TW201037960A - Control techniques for motor driven systems - Google Patents

Abstract

Embodiments of the present invention provide a motor-driven mechanical system with a detection system to measure properties of a back channel and derive oscillatory characteristics of the mechanical system. Uses of the detection system may include calculating the resonant frequency of the mechanical system and a threshold drive DTH required to move the mechanical system from the starting mechanical stop position. System manufacturers often do not know the resonant frequency and DTH of their mechanical systems precisely. Therefore, the calculation of the specific mechanical system's resonant frequency and DTH rather than depending on the manufacturer's expected values improves precision in the mechanical system use. The backchannel calculations may be used either to replace or to improve corresponding pre-programmed values.

Description

201037960 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to motor control and control of a motor drive system. In particular, the present invention is directed to the control of a motor drive system that minimizes ringing or "bounce" in a mechanical system controlled by a motor. This application claims 2 to 9 years 2 US Provisional Application for Control of the Month 9曰 "Control h〇t〇c仏for Μ" η —

The priority rights of Systems, No. 61/i50, 958, the contents of which are incorporated herein by reference in its entirety. This application is a part of the continuation case and claims that the same applies to Control Techniques f〇r Mot〇r DHven in the application of the 12th, 367, 883 and 12/367,938 applications on February 9th. The content of the application is incorporated herein by reference in its entirety. [Prior Art] The motor-driven flat (four) system is a common object in modern electrical devices. One mechanical system is under the control of electric power. . When you move around in a common example, you can see that the example can include a digital camera, a video camera, and a mobile device with this functionality (for example, mobile phones, data and Palm-type game system) A booster drive. In the Lei Temple system of the reader, the motor driver multi-value drive signal to the -* feed circuit generates a 'violation, and the motor is driven again—嫱w, for example, in an automatic pair of tilting machinery糸 (the actuator responds to an external neighbor 徂 @ ) 忒 motor drive. The code word is generated by the code word. The code word is 145777.doc 201037960: is: identified - within the range of motion of the mechanical system, the motor should move the mechanical system to that position. Therefore, the number of code words in the = _ motion range divides the motion range into address of the H address (referred to herein as the "point"). The drive signal is - straight ^ The motor is usually changed in the type and configuration of the electronic system that moves the mechanical system as needed, but many mechanical systems Ο 广 广 使 。 。 。 。 。 。 。 。 。 。 。 。 。 。 When a motor moves according to the drive, the motion produces another in the system that causes the block to have a new position = yin at a certain spectral frequency (6). For example, the spectral frequency of the enthalpy has been observed in consumer electronics. This oscillation typically decreases over time, but it can be attenuated by, for example, extending the amount of time that the camera lens system focuses the image-moving device to the -orbital track. efficacy. The spectral frequency of the frequency fR Figure 1 is a simplified view of the motor drive system in the lens driver. The block diagram includes an imaging wafer 11G' - a motor driver 120, a voice coil motor 13A, and a lens 14G. The motor driver generates a drive signal to the hammer motor in response to a code provided by an imaging wafer. Next, the voice coil motor moves the lens within its range of motion. Movement of the lens changes the lens's focus on the surface of one of the imaging wafers which can be detected and used to generate a new code to the motor. Figure 2 is a graph of the frequency response of a possible response of the system of Figure 1, - 145777.doc 201037960 Figure 3 illustrates two drive signals generated by a known motor driver. The second drive signal is a - step function that changes from a first state to a second state like a discontinuous jump (Fig. 3(a)). The second drive signal is illustrated as a ramp function that changes from the first state to the first state at a fixed rate of change, Figure 3(b)). However, both types of drive signals result in ringing behavior that impairs performance as described above. Figure 4 (for example) illustrates the ringing observed in one of the mechanical systems. The inventors have observed that the ringing behavior of the motor drive systems of the room iMU / J unnecessarily prolongs the settling time of such mechanical systems and degrades performance. Therefore, there is a need in the art for a motor drive system that can be driven in accordance with a digital codeword and avoids the vibration behavior found in such systems. SUMMARY OF THE INVENTION In the ^-state, the method of 'providing a kind of mechanical system characteristic white vibration frequency to drive a motor-driven mechanical system, 1 includes: applying a (four) signal to a - mechanical system - motor Calculating the machine's frequency according to the captured electronic signal, and the frequency of the meter is stored in the returning pass of the mechanical system. – Register L, the (iv) frequency will be used in the – Execution Time mode. In another aspect, a drive signal generator is provided, which includes: the test signal generates 5!, and the Gulushan ^ 3 * ~ system has an output for connecting to the mechanical system The resulting: mechanical: return channel sensor for capturing - by the motor, 1 for (4) the vibration induced by the electronic signal; - processing X according to the captured electronic signal to calculate the mechanical system - - I45777.doc 201037960 vibrating; and - a register for storing the calculated vibration frequencies. In a further aspect, a system is provided comprising: a mechanical structure having a drive motor; - a drive signal coupled to the w^ Galler motor, and (4) a dynamic signal generator comprising: - an initial initialization mode The lower operation to generate the Ί1,.. drive 仏唬 to cause oscillation behavior in the mechanical structure; a return channel salty crying channel sensor 'which is used to capture - by the 〇 、',, ' An electronic signal induced by the oscillation behavior caused by the processing unit, the basin is configured to calculate a vibration-damping frequency f and a driving circuit of the mechanical structure according to the captured electronic signal, which can be operated in an execution time mode, The drive circuit includes a register for storing the calculated resonant frequency. In a re-state, there is provided a method for driving a motor-driven mechanical system using a calculated mechanical system characteristic threshold DTH, comprising: repeatedly performing the following steps: one having a current step a value of two to apply to the motor, to monitor a signal line from the motor to obtain a return path electronic signal induced by the movement of the mechanical system, and to adjust the step if the return channel signal indicates movement of the mechanical system The order value Z is used for another iteration; when a step value that does not cause a vibrating castle in the mechanical system is applied, the step value is stored as the threshold value Dth, which will be used in an execution time mode. In another aspect, a drive signal generator is provided, comprising: an initialization circuit for generating a test drive signal having a current value to be applied to a motor; and a return channel sensor for To monitor an electronic signal induced by the motor due to movement of a mechanical system; a processing state for performing a repetitive operation until a threshold value Du is determined to be H5777.doc 201037960 "Haifu 4 The method includes monitoring the return channel and adjusting the test drive signal value, and a register for storing the determined dth value. In another aspect, a system is provided, comprising: a mechanical drive having a drive motor, and a drive signal generator coupled to the drive motor, the drive signal generator comprising: an initialization circuit 'It can operate in an initial mode to generate a test drive signal having a 4 value to be applied to the drive motor; a return channel sensor for monitoring: a moving electronic signal of the mechanical structure; a processing unit 7L for performing a repetitive operation until a threshold value Du is determined, the repetitive operation comprising monitoring the return channel and adjusting the test drive signal value; and - the driving circuit And operating in an execution time mode, the drive circuit comprising - a register for storing the determined DTH value. In another aspect, a tamper-resistant system is provided, comprising: a mechanical structure of the drive motor; and a return channel debt detection system 'The return channel detection system includes an initialization circuit that can apply a test drive signal to the _ initial (four) type (4) a motor; a return channel device for monitoring a signal line from the drive motor to obtain a driving signal: an induced electronic signal due to movement of the mechanical structure; 2 processing early π, which is used to The monitoring return channel electronic signal mechanical structure-transfer .β ^. The analog-to-module At move circuit, the on-execution time value drive circuit includes a register for misregistering the calculated characteristic value In your other way, provide a method for forging and de-sliding, Gan-. 13 for 15-motor-driven mechanical systems, including - driving signals to a mechanical system - Ma 145777.doc 201037960 Dasing causes the actuating behavior in the mechanical system; captures the magnitude estimate of the vibrational behavior; adjusts the resonant frequency of the mechanical system based on the magnitude estimate, and stores the 5H adjusted spectral frequency in the - In another aspect, a driving signal generator is provided, comprising: a driving benefit circuit for generating a driving signal to be applied to the motor; and a feedback circuit for capturing Motor guide It is attributed to a vibration of a mechanical system γ, a processor for pulsing according to the capture, and a register for storing the vibration frequencies. An embodiment of the present invention provides a drive for a motor-driven mechanical system having a frequency distribution having zero (or near zero) energy at an expected vibration frequency of the mechanical system. The drive signal can be based on Baska One of the triangles, one of a series of steps provided, wherein the number of steps is equal to the number of entries from the & 'mother step' has a corresponding step size for one of the selected columns of the Baska triangle, And the steps are separated according to a time determined by the expected vibration frequency of the mechanical system. Alternatively, the step driving signal can be provided as a uniform step according to the bar material v series, wherein the steps are provided. The order 2 is the number of entries from the selected column of the Baska three (four). The midnight interval, and the mother-space interval includes a number of steps corresponding to a respective strip B from the selected column of Bath in a month. These techniques not only produce _: the drive signal 7 which is substantially free of energy at the expected resonant frequency provides a zero energy "notch" which is of sufficient width to allow real: the resonant frequency is different from the pre-intervening expected resonant frequency The system. The motor driver 145777.doc 201037960 can also include a detection system for measuring the nature of a back channel and deriving the oscillation characteristics of the '§.ί έ m mechanical system. The purpose of the detection system may include calculating the resonant frequency of the MM Α ^ Λ 械 mechanical system and a threshold drive DTH required for the mechanical system to start the mechanical stop position _ ^ sanding. These return channel calculations can be used to improve the corresponding pre-programmed values. Figure 5 is a diagram illustrating an exemplary drive signal in accordance with the present invention. The drive signal is a multi-step function that changes with time of time constant. 1 97 C _2fR Equation 1 This drive signal is converted into a drive signal with two steps: one at time ^ 苐 - step 'It has - corresponding to about half of the level required for the distance between the old position (p_) and the new position (P_) cP = Pnew-p〇ld). - The second step can occur at time t0 + tc, which has an amplitude corresponding to the remainder of the required distance of the board span. Figure 6 illustrates the differential response of the drive signal of Figure 5. Fig. 7 is a view for explaining the energy distribution of the driving signal of Fig. 5 in accordance with the frequency. As shown, the drive signal is at a frequency above and below the resonant frequency 4 = non-zero energy distribution. At the resonant frequency fRT, the drive signal has zero energy. This energy distribution minimizes the mechanical system 赋予 匕 在 ϊ in the resonant region and, therefore, avoids oscillations that may occur in such systems. Figure 7 also illustrates the energy distribution (dashed line) that may occur in a drive signal generated according to a single step function. In this figure, the system has a non-zero energy at resonant frequency 4, which allows energy to be imparted to the mechanical system at this frequency 145777.doc -10- 201037960. This non-zero energy component of the resonant frequency of the salt signal contributes to the prolonged oscillation effect observed by the inventors. Fig. 8 is a view for explaining the response of the mechanical system when driven by a drive signal having a shape as shown in Fig. 5 (case (a)). The mechanical system begins at a position p 〇 LD and moves to a position Pnew. The start pulse is at time t. And t〇+tc applied. In this example, P 〇 LD corresponds to 27 μηη (digit code 5〇) and PNEW corresponds to 170 μηι (digit code 295), tQ corresponds to 1=〇 and 4 corresponds to 3.7 ms.

Figure 8 compares the response of the machine (4) to the drive signal proposed in this paper (case (4) m when the response is driven by the crane signal according to the - single step function (case (b)) ° in case (4) The mechanical system is stable at about the new position Pnew after about 4 -, and the same mechanical system exhibits extended vibration in case (9). Even after 3 〇 ms, the mechanical system continues to oscillate around the PNEW position. Thus, the drive signal of Figure 5 provides a settling time that is substantially faster than the conventional drive signal. Figure 9 is a block diagram of a system _ according to the present invention - if not the system may include multiple The memory 91〇_93〇 is used to store information indicating the old position of the mechanical system and the new location and the expected resonance frequency. The system 900 may include a method for using the sister β σ according to Pnew And the P0LD calculation ΔΡ subtractor 940 system advancement step may include a step signal generator 95A, which receives the system clock and generates a pulse according to the timing determined from the equation: accumulate n96G. Step signal generator 95Q can produce (for example) as shown The pulse of 6 which has a total value corresponding to the total distance spanned by the mechanical system, about half of the oscillatory field accumulator 96 〇 can total the pulse generated by the step signal generator 145777.doc 201037960 and The total value is output to - a multiplier 970 that also receives the AP value from the subtractor. Thus, the multiplier 970 generates a signal corresponding to the multi-step increment shown in Figure 5. The multiplier 97 can be used. The output is input to an adder 98 亦 that also receives the p 〇 LD value from the register 910. Thus, the adder 980 can generate a sufficient amount to drive a mechanical system from a first position to a second with a minimum settling time. Time-varying output signal of position. The old position can be updated when the mechanical system completes its translation from the old position to the new position. In the system illustrated in Figure 9, the step signal generator 950 generates it. After the final step to the accumulator, the step signal generation state can also generate a -transfer signal to the registers 910 and 920 to update the old location register 91 with the data from the new location register 92G. The resonant frequency fR of the mechanical system is precisely The "drive" of the matching drive signal / for example, within 3% of the drive signal, the drive signal of Figure 5 works well. Unfortunately, 造m manufacturers often do not know exactly the spectral frequency of their mechanical systems = in addition, 'in particular, in consumer devices where system components must be manufactured inexpensively'. Therefore, although the frequency of the vibration is changed between different manufacturing batches of one horse... The motion 15 can be designed to provide an expected r 2 (four): notch, but there may be a considerable difference between the expected resonant frequency and the actual white vibration frequency (fRM) of the mechanical system. In order to accommodate these uses, waves can be trapped to allow for the principles of these systems to increase the large resonant frequency tolerance of the frequency ® ^ μ, , . One such extension includes providing a plurality of pre-(four) "see" s-waves that are spread by a plurality of filtering stages. Figure 10 is a diagram showing each of the # # t ^ graphs. Four such filter levels are illustrated. This extra filter level extension check + spread frequency - "notch", for this frequency 145777.doc 201037960 rate, there is zero energy given to the system. Although each filter level reduces the amount of energy imparted to the system and may therefore result in slower movement of the mechanical system, by reducing the settling time of the mechanical system (even when the resonant frequencies of such systems cannot be accurately predicted) This filtering can be advantageous for the overall system operation. Figure 11 illustrates a simplified block diagram of a system in accordance with another embodiment of the present invention. The sin system includes a drive signal generator 丨丨丨〇 and one or more notch limit filters 1120 丨丨 12 〇 N arranged in series. The first filter 丨 120·1 of the system 可接受 1 可接受 can receive a drive signal from the drive signal generator 1110. Each of the N filters (Ny) can filter its input signal at an expected resonant frequency (fRE). Because the filters are arranged in cascade, the plurality of filters can operate together to provide a filtered drive signal having a notch that is wider than the notch width of the single filter system. Alternatively, additional notches can be placed at different frequencies around the expected single resonant frequency to widen the attenuation band of the filter. 〇 In the time domain, the extra level of filtering provides a step response as shown below:

Table 1: The equal output drive signals are normalized (the steps are scaled such that their sum is equal to the step response shown in the table. 145777.doc -13- 201037960, Regarding the three-level system, at each of the times shown in Table 1A, the step responses can be set to 1/8, 3/8, 3/8, and 1/8. This is generated based on the sum of the step responses over time. Thus, the drive signals of Table 1 can produce waveforms having the shape shown in FIG.

The progression shown in Table 1 (progressi〇n) matches the number of levels of the Baska triangle. In one embodiment, an arbitrary N-stage filter can be used by using a number of stages from the corresponding Nth column of one of the Baska triangles. Any number of stages can be used as needed to counter the uncertainty of the expected resonant frequency of the mechanical system. Although any number of stages can be used, a greater number of stages involve increased settling times and therefore the number of stages should be carefully chosen.

Figure 13 is a block diagram of a signal generator 13A according to an embodiment of the present invention. The generator generator 13 00 may include a pair of registers 131 〇 132 〇 for storing an estimate representing the mechanical system. (4) Data of vibration frequency and #pre-position p〇L. The timing engine measurement and tap register (10) can produce an output of the corresponding side j as a step pattern (such as the steps described in the illusion). When the time of the 'fourth' engine (10) can be [corresponding to the estimated of the stored 'turns'" when the rate of the determined time interval 4 is provided for the tap register: joint temporary storage & 134 〇 〇 储存 储存Normalization of the Ska triangle: Data I in a control that identifies the application of the Baska triangle = (Ν select), the tap register "40" can be output sequentially on each cycle of the tc clock Corresponding to the step value of each entry in the column. =Falculation (political) unit (10) can receive the data indicating the new position p training, the old (four) and the step pattern from the tap temporary storage H 1340 145777.doc -14· 201037960. Mathematically, MAC 1340 can generate a digital drive code as follows: Drive(t)=POLD+(PNEW_p〇LD)· Σ step(t), where step(1) represents the step response of the selected pattern, and t Changing over all tc intervals associated with the selected pattern. A digital to analog converter produces an analog drive output signal based on the digital output of the MAC. The output* signal can be generated as a current or voltage. It is desirable to provide a notch wider than the embodiment of Figure 9, The complexity increases. The normalized value of each column of the Baska triangle must be stored in the memory of the tap register or dynamically calculated. The invention is applied to the step map with timing misalignment applied to the step graph. In another embodiment, this complexity can be avoided. Consider the step response shown in Table 1. The response of any level N (assuming n=3) is the prior level N-1 and the previous level (level N-1) Delaying the sum of one of the time constants tc. For example:

Table 2 The system produces representations that are slightly temporally relative to each other - in the embodiment. The step size h (the step response pattern of the replica signal not shown in Table 3 below) can be expressed as follows: 145777.doc -15- 201037960

Table 3 These step patterns can produce - such as the drive signals shown in the example of Figure 14. In the illustrated example, N=4. The β practical time Δί time interval can be provided by the system clock in the motor driver, which can be much faster than the k-time interval calculated according to the expected spectral frequency & Figure 14 is not drawn to scale. In an embodiment, some of the coefficients may be swapped with each other to widen the attenuation band. Coefficient exchange reduces the need for small time intervals. For example, when factor exchange is used, Μ can be set to 1 /4tc or 1 /8tc. The time domain embodiment may include a cascade of non-uniformly distributed notches provided by convolution of N filters, each filter corresponding to the first of the Baska triangles - the filters may be tuned to A notch appears around the nominal resonant frequency. The convolution of the filters may also be performed using a common time base as defined by the least common multiplier of the time constants tc of the filters. An example may include 4 filters whose response is {丨〇〇〇〇〇丨丨, {] 000000 1}, {1 〇〇〇〇〇〇〇1}, and {1 〇〇〇〇〇〇〇〇〇 When the four filters are convoluted with a time base of about 30 times the resonance period, a 32-tap filter with a coefficient of U〇〇〇〇oiii〇i00111111〇01〇111〇〇〇〇〇U is obtained. Figure 15 illustrates the frequency response of the example 32 tap filter to the nominal resonant frequency of i45777.doc -16 - 201037960 - 140 Hz. The drive signal generator of another embodiment of the present invention, the drive The signal generator may include a pair of registers WO, ·, 1 a 乂 乂 表 机械 机械 机械 机械 机械 机械 mechanical mechanical system of the estimated vibration frequency and mechanical position of the field position (P0LD) information. The drive signal generator may include A tap register 1630 that stores a discrete step pattern such as the step pattern shown in Table 3. In response to - each of Li Le's pulse (corresponding to △ 〇, Ο Ο tap temporary storage) The device 1630 can remove the single-bit of the step pattern. The tap temporary benefit can include corresponding to each time constant t Interval of c

Buffer bit (zero). You can: # M ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ The divider can divide the ΛΡ by a factor of 1/2 N, and the divider can be implemented with a simple bit shift, where N represents the list of currently used Baska triangles. A multiplier 167 〇 and an adder complete the generation of the drive signal. [Mathematically, the drive signal can be expressed as:

Dwe(’) = p(10) + 士(户娜_p(10))·^卿(,).

In this embodiment, step (1) again represents the pulse from the tap register. However, in this embodiment, the tap register does not have to place a normalized step value. The fact is that the tap register can store a single-bit value (ls) at each of these equal positions, which requires an incremental action (see Table 3). Within each of the N columns, the single-bit steps total 2N 145777.doc -17- 201037960. In this example, the division $Fei 1660 completes the normalization, while permitting the simple implementation of the tap register. _ Knife C produces an analog signal (voltage or current) based on the output of the adder &quot;. Although Figure 16 shows that the tap of the clock is temporarily stored in the clock of the Principal 4·Day/XI XI system, the tap is temporarily stored in the 裴 娃 胄 胄 胄 盗The clock is alternatively provided by a timing signal generator (not shown) that becomes active during a time period defined by each time constant tc and, when active, The rate provides the clock to the tap register. When each bundle of pulses is emitted, the timing signal generator can be deactivated until the next (four) interval appears '', and the second embodiment permits the size of the tap register to be small, but Increasing this clock provides the complexity of the system. Figure 17 illustrates - driving signal generator 4 driving according to another embodiment of the present invention &lt; „5 tiger generator may include a pair of registers, , an estimated spectral frequency and a mechanical system for storing a non-mechanical system Information of one of the current positions (P〇LD) of the location. The drive signal generator can include a tap register 1730 that stores a discrete step pattern such as the step pattern shown in Table 3. In response to a system Each of the clocks—repeated (corresponding to the ridge (four) (four) register 173 〇 can move out of the single bit of the step pattern. The tapping of the temporary storage may include a buffer bit corresponding to the time interval separating each time constant ^ (Z). The shifted bits can be output to an accumulator 1740. In this embodiment, the P〇LD value can be preloaded into the accumulator 174A. A salty 1750 can be based on the old The position and new position calculation old) value register 176 can use the N bit shift to divide by the width of 145777.doc -18- 201037960. The calculated step size can be stored in the value temporary storage. 176. Whenever the tap register 1730 is shifted by a bit having a value of 1, The accumulator 174A is updated by adding the content value contained in the value register 1760, which is initialized with the old position value. The DAC 1780 can generate an analog signal (voltage or current) based on the code word output by the accumulator 1740. The embodiments of Figures 16 and 17 are advantageous because the embodiments provide a simpler implementation than the embodiments of Tables 1 and 13. The steps of the embodiment of Figure 14/Table 3 are evenly responsive and, therefore, It is not necessary to expand the step response values as discussed with respect to Figure 2. As with the embodiment of Figure 13, the embodiment of Figures 16 and 17 also facilitates a notch wider than the embodiment of Figure 5. The mechanical stop position is not moved immediately after the application of a drive signal. Before the amplitude of the drive signal reaches a certain threshold Dth (Fig. 18), there is usually an uncompromised spring force or other inertial force. The limits are often unknown and can vary between manufacturing lots. Furthermore, the threshold can be changed according to the orientation of the mechanical system. 〇 In order to improve the response time, when moving from the starting position corresponding to the mechanical stop position, Embodiments of the invention may boost the drive signal to a value corresponding to the threshold drive signal DTH (Fig. 19) and calculate Λρ, which is DTH and the drive signal sufficient to move the mechanical system to the destination position The difference between the levels. When the -drive signal is applied to the system, the L-number can include the Dm level immediately applied from the motor driver and a 'TH level' corresponding to the previous embodiment. (Fig. 5, Fig. 12 and / Fig. 14) ^ _ 士 有 有 - The time-varying component of the step-drive signal. The threshold drive Dth can be estimated by way of example (for example, based on the expectations of the mechanical system 145777.doc 19 - 201037960 Nature, which may or may not be true). Alternatively, the threshold can be programmed into the system via a temporary register. The principles of the present invention are applicable to a variety of electronically controlled mechanical systems. As discussed above, such mechanical systems can be used to control lens groups in autofocus applications such as the cameras and video recorders shown in the figures. It is contemplated that systems utilizing the drive signals discussed herein can achieve improved performance because the lens sets will be more stable at new locations than systems utilizing conventional drive signals. As a result, cameras and video recorders will produce k-focus images faster than previously achieved; ^ image data can generate large throughputs. Figure 20 illustrates another system 2 in accordance with an embodiment of the present invention. The system 2000 of Figure 2 illustrates a lens control system having multiple movement dimensions. As with Figure 1, the system can include an imaging wafer 2, a motor driver 2020, various motors 2030-2050, and a lens 2〇6 (^ each motor 2030·2050 can drive the lens in a multi-dimensional space For example, as shown in FIG. 2A, an autofocus motor 2050 can move the lens laterally relative to the imaging wafer 2〇1〇, and the imaging wafer 2010 focuses the light on one of the photosensitive surfaces of the wafer 2〇1〇2010.1. A top and bottom deflection motor 2030 can rotate the lens about a first axis of rotation to control the orientation of the lens 2060 in a first spatial dimension. A left and right yaw motor 2040 can cause the lens to be wound A second axis of rotation perpendicular to the first axis of rotation rotates to control the orientation of the lens 2060 in another spatial dimension. In the embodiment of FIG. 20, the imaging wafer 2〇1〇 can be included to perform autofocus control 2010.1 'Processing Unit for Motion Detection 2010.2 and Optical Image Stabilization (〇IS) 2010.3. These units can generate code words for each of the drive motors 2〇3〇_ 145777.doc -20· 201037960 2050, Child can be in an output The upper output is output to the motor driver 2020. In the embodiment shown in Fig. 2A, the code words can be output to the motor driver 2〇2〇 in a multiplexed manner. The motor driver 2〇2〇 can be used to drive the motor Each of the 2 teams 2〇5〇 produces a motor drive unit fan that is analogous to the drive signal. (4) For example, the analog drive signal can be generated. The previous embodiment discussed in this paper is generated. With the one-dimensional lens driver It is expected that driving the multi-dimensional lens drive 1 as shown in the previous embodiment will achieve a stable time interval faster than driving the lens driver according to conventional drive signals. The principles of the present invention are applied to other systems, for example, in Figure 2 MEMS-based switches are shown. Such systems may include a switching component 211 〇 that can be moved between an open position and a closed position under control of a control number, one of the switch components 2110 The moving "beam" portion 212 is placed in contact with a wheel-out terminal 213. The control signal is applied to the switch member 211 through a control terminal 2140, which imparts an electrostatic force to the switch member. 21 10 is applied to move the switch member from a normally open position to the closed position. In this regard, the operation of the MEMS switch is known. According to an embodiment, the system can include a switch driver 2150' in response thereto The actuating control signal produces a drive signal having a shape such as that shown in Figure 5, Figure 12, or Figure 14 to the MEMS switch. The MEMS switch will have a block from which an expected resonant frequency can be derived and By extending the time constant 砣, the switch driver 215 can apply a step having a total amplitude sufficient to move the beam 2120 toward the output terminal 2130. When the last time constant ends, the switch driver 215 can apply a step 145777.doc -21 - 201037960 to pause the beam 2120 in the closed position with minimal oscillation. The principles of the invention may also be applied to an optical MEMS system such as that shown in FIG. Here, an optical transmitter 2210 and an optical receiver 2220 are disposed in a common optical path. A MEMS mirror 2230 can be disposed along the optical path, the mirror being translatable from a first position to a second position under control of a drive signal. In a predetermined state, for example, the MEMS mirror 2230 can be positioned outside of the optical path between the emitter 22 1 0 and the receiver 2220. However, in an activated state, the MEMS mirror 2230 can be moved to obscure the optical path, which causes the blocked emitted light beam to reach the receiver 2220. In accordance with an embodiment, a MEMS control system can include a motor driver 2240 that generates a drive signal to the MEMS mirror 2230 in response to the actuating control signal to move the mirror from a predetermined position to an activated position. The mirror 223 〇 can have a block from which an expected resonant frequency can be derived and (by extension) a time constant tc. The mirror driver 2240 can apply a step having a total amplitude sufficient to move the mirror 2230 toward the activated position. When the last time constant is complete, the mirror driver 2240 can apply the last step to cause the mirror 2230 to pause at the activated position with minimal oscillation. The optical system 2200 can optionally include a second receiver 2250 disposed along a second optical path formed when the mirror 2230 is moved to the activated position. In this embodiment, system 2200 can provide a path selection capability for optical signals received by optical system 22A. The principles of the present invention are applicable to touch sensitive device devices that use tactile or haptic feedback to acknowledge receipt of data. The haptic device provides feedback or other tactile feedback that simulates a click of a mechanical button. As shown in Fig. 23, 145777.doc -22· 201037960 household 2' such device 2300 may include a touch screen for capturing data from an input skirt (usually a hand stylus or other object of the Ο Ο 乍) Panel 2310. The touch screen panel 231 generates data to a touch screen controller 2320, and the touch screen controller processes the panel data to derive a screen position where the operator inputs data. In order to provide haptic feedback, the touch screen controller 232 can generate a digital code word to a motor driver, and the motor drive generates a driving signal to a haptic motor controller m. The haptic motor controller 233 can generate a _ drive signal to A haptic effect motor 2340' 5 haptic effect motor imparts a force to a mechanical device that produces tactile feedback on one of the touch screen panels 2. According to an embodiment, the motor driver 233() can generate a drive signal to the haptic effect motor 2 times according to, for example, the shape of the figure or the figure. The haptic effect motor 2 3 4 0 and the related mechanical components of the touch screen device can have a blockage from which the desired resonant frequency can be derived and (by expanding) the time hang number I motor driver 233 can be based on A selected column of one of the card triangles or any of the embodiments of the invention described herein applies a series of steps. Due to the varying blocks that are controlled due to user interaction, one of the steps can be one of the deeper columns of the Baska triangle (e.g., the *column is more ice). It is expected that the step pulse drive signal will produce a tactile feedback within the set, which begins and ends sharply, and thus = strongly mimics the feedback feel of the mechanical system. The principles of the present invention are also applicable to optical or magnetic disk readers, which include readers based on swing arms or sleds. In the figure, one of the two disc readers has a common structure, and Fig. 24 illustrates a motor-driven swing arm 24ι set on the surface of the disc table 145777.doc • 23· 201037960. The swing arm may include a motor coil 243A mounted thereon, and when a drive signal is supplied to the coil, it generates a magnetic flux that interacts with a magnet (not shown) to move the swing arm over a range of motion . In this manner, a read head 2440 disposed on the swing arm can be addressed from the disc to the identified information track and read the information. According to an embodiment, a disc reader control system can include a motor driver 2450 that generates a drive signal having a shape such as that shown in FIG. 5, FIG. 14, or FIG. 14 to a motor coil in response to a code word. . The swing arm (and the slider) can have inertia from which it can be derived—the expected spectral frequency 4 and (by extension) time. Motor driver 245G can apply a step having a total amplitude sufficient to move the disc reader to the new position. When the last time is constant, . At the bundle, the motor driver 2450 can apply the last step to pause the reader at the addressed position with minimal vibration. According to an embodiment, one of the drive signal generators 25 of Figure 25 can generate a ramp-based motor drive signal having a fixed drive window. In previous motor drive systems, the ramp signal had a constant rate of change. In such "tilted" ramp signal systems, the time to drive a mechanical system to a desired position depends on the distance that will be spanned. For example, the time taken to pass the ramp signal corresponding to the movement of a point will be twice the time it takes to transmit a ramp signal corresponding to the movement of the "point". However, the "tilt" ramp signal is required. Notch filtered and has a varying frequency response. On the other hand, the ramp-based motor drive signal with a fixed drive window can be operated in a linear filtering mode with a constant frequency response. The drive signal generator 2500 can include an input buffer register 25 that uses J45777.doc -24-201037960 to store a code indicating a new location to be traversed. The drive signal generating heart 00 may include an old horse register 2520 for storing a code representing an old or current position of the mechanical system. A subtractor can calculate the separation distance between the old location and the new location by subtracting the new location code from the old location code. The drive signal generation II 2 may also include a H-step clock rate pulse-providing ramp modulator 2540 for generating a step-and-step response signal based on the separation distance. The step response may correspond to a = Ο step in a particular drive signal. In addition, the drive signal generator 2 can include an accumulator </ RTI> for generating a digital drive reed in response to the step response signal. Accumulator 2550 can be initialized with a value corresponding to the old code maintained from a previous operation. The DAC 2560 can have a root (four) number _ _ drive signal. Analogy (10) shows a case of a ramp-based motor drive signal with a fixed drive window. Regardless of the separation distance, the signals cause the mechanical system to reach its desired destination within a predetermined time tp. For example, Figure 26 shows the predetermined time tP for the t-range distance, the half-range distance, and the quarter-range distance across the drive H' for the same duration of operation. The predetermined time t may correspond to a time taken by the mechanical system to traverse a full range at 1 point/cycle. The number of steps required to reach the desired destination can be seen as the distance that will be traversed. _ „ This “—changes ^. These steps can be dispersed in time, so the moon can’t be.” Some steps . For example, a half 笳囹Α α π W and a square displacement may not require a 50% step compared to a full range of step steps. For example

In other words, the quarter-range displacement may be an undesired step compared to the step required for full-range displacement. Other ratios may produce a corresponding step I 145777.doc -25 - 201037960 rate ' but may also produce irregular patterns. Drive signal generator 2500 can be cooperatively used with other embodiments described herein. For example, a motor drive system can operate in several modes. One of the modes is a ramp-based drive mode with a fixed drive window. According to an embodiment, the motor drive system 27A may include a feedback system as shown in FIG. The feedback system can be a detection system for a return channel, a Hall effect sensor or other suitable feedback device. The motor drive system can include a control wafer 2710 that transmits a code for instructing the motor driver 2720 to drive the mechanical structure 275. The mechanical structure "" may include a motor 2730 and a mechanical system 274". The motor driver can transmit a drive signal to the motor 2730 via a signal line connecting the motor driver 2720 to the motor 2730. Motor 2730, in response to the drive signal, causes mechanical system 274 to move, which can cause oscillation or vibratory behavior in mechanical system 2740. These oscillations can be captured by a feedback system. The oscillations induce an electrical signal in the signal line extending between the motor 273A and the motor driver 2720. The return channel can be on the same signal line that transmits the drive signal or can be on a separate signal line. The return channel detection system can calculate the resonant frequency fR of the mechanical system. System manufacturers often do not accurately know the resonant frequency of their mechanical systems. Moreover, particularly in consumer devices where system components must be inexpensively manufactured, the resonant frequency can vary between different manufacturing lots of a common product. Therefore, the calculation of the actual resonant frequency of the mechanical system (rather than depending on the manufacturer's expected resonant frequency) improves the accuracy of the mechanical system during use and 145777.doc •26- 201037960 reduces settling time due to reduced stopband width . 28 Ο Figure 28 illustrates an embodiment of a drive signal generator 28 that can be used in a motor drive to calculate the actual resonant frequency of the mechanical system. The drive 俨 generator 2800 can include: an accumulator 282 〇 for generating a number: test drive signal; a digital to analog converter (dac) 283 〇 for generating an analogy based on the digital output of the accumulator Testing the drive output signal (which: is then applied to the motor of the mechanical structure); a return channel sensor 2840' is used to capture a return channel electronic signal; a processing unit 285 is used to calculate the actual resonant frequency; And a register 281, which stores the calculated spectral frequency. This analog signal can be used as a current or a lifetime. Figure 29 is a flow diagram of a method 29 of the embodiment of the system in accordance with the present invention for determining the actual resonant frequency of a mechanical system. The method can include generating a test drive signal (step 291A). The test drive signal can be a step drive signal having a value sufficient to drive the mechanical system to an intermediate position within the range of motion of the system. The driving signal can be generated according to a unit step function, a ramp function or other function, and the driving has a non-zero ride in a wide range of candidate vibration frequencies of the mechanical system in response to the test driving signal, the motor can The mechanical system is moved and the vibration behavior will be induced in the mechanical system. The oscillations induce an electrical signal in the return channel. The method can capture the talkback animal in the return channel sensing piracy, and store the spoof back traffic (step 2940). This method can be used to capture the return channel of the _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The actual resonant frequency of the mechanical system can be calculated according to the ''' stomach method 145777.doc • 27- 201037960 (step 2960). The process may further include storing the library in 4 temporary storage n (4) 2970). The second = oscillator, Li frequency can then be used to generate a (four) signal during the execution time, as discussed in the previous embodiment. Figure 3 shows the corresponding movement of the mechanical system in one of the test drive signals (examples and illustrations) in Figure 3 (a). The test drive t in Figure %(4) is the unit step drive signal 'which corresponds to the midpoint within the range of motion of the mechanical system. The drive signal is applied to the motor, which causes motion in the mechanical system. The displacement of the mechanical system in response to the midpoint drive signal is shown in Figure 30 (8). The ringing effect is found at the beginning of the displacement map, where (4) of the mechanical line first acts as a _#1 behavior before it reaches its corresponding (four) value. The oscillatory behavior is induced in the back S channel - the electron 4' has the same resonant frequency as the oscillations in the mechanical system. The spectral frequency can also be calculated during the -search/adaptation process. Figure 31 is a flow diagram of a method flow for adaptively adjusting the frequency of the stored vibrations of a mechanical system in accordance with an embodiment. The method can include applying a drive signal (step 3U0). At this point, one of the nominal values of 匕 can be stored in a register. The nominal value of 4 can be the last calculated &amp; value. The drive signal can be a _ test drive signal or a drive signal applied during normal operation. If the driving signal is a test driving signal 'the driving signal can be a unit step driving L number, which has a enough to drive the mechanical system to a towel in the mechanical system, and then move within the circumference of $n. The value of the position ^ The drive signal can be generated according to a unit step function - a ramp function or other function having a non-zero energy over a wide range of candidate spectral frequencies of the mechanical system at 145777.doc • 28· 201037960 . The drive signal should cause the mechanical system to move and induce a volatility behavior in the system. The method can estimate that one of the magnitudes of the vibrations can be = 2G). According to the method, the fR can be adjusted (step 313G). The adjustment, the orientation of the mechanical system and the factor of the step size. The method can include storing the calculated resonant frequency in the register. Ο ❹ = The stored resonant frequency is used to generate the drive L唬 during the execution time, as discussed in the previous embodiment. =32(4) is a method for calculating &amp; adjusting the amount according to the embodiment. The method may include estimating the material (four) - the frequency ::FE may have a tolerance, such as ·; therefore, no fine-cut is required. The method compares the stored to check that the stored tR疋 is located within Ff, β stored at f E or 疋 above Fe (step 3202). If the 32. ^, FE inside' then the method can maintain the stored fR (step * 4 stored &amp; under Fe, (d) method can increase the storage f to increase the amount of feed (32G4). If the storage &amp; crane Above, the method: reducing the fR of the default storage by a predetermined amount (3205). The method further comprises storing the adjusted fR in the fR register. Figure 32(b) is according to another A flowchart of a method 50 for calculating an adjustment amount in an embodiment. The method can include assigning a preferred fuzz or -) to an &amp; adjustment (step 3251). Preferred symbol base

Pattern or operation Shuang Hu.rr # + J A soil to private. The method can detect whether the performance of the mechanical system is degraded by comparing a current oscillation magnitude to the magnitude of the fish vibration (step 3252). The magnitude of the vibration increase over time indicates that the performance has been degraded. If the j-vibration magnitude is greater than the previous vibrancy magnitude, the method may change the preferred symbol and adjust fR by a predetermined amount based on the newly assigned symbol (step 3253). The method may further store the changed symbols as preferred symbols for the next person to repeat. If the magnitude of the oscillation is not greater than the previous amount of oscillation, the method maintains the preferred symbol and adjusts the predetermined amount by a predetermined amount (step 3254). The predetermined amount of change in fR can be set to a relatively small amount due to a large change in the undesired resonant frequency. Therefore, method 325 can continuously track and adjust f R . According to an embodiment, the return path debt measurement system can calculate the Dth required to move the mechanical system from the initial mechanical stop position. In addition, system manufacturers often do not know exactly the Dth of their mechanical systems. Moreover, particularly in consumer devices where system components must be manufactured inexpensively, Dth can vary between different manufacturing lots of a common product. Therefore, the calculation of the actual dth of the mechanical system (rather than depending on the manufacturer's expectations Dth) improves the accuracy of the mechanical system during use. - Figure 33 illustrates an embodiment of a drive signal generator 3300 that can be incorporated into a motor drive to calculate the actual Dth of the mechanical system. The drive signal generator 3300 operates in one of the motor drive initialization modes. The drive signal generator can include: an accumulator 332 〇 'which is used to generate a digital test drive signal; a digital to analog converter (DAC) 3330 for generating an analog test drive based on the digital output of the accumulator An output signal (which is applied to the motor of the mechanical structure); a return channel sensor for capturing a return channel electronic signal; a processing unit 335〇 for calculating the actual dth value or indicating the accumulation of the accumulator 3320 Another digital test drive 145777.doc -30-201037960 dynamic signal; and a DTH register 3330 for storing the calculated d value. This analog signal can be generated as a current or voltage. According to an embodiment of the invention, the drive signal generator may further comprise a position sensor 3360 for storing the position and direction of the mechanical system. The position sensor 3360 can be coupled to the accumulator 332A. Dth can be sensitive to the orientation of the second system. For example, a lens mechanical system can have a lower DTH when facing down because the assist force of gravity is downward, and conversely, the lens mechanical system can be both dry and Uτη when facing up.

〇 • ▼ — i η The reaction of the slewing is downward. Position sensor 3360 can be a tilt meter or any suitable position detecting device. Figure 34 is a flow diagram of a method 3400 for determining a DTH of a mechanical system in accordance with an embodiment of the present invention. Method 34 is executable - to determine the iterative process of dth. The process may generate a test drive signal using a current estimate of one of the dths stored in the Dth register command (step 342A). The test drive signal can be generated based on a unit step function. In a first iteration, the DTH estimate can be a pre-stylized value, but thereafter it can be set by -over. According to an embodiment, the test drive signal can be generated when a certain direction is detected. The test drive signal can also be generated based on the detected orientation of the mechanical system. The test drive signal can be applied to the motor of the mechanical system. If the value of the test drive money is # or higher than the actual D; then the motor makes the mechanical system (4), which is generated in the mechanical system (4). The isosceles can induce an electronic signal in the return channel. However, if the value of the test drive signal is lower than the actual Dth', the mechanical system does not move, and therefore, the return channel signal is not induced. 145777.doc -31· 201037960 Method 3400 monitors the return channel for oscillation conditions (step μ%) and determines if a return channel signal is present. If no return channel number is observed, method 3400 increments the test drive signal for another one. Only-over (step 3440). This method can be repeated. If a return channel signal is observed, the processing unit checks if the current Dth value is within a predetermined accuracy level (step ^ 3450). This check can be performed, for example, by determining that the value of Dth changes the number of H owes in the process. If the current estimate is not - accurate: the quasi-inner method reduces the beta test drive signal (step 3440). This method is repeated. μ, if the Dth value is known to be within the precision level, the processing unit stores the current Dm value as a final estimate in the ~storage (step MM). : After 'the method can end. The stored Dth value can then be used in any of the embodiments of the invention using the expected Du value. In addition, a feedback drive can be implemented. The search method is used to improve the convergence speed by performing the amplitude of the unit step functions based on the feedback parameters of the previous drive signal based on the feedback parameters of the previous drive signal. The drive signal - an example and the corresponding movement of the mechanical system in Figure 35 (8). The first step value in Fig. 35(4) is measured as the drive trajectory - the unit step drive letter corresponding to the estimated DTH value. The drive money is applied to the motor, which causes the operation in the machine. The displacement of the mechanical system in response to the first step value test is shown in Figure 35(b). The ringing effect is found at the beginning of the displacement map, which = the displacement of the mechanical system is first set to be too mx for use before it stabilizes to its corresponding displacement value. This oscillating behavior induces a 145777.doc • 32· 201037960 electron l ' in the return channel that has the same spectral frequency as the oscillations in the mechanical system. The second step value of the test drive signal is lower than the first step value. The test drive signal does not drive the motor. Because the &amp; mechanical system does not move, there is no oscillation behavior as shown in Fig. 35. Therefore, the second step value test drive t number is lower than the actual Dth. The process may generate a third step value (not shown) between the first step value /, π hai first step value and repeatedly monitor the oscillation behavior until the Dth value is determined within the accuracy level. And continue. The spectral frequency &amp; and DTH values can be broken in the _initialization mode. This initialization mode can be triggered when the first 2 is turned on the mechanical system, or whenever the mechanical system is turned on, or at other preview times. The &amp; and Du calculations can also be performed simultaneously or continuously under the same initialization; or in different initialization modes. The right test is performed simultaneously, and the same test drive signal can be used for both processes' where the processing unit uses the same return channel signal to calculate both the real and DTH values. If two processes are executed continuously, the processes can be performed in any order. Alternatively, when (four) to n change, the Dth value can be modified according to a function or lookup table (LUT). Several embodiments of the invention are specifically illustrated and described herein. However, it will be understood that modifications and variations of the present invention are encompassed by the above teachings and in the scope of the accompanying claims. In addition, it will be appreciated that the signals described above represent an ideal form of drive signal with a transient response; in practice, the amount of rotation from the motor drive under actual operating conditions can be expected. These effects have been omitted from the previous discussion so as not to obscure the principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS 145777.doc • 33· 201037960 FIG. 1 is a block diagram of an exemplary mechanical system suitable for use with the present invention. Figure 2 is a graph of the frequency response of an exemplary mechanical system and the oscillations that may occur during startup. Figure 3 shows a conventional drive signal for a mechanical system. Figure 4 illustrates the response of the mechanical system observed under the - single step drive signal. Figure 5 illustrates a drive signal in accordance with an embodiment of the present invention. Figure 6 is a diagram for explaining the height and position of the drive signal of Figure 5. Figure 7 is a diagram showing the energy distribution of the frequency of a drive signal in accordance with the present invention. Figure 8 illustrates the response of the observer system to the drive signal as shown in Figure 5. Fig. 9 is a block diagram of a system in accordance with an embodiment of the present invention. ^ is a diagram of the distribution of the frequency of the drive (4) according to the present invention. Fig. 11 is a view in accordance with the present invention - Fig. 12 is a view for explaining the number according to the present invention. A block diagram of the system of the embodiment. Other Exemplary Drive Letters of the Embodiment FIG. 13 is a block diagram in accordance with the present invention. Figure 14 is a diagram for explaining the light according to the present invention. _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Figure 16 is a simplified block diagram of a drive signal generator of another embodiment according to the present invention. 145777.doc -34- 201037960. Figure 17 is a simplified block diagram of another embodiment in accordance with the present invention. Fig. 18 is a diagram showing an exemplary relationship between the typical displacement of the mechanical system (after stabilization) and the driving of the application. Figure 19 is a diagram illustrating an exemplary drive signal in accordance with another embodiment of the present invention. Figure 2 is a block diagram of another mechanical system suitable for use with the present invention. 4 is a simplified diagram of a MEMS driving signal generator of a Mems switching system according to an embodiment of the present invention. FIG. 22 is a simplified view of a MEMS according to an embodiment of the present invention. A diagram of the mirror control system. Figure 23 is a simplified diagram of a tactile control system in accordance with an embodiment of the present invention. Figure 24 is a simplified view of a disc reader in accordance with an embodiment of the present invention. Figure 25 is an additional view of the present invention. A simplified block diagram of a drive signal generator of an embodiment. Figure 26 is a diagram showing an exemplary driving signal of an example of a sound, a, such as 4, ^ ^ in accordance with the present invention. Figure 27 is a simplified diagram of a motor drive system suitable for the present invention. Figure 28 is a simplified block diagram of a drive signal generator in accordance with another embodiment of the present invention. Figure 29 shows a simplified process flow for the determination of the vibration frequency of the mold. 145777.doc -35- 201037960 - Mechanical system back Figure 30 illustrates the observation under a test drive signal

Figure 31 shows a simplified process flow for updating a resonant frequency. Figure 32 (4) shows a simplified process flow for adjusting a resonant frequency. Figure 32(b) shows a simplified process flow for adjusting - the resonant frequency. Figure 33 is a simplified block diagram of a drive signal generator in accordance with another embodiment of the present invention. Figure 34 shows a simplified process flow for determining - threshold voltage. Figure 35 illustrates a mechanical system observed under a unit step test drive signal. [Major component symbol description] 110 Imaging wafer 120 Motor driver 130 Voice coil motor 140 Lens 910 P LD LD register 920 PNEW register 930 Temporary storage 940 Subtractor 950 Step Signal Generator 960 Accumulator 970 Multiplier 980 Adder 1110 Drive Signal Generator 145777.doc -36· 201037960

1120.1 Notch Limit Filter 1120.N Notch Limit Filter 1300 Signal Generator 1310 Register 1320 Register 1330 Timing Engine 1340 Tap Register 1350 Multiply Accumulate (MAC) Unit 1360 Digital to Analog Converter (DAC) 1600 Drive Signal Generator 1610 Register 1620 Register 1630 Tap Register 1640 Accumulator 1650 Subtractor 1660 Divider 1670 Multiplier 1680 Adder 1700 Drive Signal Generator 1710 Register 1720 Register 1730 Connector Register 1740 Accumulator 1750 Subtractor 145777.doc •37- 201037960 1760 Value Register 1780 Digital to Analog Converter (DAC) 2000 System / Lens Control System 2010 Imaging Wafer 2010.1 Photosensitive Surface / Auto Focus Control 2010.2 Motion Detection Measurement 2010.3 Optical Image Stabilization (OIS) 2020 Motor Driver 2020.1 Motor Drive Unit 2020.2 Motor Drive Unit 2020.3 Motor Drive Unit 2030 Up and Down Deflection Motor 2040 Left and Right Deflection Motor 2050 Auto Focus Motor 2060 Lens 2110 Switch Part 2120 Movable "Beam" Section 2130 Output Terminal2140 Control Terminal 2150 Switch Driver 2200 Optical System 2210 Optical Transmitter 2220 Optical Receiver 2230 MEMS Mirror 145777.doc -38- 201037960 2240 Mirror Driver. 2250 Second Receiver 2300 Device 2310 Touch Screen Panel 2320 Touch Screen Controller 2330 Haptic motor controller / motor driver 2340 haptic effect motor 2410 motor drive swing arm 〇 2420 dish 'chip surface 2430 motor coil 2440 read head 2450 motor driver 2500 drive signal generator 2510 input code register 2520 old code register 2530 Subtractor Ο 2540 Ramp modulator 2550 Accumulator 2560 Digital to analog converter (DAC) 2700 Motor drive system 2710 Control chip 2720 Motor drive 2730 Motor 2740 Mechanical system 145777.doc -39- 201037960 2750 Mechanical structure 2800 Drive signal generation 2810 Register 2820 Accumulator 2830 Digital to Analog Converter (DAC) 2840 Return Channel Sensor 2850 Processing Unit 3300 Drive Signal Generator 3320 Accumulator 3330 Digital to Analog Converter (DAC) 3340 Return Channel Sensor 33 50 Processing Unit 3360 Position Sensor fR Resonant Frequency 145777.doc -40-

Claims (1)

201037960 VII. Application for Patent Fan Park··1· A method for using the calculated motor-driven mechanical system. The temple fixed spectrum frequency drive—applying a test drive signal to one of the motors of the machine Causes oscillating behavior in the 兮 mechanical system; 隹. Capture a sub-signal from the motor W; |仃 is the induced return channel spectral frequency. The resonant frequency The mechanical rate is based on the captured electrons; and the calculated spectral frequency is stored in the register. The rate will be used in an execution time mode. 2. The method of claim 1, further comprising: applying a drive signal to the motor of the mechanical system in the execution time mode, the drive signal having substantially zero energy at the calculated resonant frequency. The method of claim 1 wherein the motor is a lens driver motor. 4. A drive signal generator comprising: - a test signal generator having an output for connection to a motor of a mechanical system; a return channel sensor for capturing a cause caused by the motor An electronic signal induced by an oscillating behavior in a mechanical system; a processor for calculating a resonant frequency of the mechanical system based on the captured electronic signal; and a register for storing the calculated resonant frequency. 145777.doc 201037960 5. The drive signal generator of claim 4, wherein the accumulator generates a drive signal in the -execution time mode of operation, the drive signal having substantially zero energy at the stored resonant frequency. 6. The drive signal generator of claim 4, further comprising - a digital to analog converter for generating an analogy of the test drive signal. 7. A system comprising: a mechanical structure having a drive motor; a drive signal generator coupled to the drive motor, comprising: an initialization circuit operable in an initialization mode to generate a test Driving a signal to cause an oscillating behavior in the mechanical structure; a return channel sensor for capturing an electronic signal induced by the oscillating behavior caused by the motor; the electronic signal calculating the processing unit for Capturing one of the resonant frequencies of the mechanical structure; and operating the scoop cup in a field mode, the 8. The main beam is used to store the calculated resonant frequency of the register. ° month '7 system' where the drive circuit can enter - the execution time mode produces a drive &quot;, W 4 stored at the resonant frequency of the large 俨 w ° 唬 drive signal in the injury 9. As requested in item 7 Wire A has zero energy #° - used to generate, :; test ', the drive signal generator step-by-step contains the converter. The analogy of the phase-to-signal ratio to the analogy I45777.doc 201037960 The following steps are performed repeatedly: applying a drive signal having a § 4 step value to the motor; monitoring a signal line from the motor to obtain - by The movement-induced return channel electronic signal of the mechanical system; and the right and return channel nicknames indicating the movement of the mechanical system, then adjusting the step value for another repetition; s Application - When the step value of the oscillation is not caused in the mechanical system, the step value is stored as the threshold Dth, which will be used in the - mode. 11. The method of claim 10, further comprising: applying the stored DTH to the motor in an execution time mode. - Drive signal 12 - Method as claimed in claim 10 - A directional change trigger. Where the method is by the mechanical system 13. The method of claim 1, further comprising: ???said the orientation of the mechanical system; and adjusting the DTH based on the orientation. 14. Execute as in the method of claim 13. Wherein the adjustment is based on a function or look-up table 15. A drive signal generator comprising: a return circuit: an initialization circuit for generating a test drive signal to be applied to a current value of a motor; a return channel sensor for monitoring an electronic signal caused by the movement of the horse to the movement of the mechanical system; § 145777.doc 201037960 a processor for performing a repeated operation until determining - a threshold dth The repeated operation includes monitoring the return channel and adjusting the value of the s-type drive signal; and a register for storing the determined dth value. 16. The drive signal generator of claim 15 further comprising a "drive circuit" for generating a drive signal using the Dth in-execution time mode of the store. 17. The drive signal generator of claim 15, further comprising - generating an analogy of the analog signal to the analog converter for generating a drive signal generator such as claim 15, for further step-by-step measurement The position of the orientation of the mechanical system senses crying. 1 9. A system comprising: a mechanical structure having a drive motor; and - a drive signal generator coupled to the drive motor, the scoop A. : an initialization circuit operable in the -initial mode a test drive-return channel sensor for monitoring the movement of an electronic signal attributed to the movement of the mechanical structure; a processing unit for performing a repeated operation until greening Up to the limit value DTH, the repeated operation includes the test drive signal value; and (4) and the adjustment of a drive circuit, which can be performed in the execution of a moving snow H red m] The determined value is stored in the execution time mode to generate a drive signal using the stored DTH. 21. The system of claim 19, wherein the drive signal generator further comprises a converter to generate an analogy of the test drive signal. Analogy. 22. The system of claim 19, wherein the drive signal generator further includes a position sensor for detecting an orientation of the mechanical system. 3 ❹ 23. A system comprising: a mechanical structure having a drive motor; and a return channel detection system comprising: an 'on-initial % path operable in the -initial mode to test a test a driving signal is applied to the driving motor; a return channel sensor, the signal green of 1 is shaken ▲ an electronic signal from the driving motor number line (4) induced by the driving motor due to the movement of the structure; And a processing unit for calculating a characteristic value of the mechanical structure/current/return channel electronic signal and a driving circuit according to the number, the right-hand circuit includes a storage unit : Operation in time mode 'The drive 24. - Kind of temporary thief for driving _ motor drive ^. A method of applying a drive signal to _machine=4, comprising: causing a vibratory behavior in the system; the motor-motor captures the behavior-value estimate at the machine; adjusting the system based on the magnitude estimate, The first resonant frequency, and 145777.doc 201037960 The adjusted resonant frequency is stored in the - register. 2 5 - The method of claim 2, wherein the bottle is driven by a drive to drive a test drive signal. The method of claim 24, wherein the drive signal is a normal operation signal. a drive signal generator comprising: a zone drive-driver circuit for generating a signal to be applied to a motor; for capturing the vibration caused by the motor due to movement of a reel system Machine ~~ processing, gamma rate; and ° it is used to adjust a resonant buccal-feedback circuit according to the oscillations of the capture, i temporary storage thief's used to store the resonant frequency 145777.doc