and the output of operational amplifier U1A to compensate for the diode voltage drop and prevent oscillation.

[0038] The current-limiting resistor R5 is used to limit the charging and discharging current of the peak holding capacitor C2 to avoid overshoot; the operational amplifier U1D forms a voltage follower, which reads the peak voltage on the peak holding capacitor C2 and outputs Sig_out based on the high input impedance, so as to achieve low-loss holding and buffered output of the peak signal.

[0039] Preferably, operational amplifiers U1A and U1D are dual operational amplifiers of model TL074IDR, wherein operational amplifier U1A constitutes an active peak drive stage and operational amplifier U1D constitutes a high-impedance buffer output stage.

[0040] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A voice coil motor control system integrating open-loop and closed-loop operation, characterized in that: It includes a voice coil motor, a laser source, a Michelson interferometer, a laser signal conditioning circuit, a dynamic hysteresis comparison circuit, a peak detection circuit, an ADC sampling and conversion circuit, a control processing module, and a voice coil motor drive circuit; The voice coil motor is mechanically connected to the moving mirror of the Michelson interferometer and is used to drive the moving mirror of the Michelson interferometer to reciprocate. The laser source is optically connected to the Michelson interferometer to generate monochromatic laser light, which serves as a reference signal for the voice coil motor and the moving mirror of the Michelson interferometer. Driven by a voice coil motor, the Michelson interferometer generates a laser interference signal using a monochromatic laser source. The output of the laser interference signal is optically connected to the input of the laser signal conditioning circuit. The laser signal conditioning circuit is used to acquire laser interference signals. The laser signal conditioning circuit converts the laser interference signals into sinusoidal AC interference electrical signals and performs filtering and amplification processing. The input terminal of the dynamic hysteresis comparator circuit is electrically connected to the output terminal of the laser signal conditioning circuit, and the output terminal of the dynamic hysteresis comparator circuit is connected to the frequency sampling input terminal of the control processing module; the dynamic hysteresis comparator circuit is used to convert the sinusoidal laser interference signal transmitted by the laser signal conditioning circuit into a square wave signal of the same frequency; The input terminal of the peak detection circuit is electrically connected to the output terminal of the laser signal conditioning circuit. The peak detection circuit is used to synchronously acquire the peak value of the sinusoidal AC interference signal. The input terminal of the ADC sampling and conversion circuit is electrically connected to the output terminal of the peak detection circuit. The ADC sampling and conversion circuit acquires the analog signal representing the peak value of the sinusoidal AC interference signal transmitted by the peak detection circuit in real time, and converts the analog signal into a digital signal and outputs it to the control processing module. The input terminal of the control processing module is electrically connected to the output terminals of the dynamic hysteresis comparator circuit and the ADC sampling conversion circuit, respectively. The output terminal of the control processing module is electrically connected to the voice coil motor drive circuit. The control processing module receives the square wave signal output by the dynamic hysteresis comparator circuit and the digital signal transmitted by the ADC sampling conversion circuit. It selects the control mode according to the square wave signal and the digital signal, and calculates the driving voltage at both ends of the voice coil motor at the next moment. It then issues control commands to the voice coil motor drive circuit. The voice coil motor drive circuit receives instructions from the control processing module and outputs voltage to drive the voice coil motor to run.

2. The voice coil motor control system integrating open-loop and closed-loop operation according to claim 1, characterized in that, The laser signal conditioning circuit includes: a laser signal photoelectric sensor, an IV conversion circuit, a high-pass filter circuit, and a signal amplification circuit; the laser signal photoelectric sensor, IV conversion circuit, high-pass filter circuit, and signal amplification circuit are connected in series; the output of the signal amplification circuit is electrically connected to the dynamic hysteresis comparison circuit and the peak detection circuit, respectively.

3. The voice coil motor control system integrating open-loop and closed-loop operation according to claim 1, characterized in that: The dynamic hysteresis comparator circuit does not change the zero-crossing position of the signal during the conversion of square wave signals.

4. The voice coil motor control system integrating open-loop and closed-loop operation according to claim 1, characterized in that, The dynamic hysteresis comparator circuit includes: operational amplifier U1, DC blocking capacitor C1, input resistor R2, inverting input bias resistor R1, non-inverting input bias resistor R3, non-inverting input coupling capacitor C4, positive feedback resistor R4, first power supply decoupling capacitor C2, and second power supply decoupling capacitor C3. The positive terminal of the operational amplifier U1 is connected to the +5VA power supply, the negative terminal of the operational amplifier U1 is connected to the -5VA power supply, and the ground terminal of the operational amplifier U1 is connected to the analog ground AGND. A first power supply decoupling capacitor C2 is provided between the +5VA power supply and AGND, and a second power supply decoupling capacitor C3 is provided between the -5VA power supply and the analog ground AGND. The input signal terminal SIG A of operational amplifier U1 is connected to one end of the input resistor R2 through the DC blocking capacitor C1, and the other end of the input resistor R2 is connected to the inverting input terminal of operational amplifier U1; the inverting input terminal of operational amplifier U1 is connected to analog ground AGND through the inverting input bias resistor R1. The non-inverting input terminal of operational amplifier U1 is connected to analog ground AGND through non-inverting bias resistor R3; the non-inverting input terminal of operational amplifier U1 is connected to one end of non-inverting coupling capacitor C4, the other end of non-inverting coupling capacitor C4 is connected to one end of positive feedback resistor R4, and the other end of positive feedback resistor R4 is connected to the output terminal of operational amplifier U1, forming an AC positive feedback loop. The output terminal of operational amplifier U1 is used as the circuit output terminal Out.

5. The voice coil motor control system integrating open-loop and closed-loop operation according to claim 1, characterized in that, The peak detection circuit includes: operational amplifier U1A, operational amplifier U1D, input diode D1A, feedback diode D1B, feedback resistor R1, feedback capacitor C1, peak holding capacitor C2, high-impedance discharge resistor R4, and current limiting resistor R5. The input signal terminal Sig_IN is connected to the non-inverting input terminal of operational amplifier U1A; a feedback resistor R1, a feedback capacitor C1, and a feedback diode D1B are connected in parallel between the inverting input terminal and the output terminal of operational amplifier U1A. The output terminal of operational amplifier U1A is connected to the anode of input diode D1A; The cathode of the input diode D1A, one end of the high-impedance discharge resistor R4, one end of the current-limiting resistor R5, and the non-inverting input terminal of the operational amplifier U1D are connected to each other. The other end of the current-limiting resistor R5 is connected to the end of the peak holding capacitor C2; The other end of the peak holding capacitor C2 is connected to the end of the high-impedance discharge resistor R4, and together they are connected to analog ground AGND; The output terminal of operational amplifier U1D is used as the circuit output terminal Sig_out. The output terminal of operational amplifier U1D is connected to the inverting input terminal of operational amplifier U1D to form a voltage follower.

6. A voice coil motor control method integrating open-loop and closed-loop circuitry, used to control a voice coil motor control system integrating open-loop and closed-loop circuitry, characterized in that, The specific steps include: S1. After the system is powered on and initialized, the control processing module presets the target laser interference frequency and compares it with the ADC threshold voltage. The control processing module outputs an initialization command to the voice coil motor drive circuit, which outputs an initialization voltage to drive the voice coil motor to run. The voice coil motor drives the moving mirror of the Michelson interferometer to reciprocate slightly. The laser source outputs monochromatic laser to the Michelson interferometer, and the Michelson interferometer generates a laser interference signal by combining the displacement of the moving mirror. S2. The laser interference signal output from the Michelson interferometer is input to the laser signal conditioning circuit, which sequentially completes photoelectric conversion, IV conversion, filtering, and signal amplification, and finally outputs a sinusoidal AC interference signal. The sinusoidal AC interference signal output from the S3 laser signal conditioning circuit is input to the dynamic hysteresis comparison circuit and the peak detection circuit, respectively. The dynamic hysteresis comparison circuit converts the sinusoidal AC interference signal into a square wave signal of the same frequency. The peak detection circuit extracts the peak analog voltage of the current sinusoidal AC interference signal. The peak analog voltage is converted into a digital signal by the ADC sampling and conversion circuit and then sent to the control processing module. S4. The control processing module calculates the real-time interference frequency based on the square wave signal, compares the interference frequency with the preset target frequency to obtain the frequency deviation; the control processing module reads the digital signal output by the ADC sampling conversion circuit to obtain the peak voltage of the interference signal, and compares the peak voltage of the interference signal with the preset ADC comparison threshold voltage. When the peak value of the interference signal is less than the ADC comparison threshold voltage, the system selects the open-loop control mode and outputs the voltage increment according to the fixed increment parameter. When the peak value of the interference signal is greater than the ADC comparison threshold voltage, the system selects the closed-loop control mode and calculates the control voltage increment ΔV based on the obtained frequency deviation using the PID control algorithm.

7. The voice coil motor control method combining open-loop and closed-loop operation according to claim 6, characterized in that, The specific steps for calculating the interference frequency in S4 include: the control processing module configuring the internal counter through the MCU. The control processing module enables the rising edge interrupt of the square wave signal input pin; it sequentially records the counter values ​​when two adjacent rising edge interrupts are triggered, calculates the value difference, and obtains the count value corresponding to a single cycle of the square wave; based on the inherent clock frequency of the counter, it calculates the real-time frequency of the current square wave signal.

8. The voice coil motor control method combining open-loop and closed-loop operation according to claim 6, characterized in that, The specific algorithm formula for controlling the voltage increment ΔV is as follows: in, e(k) represents the incremental voltage value; e(k) represents the velocity deviation at the kth iteration. This represents the velocity deviation at the (k-1)th iteration. This represents the velocity deviation for the (k-2)th iteration. For PID proportional parameters; For PID integral parameters; These are the PID differential parameters.

9. The voice coil motor control method combining open-loop and closed-loop operation according to claim 6, characterized in that: In S4, the open-loop voltage increment is less than the maximum allowable drive voltage of the voice coil motor. Control voltage at the previous moment The difference.

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