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CN-122026769-A - Motor driving control method and system and electronic equipment

CN122026769ACN 122026769 ACN122026769 ACN 122026769ACN-122026769-A

Abstract

The application provides a motor driving control method, a motor driving control system and electronic equipment, and relates to the technical field of electromechanical control. The method comprises the steps of obtaining a driving instruction, a line synchronizing signal and a mode selecting signal, generating a pulse driving signal according to the driving instruction, and selecting an interference suppression mode according to the mode selecting signal. And then, based on the line synchronous signals, identifying a first working stage and a second working stage, modulating the pulse driving signals according to the selected mode in the first working stage to obtain synchronous driving signals, and directly outputting the pulse driving signals as the synchronous driving signals in the second working stage. And then calculating the synchronous error between the pulse driving signal and the synchronous driving signal, and compensating the generation process of the pulse driving signal by using the error. And finally, generating a driving current for driving the motor according to the synchronized driving signal. According to the scheme, under the condition of flexibly adapting to different motor characteristics, high-precision dynamic tracking performance is ensured while electromagnetic interference is effectively inhibited.

Inventors

  • LI FEI

Assignees

  • 普冉半导体(上海)股份有限公司

Dates

Publication Date
20260512
Application Date
20260213

Claims (10)

  1. 1. A motor drive control method, characterized by comprising: Acquiring a driving instruction, a line synchronization signal and a mode selection signal; Generating a pulse driving signal according to the driving instruction, and selecting one of a plurality of interference suppression modes according to a mode selection signal; The pulse driving signal is subjected to synchronous processing according to the line synchronous signal and the selected interference suppression mode to generate a synchronous driving signal, wherein the synchronous processing comprises the steps of modulating the pulse driving signal according to the selected interference suppression mode when the line synchronous signal indicates a first working stage to generate the synchronous driving signal, and directly connecting the pulse driving signal to the synchronous driving signal when the line synchronous signal indicates a second working stage; according to the pulse driving signal and the synchronous driving signal, calculating to obtain a synchronous error, and compensating the process of generating the pulse driving signal by utilizing the synchronous error; And generating a driving current for driving the motor according to the synchronous driving signal.
  2. 2. The method of claim 1, wherein generating a pulsed drive signal based on the drive command comprises encoding the drive command with pulse density modulation or pulse width modulation to generate a corresponding pulsed drive signal.
  3. 3. The method of claim 1, wherein generating the pulse drive signal according to the drive command comprises generating a corresponding pulse drive signal by pulse density modulation using the drive command based on a jittered clock signal as a sampling clock, wherein the jittered clock signal is a clock signal that dynamically adjusts a source clock frequency according to a preset frequency modulation function, and the generated frequency jitters.
  4. 4. The method of claim 1, wherein generating a pulsed drive signal based on the drive command comprises encoding the drive command with pulse density modulation to generate a corresponding pulsed drive signal; The step of compensating the process of generating the pulse driving signal by utilizing the synchronous error comprises the steps of calculating an error between a driving instruction and a feedback signal to obtain a modulation error, adding the modulation error and the synchronous error to obtain a compensated error, integrating the compensated error to obtain an integration result, generating the pulse driving signal with the value of +1 or-1 according to the integration result, and taking the generated pulse driving signal as a new feedback signal for the next modulation error calculation.
  5. 5. The method of claim 1 or 4, wherein the plurality of interference modes includes at least two of a forbidden switching mode, an inertia-preserving mode, and a linear switching mode.
  6. 6. The method of claim 5, wherein when the selected interference mode is a forbidden switching mode, the step of modulating the pulsed drive signal in accordance with the selected interference suppression mode comprises maintaining a level of the pulsed drive signal at a time prior to a start of the first operational phase as the post-synchronization drive signal during the first operational phase; The step of generating a driving current for driving the motor according to the post-synchronization driving signal includes outputting a maximum driving current in a forward direction or a reverse direction according to a level of the post-synchronization driving signal.
  7. 7. The method of claim 5, wherein when the selected disturbance mode is an inertia hold mode or a linear switch mode, the step of modulating the pulsed drive signal in accordance with the selected disturbance rejection mode comprises setting the post-synchronization drive signal during the first phase of operation to a zero level; The step of generating the driving current for driving the motor according to the synchronized driving signal includes generating the driving current to be zero if the selected disturbance mode is the inertia maintaining mode, and generating the corresponding linear current according to the driving instruction if the selected disturbance mode is the linear switching mode.
  8. 8. The method of claim 7, wherein generating the respective linear currents in accordance with the drive instructions comprises: According to calculation type A linear current is obtained which, among other things, The value of the linear current is in the range of , The value of the driving instruction is in the range of 。
  9. 9. A motor drive control system, comprising: the input interface is used for acquiring a driving instruction, a row synchronous signal and a mode selection signal; The pulse generation module is used for generating a pulse driving signal according to the driving instruction; A mode selection module for selecting one of a plurality of interference suppression modes according to a mode selection signal; The synchronous processing module is used for carrying out synchronous processing on the pulse driving signal according to the line synchronous signal and the selected interference suppression mode to generate a synchronous driving signal, wherein the synchronous processing comprises the steps of modulating the pulse driving signal according to the selected interference suppression mode when the line synchronous signal indicates a first working stage to generate the synchronous driving signal, and directly connecting the pulse driving signal to the synchronous driving signal when the line synchronous signal indicates a second working stage; The error compensation module is used for calculating and obtaining a synchronous error according to the pulse driving signal and the synchronous post-driving signal, and feeding the synchronous error back to the pulse generation module so as to compensate the process of generating the pulse driving signal; And the driving current generation module is used for generating driving current for driving the motor according to the synchronous driving signal.
  10. 10. An electronic device, comprising: A memory for storing one or more programs; A processor; the method of any of claims 1-8 is implemented when the one or more programs are executed by the processor.

Description

Motor driving control method and system and electronic equipment Technical Field The application relates to the technical field of electromechanical control, in particular to a motor driving control method, a motor driving control system and electronic equipment. Background In mobile photographing and image capturing apparatuses, lens optical anti-shake and auto-focus functions rely on precise micro motor driving. To meet the low power consumption requirements of the device, pulse density modulation (Pulse Width Modulation, PWM) is commonly adopted in the industry to replace the traditional linear driving. However, the high frequency switching characteristic inherent to PWM driving introduces higher harmonics, which generate serious electromagnetic interference, resulting in defects such as streak noise, flicker, and artifacts on the imaged picture. To cope with this problem, some of the prior art techniques forbid switching of the PWM drive signal by forcing it during the analog-to-digital conversion stage where the image sensor is most sensitive. However, in carrying out the present application, the inventors have found that such a single processing mode of forced inhibition of switching of the prior art causes sometimes response delay and overfrequency due to forced holding current when adapting different motors, and sometimes oscillation and positional instability due to cut-off current. Therefore, how to flexibly adapt to different motor characteristics and simultaneously achieve effective electromagnetic interference suppression and good dynamic tracking performance becomes a technical problem to be solved. Disclosure of Invention The application aims to provide a motor driving control method, a motor driving control system and electronic equipment, which can ensure that electromagnetic interference is effectively inhibited in the whole imaging period and simultaneously give consideration to high-precision dynamic tracking performance under the condition of flexibly adapting to different motor characteristics. The application is realized in the following way: The application provides a motor driving control method, which comprises the steps of obtaining a driving instruction, a row synchronizing signal and a mode selecting signal, generating a pulse driving signal according to the driving instruction, selecting one of a plurality of interference suppression modes according to the mode selecting signal, carrying out synchronous processing on the pulse driving signal according to the row synchronizing signal and the selected interference suppression mode to generate a synchronous driving signal, wherein the synchronous processing comprises the steps of modulating the pulse driving signal according to the selected interference suppression mode when the row synchronizing signal indicates a first working stage to generate the synchronous driving signal, directly connecting the pulse driving signal to the synchronous driving signal when the row synchronizing signal indicates a second working stage, calculating to obtain a synchronous error according to the pulse driving signal and the synchronous driving signal, compensating the process of generating the pulse driving signal by utilizing the synchronous error, and generating a driving current for driving a motor according to the synchronous driving signal. In a second aspect, the application provides a motor drive control system, which comprises an input interface, a mode selection module, a synchronization processing module and a driving current generation module, wherein the input interface is used for acquiring a driving instruction, a row synchronization signal and a mode selection signal, the pulse generation module is used for generating a pulse driving signal according to the driving instruction, the mode selection module is used for selecting one of a plurality of interference suppression modes according to the mode selection signal, the synchronization processing module is used for carrying out synchronization processing on the pulse driving signal according to the row synchronization signal and the selected interference suppression mode so as to generate a synchronous driving signal, the modulation is carried out on the pulse driving signal according to the selected interference suppression mode when the row synchronization signal indicates a first working stage, the pulse driving signal is directly connected to the synchronous driving signal when the row synchronization signal indicates a second working stage, the error compensation module is used for calculating and obtaining a synchronization error according to the pulse driving signal and the synchronous driving signal, the synchronization error is fed back to the pulse generation module so as to compensate a process for generating the pulse driving signal, and the driving current generation module is used for generating a driving current for a motor according to the synchronous driving signal