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CN-115498918-B - Control method and device of piezoelectric driver, storage medium and electronic equipment

CN115498918BCN 115498918 BCN115498918 BCN 115498918BCN-115498918-B

Abstract

The disclosure provides a control method and device of a piezoelectric driver, a storage medium and electronic equipment, and relates to the technical field of piezoelectric control. The control method of the piezoelectric driver comprises the steps of obtaining a control coefficient determined by a friction coefficient between the piezoelectric driver and a driven piece, and determining a control signal for inputting the piezoelectric driver according to the control coefficient and a sliding mode surface of the piezoelectric driver. The piezoelectric actuator control method and the piezoelectric actuator control device can achieve accurate control of the piezoelectric actuator, and improve accuracy of piezoelectric actuation.

Inventors

  • CHEN WEI

Assignees

  • OPPO广东移动通信有限公司

Dates

Publication Date
20260508
Application Date
20221025

Claims (10)

  1. 1. A method of controlling a piezoelectric actuator, comprising: acquiring a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member; determining a control signal for inputting the piezoelectric driver according to the control coefficient and a sliding mode surface of the piezoelectric driver; The piezoelectric driver comprises a piezoelectric body, a moving part, a first control end, a second control end and a control signal, wherein the piezoelectric body is connected with the piezoelectric body, the moving part is connected with the piezoelectric body, the piezoelectric driver is provided with the first control end and the second control end and is positioned at different positions on the piezoelectric body, and the control signal for inputting the piezoelectric driver is determined according to the control coefficient and a sliding mode surface of the piezoelectric driver and comprises the following components: Determining a total control signal according to the control coefficient and a sliding mode surface of the piezoelectric driver; the total control signal is split into a first control signal and a second control signal with preset phase difference, wherein the first control signal is used for being input into the first control end, and the second control signal is used for being input into the second control end.
  2. 2. The method of claim 1, wherein determining a control signal for inputting the piezoelectric actuator based on the control coefficient and a slip-form surface of the piezoelectric actuator comprises: and determining the control signal according to the control coefficient and the sliding mode surface of the piezoelectric driver by adopting a pre-configured piezoelectric control function.
  3. 3. The method of claim 2, wherein the piezoelectric control function is: wherein u represents the control signal, k represents the control coefficient, and s represents the sliding mode surface.
  4. 4. The method of claim 1, wherein determining a control signal for inputting the piezoelectric actuator based on the control coefficient and a slip-form surface of the piezoelectric actuator comprises: acquiring the speed of the moving part; and determining the control signal according to the control coefficient, the sliding mode surface of the piezoelectric driver and the speed of the moving part.
  5. 5. The method of claim 1, wherein the obtaining a control coefficient determined by a coefficient of friction between the piezoelectric driver and the driven member comprises: obtaining the mapping relation between the friction coefficient and the control coefficient between the piezoelectric driver and the driven piece through experimental calibration; And determining a control coefficient corresponding to the actual friction coefficient between the piezoelectric driver and the driven piece according to the mapping relation.
  6. 6. The method of any one of claims 1 to 5, wherein the piezoelectric actuator further has a ground terminal located on a first side of the piezoelectric body remote from the moving member, the first control terminal and the second control terminal being disposed at different positions on a second side of the piezoelectric body opposite the first side, the first control signal being applied between the first control terminal and the ground terminal, and the second control signal being applied between the second control terminal and the ground terminal.
  7. 7. The method of any one of claims 1 to 5, wherein the first control terminal and the second control terminal are disposed at two different end points in an axial direction of the piezoelectric body, the axial direction being a direction in which a length of the piezoelectric body is maximum, and the first control signal and the second control signal deform the piezoelectric body in the axial direction.
  8. 8. A control device for a piezoelectric actuator, comprising: A control coefficient acquisition module configured to acquire a control coefficient determined by a friction coefficient between the piezoelectric driver and the driven member; a control signal determining module configured to determine a control signal for inputting the piezoelectric driver according to the control coefficient and a sliding mode surface of the piezoelectric driver; The piezoelectric driver comprises a piezoelectric body, a moving part, a first control end, a second control end and a control signal, wherein the piezoelectric body is connected with the piezoelectric body, the moving part is connected with the piezoelectric body, the piezoelectric driver is provided with the first control end and the second control end and is positioned at different positions on the piezoelectric body, and the control signal for inputting the piezoelectric driver is determined according to the control coefficient and a sliding mode surface of the piezoelectric driver and comprises the following components: Determining a total control signal according to the control coefficient and a sliding mode surface of the piezoelectric driver; the total control signal is split into a first control signal and a second control signal with preset phase difference, wherein the first control signal is used for being input into the first control end, and the second control signal is used for being input into the second control end.
  9. 9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1 to 7.
  10. 10. An electronic device, comprising: processor, and A memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of any one of claims 1 to 7 via execution of the executable instructions.

Description

Control method and device of piezoelectric driver, storage medium and electronic equipment Technical Field The disclosure relates to the technical field of piezoelectric control, and in particular relates to a control method and device of a piezoelectric driver, a storage medium and electronic equipment. Background Piezoelectric actuation refers to actuation techniques that generate rotational or linear motion by deformation of a piezoelectric material based on the inverse piezoelectric effect of the piezoelectric material. The deformation of piezoelectric materials is generally only micro-scale or nano-scale, so that the displacement control precision is very high, and piezoelectric drivers (such as piezoelectric motors) are often applied to occasions with high precision. In the related art, when a conventional PID (Proportional INTEGRAL DERIVATIVE) control system is used to control the piezoelectric actuator, the accuracy of the piezoelectric actuator is generally low, which affects the accuracy of the piezoelectric actuator. Disclosure of Invention The disclosure provides a control method and device for a piezoelectric driver, a storage medium and an electronic device, and further solves the problem that accurate control of the piezoelectric driver is difficult to achieve at least to a certain extent. According to a first aspect of the present disclosure, there is provided a control method of a piezoelectric actuator, including obtaining a control coefficient determined by a friction coefficient between the piezoelectric actuator and a driven member, and determining a control signal for inputting the piezoelectric actuator according to the control coefficient and a sliding mode surface of the piezoelectric actuator. According to a second aspect of the present disclosure, there is provided a control device of a piezoelectric driver, including a control coefficient acquisition module configured to acquire a control coefficient determined by a friction coefficient between the piezoelectric driver and a driven member, and a control signal determination module configured to determine a control signal for inputting the piezoelectric driver according to the control coefficient and a sliding mode surface of the piezoelectric driver. According to a third aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the piezoelectric driver of the first aspect described above and possible implementations thereof. According to a fourth aspect of the present disclosure, there is provided an electronic device comprising a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to perform the control method of the piezoelectric driver of the first aspect and possible implementations thereof via execution of the executable instructions. The technical scheme of the present disclosure has the following beneficial effects: On the one hand, the friction driving condition between the piezoelectric driver and the driven piece is considered, the control signal for inputting the piezoelectric driver is determined in a sliding mode control mode, and accurate control of the piezoelectric driver can be achieved, so that the accuracy of piezoelectric driving is improved. On the other hand, the method is simple in processing process and low in calculated amount, is beneficial to realizing real-time control of the piezoelectric driver, and is applied to scenes such as camera driving. Drawings Fig. 1 shows a flowchart of a control method of a piezoelectric driver in the present exemplary embodiment; fig. 2 shows a sub-flowchart of a control method of a piezoelectric driver in the present exemplary embodiment; fig. 3 shows a schematic structural view of a piezoelectric actuator in the present exemplary embodiment; fig. 4 shows a schematic structural view of another piezoelectric actuator in the present exemplary embodiment; Fig. 5 is a schematic diagram showing the structure of an image pickup module according to the present exemplary embodiment; fig. 6 shows a schematic structural view of a piezoelectric motor in the present exemplary embodiment; Fig. 7 is a schematic diagram showing the structure of a control device of a piezoelectric actuator in the present exemplary embodiment; fig. 8 shows a schematic structural diagram of an electronic device in the present exemplary embodiment. Detailed Description Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The drawings are schematic illustrations of the present disclosure and are not necessarily drawn to scale. The technical solution of the present disclosure may be embodied in various forms and should not be construed as being limited to the examples set forth herein. The described features, structures, or charact