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WO2018179566A1 - Appareil et procédé de commande de position, programme, et support d'enregistrement - Google Patents

Appareil et procédé de commande de position, programme, et support d'enregistrement Download PDF

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Publication number
WO2018179566A1
WO2018179566A1 PCT/JP2017/040209 JP2017040209W WO2018179566A1 WO 2018179566 A1 WO2018179566 A1 WO 2018179566A1 JP 2017040209 W JP2017040209 W JP 2017040209W WO 2018179566 A1 WO2018179566 A1 WO 2018179566A1
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WIPO (PCT)
Prior art keywords
actuator
nominal model
sensitivity
value
movable part
Prior art date
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Ceased
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PCT/JP2017/040209
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English (en)
Japanese (ja)
Inventor
佑介 金武
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Priority to JP2019508544A priority Critical patent/JP6605178B2/ja
Publication of WO2018179566A1 publication Critical patent/WO2018179566A1/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B7/00—Recording or reproducing by optical means, e.g. recording using a thermal beam of optical radiation by modifying optical properties or the physical structure, reproducing using an optical beam at lower power by sensing optical properties; Record carriers therefor
    • G11B7/08—Disposition or mounting of heads or light sources relatively to record carriers
    • G11B7/09—Disposition or mounting of heads or light sources relatively to record carriers with provision for moving the light beam or focus plane for the purpose of maintaining alignment of the light beam relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following

Definitions

  • the present invention relates to a position control apparatus and method.
  • the present invention relates to a position control apparatus and method particularly suitable for position control of an actuator having an elastic support mechanism.
  • the present invention also relates to a program for causing a computer to execute processing in the position control apparatus or method, and a recording medium on which the program is recorded.
  • feedback control is used as position control of the movable part of an actuator provided with an elastic support mechanism.
  • the feedback control is control for moving the movable part of the actuator to the target position based on the position information of the movable part of the actuator.
  • the performance index of feedback control includes stability and responsiveness. Stability can be obtained by securing a phase margin or gain margin in feedback control. For this purpose, it is necessary to lower the control gain. When the control gain is lowered, the responsiveness deteriorates. Therefore, stability and responsiveness are in a trade-off relationship. Furthermore, it is not easy to perform optimal control design in consideration of variations in actuator characteristics or disturbances acting on the actuator.
  • Patent Document 1 describes a disturbance observer that compensates for variations in actuator characteristics or disturbances acting on the actuator.
  • the disturbance observer divides the transfer function of the nominal model unit that simulates the transfer characteristic of the actuator with respect to the position of the movable part of the actuator, thereby estimating the actuator characteristic variation or the disturbance acting on the actuator.
  • the actuator drive voltage (or drive current) is corrected using the signal.
  • the disturbance observer is a kind of loop control because the estimated signal is fed back to the input. This loop control constitutes a minor loop in the feedback control.
  • the disturbance observer compensates for characteristic variations or disturbances below the control band of control in this minor loop.
  • JP-A-9-128770 paragraphs 0019 to 0020, FIG. 2
  • An object of the present invention is to solve the trade-off problem between stability and responsiveness in the position control of an actuator having an elastic support mechanism, and to improve the responsiveness.
  • the position control device includes: A position control device for controlling the position of a movable part of an actuator having an elastic support mechanism, A position target signal generator for outputting a position target signal indicating the target position of the movable part in the position control of the movable part; A DC sensitivity division unit that divides the position target signal by the DC sensitivity of a nominal model that simulates the transfer characteristics of the actuator; A disturbance compensator that compensates for a variation in characteristics of the actuator and a disturbance acting on the actuator, using the output of the DC sensitivity divider as an input;
  • the position control device since it is not necessary to use feedback control for position control, the trade-off problem between stability and responsiveness can be solved and responsiveness can be improved.
  • FIG. 2 is a block diagram schematically showing a configuration of a disturbance compensation unit in the position control device according to the first embodiment. It is a block diagram which shows the transfer function of the actuator shown by FIG. (A) And (b) is a figure which shows the frequency characteristic of the position detection signal act_p with respect to the voltage signal Edro of the actuator in Embodiment 1.
  • FIG. (A) And (b) is a figure which shows an example of the frequency characteristic of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation part 20 in Embodiment 1.
  • FIG. (A) And (b) shows the frequency characteristic of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20 when the Q value at the primary resonance frequency of the nominal model in the first embodiment is changed.
  • FIG. (A) And (b) shows the frequency characteristic of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20 when the Q value at the primary resonance frequency of the nominal model in the first embodiment is changed.
  • FIG. (A) And (b) shows the frequency characteristic of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20 when the Q value at the primary resonance frequency of the nominal model in the first embodiment is changed.
  • FIG. (A) And (b) is a figure which shows the step response of an actuator at the time of changing Q value in the primary resonance frequency of the nominal model in Embodiment 1.
  • FIG. (A) And (b) is a figure which shows the step response of an actuator at the time of changing Q value in the primary resonance frequency of the nominal model in Embodiment 1.
  • FIG. (A) And (b) is a figure which shows the step response of an actuator at the time of changing Q value in the primary resonance frequency of the nominal model in Embodiment 1.
  • FIG. FIG. 6 is a diagram illustrating a relationship between a Q value at a primary resonance frequency of a nominal model in Embodiment 1 and a target value convergence time in an actuator step response.
  • (A) And (b) is a figure which shows the frequency characteristic of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation part 20 at the time of changing the direct current sensitivity of the nominal model in Embodiment 1.
  • (A) And (b) is a figure which shows the step response of an actuator at the time of changing the direct current sensitivity of the nominal model in Embodiment 1.
  • FIG. It is a figure which shows the relationship between the direct current sensitivity of the nominal model in Embodiment 1, and the target value convergence time in the step response of an actuator.
  • (A) And (b) is a figure which shows the step response of the actuator in a prior art.
  • (A) And (b) is a figure which shows the step response of the actuator in Embodiment 1.
  • FIG. 10 is a block diagram schematically showing a configuration of a disturbance compensation unit in the position control device according to the second embodiment.
  • FIG. 20 is a block diagram showing a transfer function of the actuator shown in FIG. 19.
  • (A) And (b) is a figure which shows the frequency characteristic of the position detection signal act_p with respect to the voltage signal Edro of the actuator in Embodiment 2.
  • FIG. (A) And (b) is a figure which shows the frequency characteristic of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation part 20b in Embodiment 2.
  • FIG. (A) And (b) is a figure which shows the step response of the actuator in Embodiment 2.
  • FIG. It is a block diagram which shows the structure of the computer which performs the process of the position control apparatus of Embodiment 1 and 2 of this invention.
  • FIG. 1 is a block diagram schematically showing a configuration of a position control device 1 according to Embodiment 1 of the present invention.
  • This position control device is used for position control of a movable part of an actuator provided with an elastic support mechanism.
  • a position control device 1 shown in FIG. 1 includes a position target signal generation unit 10, a change width signal generation unit 12, a DC sensitivity division unit 14, and a disturbance compensation unit 20, and drives an actuator 30 to position the movable unit.
  • the actuator 30 includes an elastic support mechanism, and the movable portion of the actuator 30 is elastically supported by the elastic support mechanism.
  • the position target signal generator 10 outputs a position target signal ref_p.
  • the position target signal ref_p indicates a target position in the position control of the actuator 30.
  • the change width signal generation unit 12 outputs a change width of the position target signal ref_p, that is, a signal (change width signal) ref_p_s indicating a desired movement amount.
  • the change width signal ref_p_s receives, for example, the position target signal ref_p output from the position target signal generator 10, and outputs the change width signal ref_p_s indicating the change width when the position target signal ref_p changes stepwise. .
  • the DC sensitivity divider 14 receives the position target signal ref_p from the position target signal generator 10, receives the change width signal ref_p_s from the change width signal generator 12, and generates and outputs a voltage signal Edr based on these.
  • DC sensitivity divider 14 defines a DC sensitivity DCS m nominal model based on the change width signal Ref_p_s, in the DC sensitivity DCS m, and generates a voltage signal Edr by dividing the target position signal REF_P.
  • the transfer function of the DC sensitivity division unit 14 is 1 / DCS m when expressed using the DC sensitivity DCS m of the nominal model.
  • the disturbance compensator 20 receives the voltage signal Edr from the DC sensitivity divider 14.
  • the disturbance compensator 20 controls the position of the movable part of the actuator 30 based on the voltage signal Edr.
  • the position of the movable part of the actuator 30 is detected and input to the disturbance compensator 20 as a position detection signal act_p representing a position detection value.
  • a transfer function from the input (voltage signal Edr) of the disturbance compensator 20 to the position of the movable part of the actuator 30 (represented by the position detection signal act_p), that is, the total transfer function of the disturbance compensator 20 and the actuator 30 is expressed as O ( s).
  • s is a Laplace variable. Control of the position of the movable part of the actuator 30 is affected by the disturbance g from the disturbance source 16.
  • actuator position control is performed without using feedback control as shown in FIG. The reason will be explained later.
  • FIG. 2 is a block diagram schematically showing the configuration of the disturbance compensation unit 20 in the first embodiment.
  • the disturbance compensation unit 20 includes an addition unit 21, a nominal model division unit 22, a subtraction unit 25, and an LPF unit 26.
  • the disturbance compensation unit 20 is also called a disturbance observer.
  • the addition unit 21 receives the voltage signal Edr from the DC sensitivity division unit 14. Further, the adding unit 21 receives the voltage signal Edr3 from the LPF unit 26. The adder 21 calculates the sum (Edr + Edr3) of the voltage signal Edr and the voltage signal Edr3, and outputs a voltage signal Edr representing this sum.
  • Actuator 30 includes an elastic support mechanism.
  • the elastic support mechanism includes an elastic support member that movably supports the movable part.
  • the transfer function of the actuator 30 is P (s).
  • the nominal model division unit 22 receives a position detection signal act_p indicating the position of the movable part of the actuator 30.
  • the nominal model division unit 22 divides the position detection signal act_p by the transfer function P n (s) of the nominal model to generate and output a voltage signal Edr1.
  • the nominal model division unit 22 includes a transfer function generation unit 23 and a division unit 24.
  • the transfer function generation unit 23 generates the transfer function P n (s) of the above nominal model, and the division unit 24 performs the above division. I do.
  • the subtraction unit 25 receives the voltage signal Edro from the addition unit 21. Further, the subtraction unit 25 receives the voltage signal Edr1 from the nominal model division unit 22. The subtractor 25 calculates a difference (Edr-Edr1) between the voltage signal Edr and the voltage signal Edr1, and outputs a voltage signal Edr2 representing this difference.
  • the LPF unit 26 receives the voltage signal Edr2 from the subtracting unit 25.
  • the LPF unit 26 generates and outputs a voltage signal Edr3 by performing low-pass filtering on the voltage signal Edr2.
  • the disturbance compensation unit 20 of FIG. 2 is configured to feed back the voltage signal Edr3 generated by the LPF unit 26 based on the position detection signal act_p of the actuator 30 to the input of the disturbance compensation unit 20.
  • the disturbance compensator 20 is a minor loop in the position control device 1.
  • the LPF unit 26 determines the control band of the minor loop, and the cutoff frequency of the LPF unit 26 becomes the control band of the minor loop.
  • the transfer function of the LPF unit 26 is represented by F c (s).
  • the actuator 30 has the configuration shown in the block diagram of FIG. FIG. 3 assumes a case where the actuator 30 is an objective lens actuator in an optical pickup.
  • FIG. 3 further assumes a case where the actuator 30 includes a voice coil motor and drives the objective lens by passing a current through the coil.
  • the actuator 30 includes a subtractor 301, a voltage / current converter 302, a current force converter 303, a subtractor 304, a movable part mass divider 305, an adder 306, an acceleration / speed converter 307, a speed A back electromotive force conversion unit 308, a speed position conversion unit 309, a movable part viscosity coefficient multiplication unit 310, a movable part elastic coefficient multiplication unit 311, and an addition unit 312 are provided.
  • the subtractor 301 receives the voltage signal Edro from the adder 21 in FIG.
  • the subtractor 301 receives the voltage signal Edro4 from the speed counter electromotive force converter 308.
  • the subtraction unit 301 calculates a difference (Ero-Edro4) between the voltage signal Edro and the voltage signal Edro4. Then, the subtraction unit 301 outputs a voltage signal Edro1 corresponding to this difference.
  • the voltage-current conversion unit 302 receives the voltage signal Edro1 from the subtraction unit 301.
  • the voltage-current converter 302 outputs a current signal Idro1 based on the voltage signal Edro1.
  • the transfer function of the voltage-current converter 302 is 1 / (Ls + R) when expressed using the resistance R and inductance L of the voice coil.
  • the current force conversion unit 303 receives the current signal Idro1 from the voltage / current conversion unit 302.
  • the current force conversion unit 303 outputs a force signal Fdro1 based on the current signal Idro1.
  • the transfer function of the current power conversion unit 303 is a force constant (current force conversion coefficient) K t.
  • the current force conversion unit 303 corresponds to a function in which the voice coil motor converts a current into a force (electromagnetic force) acting on the movable unit.
  • the subtraction unit 304 receives the force signal Fdro1 from the current force conversion unit 303. In addition, the subtraction unit 304 receives the force signal Fdro2 from the addition unit 312. The subtraction unit 304 calculates a difference (Fdro1-Fdro2) between the force signal Fdro1 and the force signal Fdro2. Then, the subtraction unit 304 outputs a force signal Fdro3 corresponding to this difference.
  • the movable part mass division unit 305 receives the force signal Fdro3 from the subtraction unit 304.
  • the movable part mass dividing unit 305 divides the force signal Fdro3 by the mass m 1 of the movable part of the actuator 30 to generate and output the acceleration signal Aro3.
  • the transfer function of the movable part mass dividing unit 305 is 1 / m 1 when expressed using the mass m 1 of the movable part.
  • the movable part mass division unit 305 corresponds to an action in which electromagnetic force generated by the voice coil motor is converted into acceleration.
  • the adder 306 receives the acceleration signal Aro3 from the movable part mass divider 305. Further, the adding unit 306 receives the acceleration disturbance g. The adder 306 calculates the sum (AdrO3 + g) of the acceleration signal Adro3 and the acceleration disturbance g, and outputs an acceleration signal Adro4 representing this sum.
  • the adding unit 306 corresponds to a process in which an acceleration disturbance g is added to the acceleration caused by the electromagnetic force of the voice coil motor.
  • the acceleration speed conversion unit 307 receives the acceleration signal Adro4 from the addition unit 306.
  • the acceleration speed conversion unit 307 integrates the acceleration signal Adro4 and outputs a speed signal Vdro4.
  • the transfer function of the acceleration speed conversion unit 307 is 1 / s.
  • the speed counter electromotive force conversion unit 308 receives the speed signal Vdro4 from the acceleration speed conversion unit 307. Speed counter electromotive force converting unit 308 multiplies the counter electromotive force constant K e generates and outputs a voltage signal Edro4 by the speed signal Vdro4. The transfer function of the velocity counter electromotive force converting unit 308, a counter electromotive force constant K e.
  • the speed counter electromotive force conversion unit 308 corresponds to a function in which the voice coil motor converts the movement of the movable part into a counter electromotive force generated in the coil.
  • the speed position converter 309 receives the speed signal Vdro4 from the acceleration speed converter 307.
  • the speed position conversion unit 309 integrates the speed signal Vdro4 and outputs an actuator position detection signal act_p.
  • the transfer function of the speed position conversion unit 309 is 1 / s.
  • the acceleration speed conversion unit 307 and the speed position conversion unit 309 correspond to the action of converting acceleration acting on the movable part into speed and position.
  • the movable part viscosity coefficient multiplying unit 310 receives the speed signal Vdro4 from the acceleration speed converting unit 307. Movable portion viscosity coefficient multiplying unit 310 generates and outputs a force signal Fdro4 by multiplying the viscosity coefficient c 1 to the speed signal Vdro4.
  • the transfer function of the movable portion viscosity coefficient multiplying unit 310 is a viscosity coefficient c 1.
  • the movable part viscosity coefficient multiplying unit 310 corresponds to an action in which the speed is converted into force by the viscous resistance received by the movable part.
  • the movable part elastic coefficient multiplier 311 receives the actuator position detection signal act_p from the speed position converter 309. Movable elastic coefficient multiplication unit 311 generates a force signal Fdro5 output by multiplying the elastic modulus k 1 to the actuator position detection signal Act_p.
  • the transfer function of the movable elastic coefficient multiplication unit 311 is an elastic coefficient k 1.
  • the movable part elastic coefficient multiplying unit 311 corresponds to an operation in which the elastic support mechanism converts the displacement of the movable part into a restoring force.
  • the adder 312 receives the force signal Fdro4 from the movable part viscosity coefficient multiplier 310. In addition, the addition unit 312 receives the force signal Fdro5 from the movable part elastic coefficient multiplication unit 311. The adder 306 calculates the sum (Fdro4 + Fdro5) of the force signal Fdro4 and the force signal Fdro5, and outputs a force signal Fdro2 representing the force given by this sum.
  • the output Fdo2 of the adder 312 is subtracted from the output Fdro1 of the current force converter 303 by the subtractor 304.
  • the processing by the adding unit 312 and the subtracting unit 304 corresponds to a part of the electromagnetic force generated by the voice coil motor being used to resist the restoring force due to viscous resistance and elasticity, and the rest contributing to driving of the movable unit. To do.
  • the transfer function generation unit 23 generates a transfer function P n (s) of a model that simulates the transfer function of the actuator 30.
  • the division unit 24 divides the position detection signal act_p by the transfer function P n (s) generated by the transfer function generation unit 23.
  • the nominal model used for generation of the transfer function by the transfer function generation unit 23 generally has the same configuration as the actuator 30 shown in FIG. However, the nominal model is different from that shown in FIG. 3 in that the acceleration disturbance g is not input, the adding unit 306 is not provided, and the output Adro3 of the movable part mass dividing unit 305 is input to the acceleration speed converting unit 307 as it is.
  • the constant K t in the conversion unit 303 and the constant K e in the speed counter electromotive force conversion unit 308 are affected by temperature, but in the nominal model, they are assumed to be constant regardless of the temperature. Further, the viscosity coefficient c 1 and the elastic coefficient k 1 can be changed, and by changing them, the DC sensitivity of the nominal model and the Q value at the primary resonance frequency can be adjusted.
  • the change width signal ref_p_s output from the change width signal generation unit 12 is supplied to the transfer function generation unit 23 so that the Q value at the primary resonance frequency of the nominal model is 0 dB or less and this change is performed.
  • the parameters of the nominal model are adjusted so that the DC sensitivity DCS m of the nominal model becomes sufficiently small.
  • the change width represented by the change width signal ref_p_s is represented by reference sign ref_p_e so that the Q value at the primary resonance frequency of the nominal model is in the range of ⁇ 6 dB to 0 dB, and the actuator 30
  • the DC sensitivity DCS m of the nominal model is a value given by ref_p_e / V_max or a value slightly larger than this, for example, a value given by ref_p_e / V_max. It is desirable to adjust the parameters of the nominal model so that the value is within the range up to 25 times. Adjustment of the parameters of the nominal model can be performed, for example, by changing the viscosity coefficient c 1 and the elastic coefficient k 1 used in the transfer function generation unit 23.
  • FIGS. 4A and 4B are diagrams showing the frequency characteristics of the position detection signal act_p with respect to the voltage signal Edro of the actuator 30 in the first embodiment.
  • FIG. 4A shows the frequency characteristic (gain characteristic) of the gain.
  • the horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB].
  • FIG. 4B shows the frequency characteristics (phase characteristics) of the phase.
  • the horizontal axis is frequency [Hz] and the vertical axis is phase [deg].
  • characteristic curves GA1 and PH1 represented by chain lines indicate frequency characteristics when the temperature of the actuator 30 is ⁇ 30 ° C.
  • Characteristic curves GA2 and PH2 represented by broken lines indicate frequency characteristics when the temperature of the actuator 30 is + 20 ° C.
  • Characteristic curves GA3 and PH3 represented by dotted lines indicate frequency characteristics when the temperature of the actuator 30 is + 85 ° C.
  • the frequency characteristic of the actuator 30 is such that the Q value at the primary resonance frequency is greater than 0 dB.
  • the gain characteristic and the phase characteristic change depending on the temperature of the actuator 30.
  • the reason why the gain characteristic and the phase characteristic change with temperature is because the parameter of the actuator changes with temperature. Specifically, viscosity coefficient c 1 of FIG. 3, the elastic coefficient k 1, resistor R, inductance L, the force constant K t, the counter electromotive force constant K e is changed by temperature. Since the gain characteristic and the phase characteristic change depending on the temperature, it is not easy to perform optimum position control in consideration of the characteristic variation of the actuator 30.
  • FIG. 5A and 5 (b) are diagrams illustrating an example of frequency characteristics of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20 in the first embodiment.
  • FIG. 5A shows the frequency characteristic (gain characteristic) of the gain.
  • the horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB].
  • FIG. 5B shows the frequency characteristics (phase characteristics) of the phase.
  • the horizontal axis is frequency [Hz] and the vertical axis is phase [deg].
  • characteristic curves GA4 and PH4 represented by chain lines indicate frequency characteristics when the temperature of the actuator 30 is ⁇ 30 ° C.
  • Characteristic curves GA5 and PH5 represented by broken lines indicate frequency characteristics when the temperature of the actuator 30 is + 20 ° C.
  • Characteristic curves GA6 and PH6 represented by dotted lines indicate frequency characteristics when the temperature of the actuator 30 is + 85 ° C.
  • Characteristic curves GA7 and PH7 represented by solid lines indicate the frequency characteristics of the nominal model.
  • the gain characteristic and the phase characteristic do not change depending on the temperature of the actuator 30.
  • the frequency characteristic of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensator 20 that is, the total frequency characteristic of the disturbance compensator 20 and the actuator 30 agrees well with the frequency characteristic of the nominal model. In this way, the disturbance compensator 20 can compensate for variations in the characteristics of the actuator 30.
  • FIG. 6A to 8B show the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20 when the Q value at the primary resonance frequency of the nominal model in the first embodiment is changed. It is a figure which shows a frequency characteristic. However, the temperature is set to 20 ° C.
  • FIG. 6A, FIG. 7A, and FIG. 8A show gain frequency characteristics (gain characteristics). The horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB].
  • FIG. 6B, FIG. 7B, and FIG. 8B show the frequency characteristics (phase characteristics) of the phase.
  • the horizontal axis is frequency [Hz] and the vertical axis is phase [deg].
  • characteristic curves GA11 and PH11 represented by chain lines indicate frequency characteristics when the Q value at the primary resonance frequency of the nominal model is 4 dB.
  • Characteristic curves GA12 and PH12 represented by broken lines indicate frequency characteristics when the Q value at the primary resonance frequency of the nominal model is 2 dB.
  • Characteristic curves GA13 and PH13 represented by dotted lines show frequency characteristics when the Q value at the primary resonance frequency of the nominal model is 0 dB.
  • characteristic curves GA14 and PH14 represented by chain lines indicate frequency characteristics when the Q value at the primary resonance frequency of the nominal model is ⁇ 2 dB.
  • Characteristic curves GA15 and PH15 represented by broken lines indicate frequency characteristics when the Q value at the primary resonance frequency of the nominal model is ⁇ 4 dB.
  • Characteristic curves GA16 and PH16 represented by dotted lines indicate frequency characteristics when the Q value at the primary resonance frequency of the nominal model is ⁇ 6 dB.
  • characteristic curves GA17 and PH17 represented by chain lines indicate frequency characteristics when the Q value at the primary resonance frequency of the nominal model is ⁇ 8 dB.
  • Characteristic curves GA18 and PH18 represented by broken lines indicate frequency characteristics when the Q value at the primary resonance frequency of the nominal model is ⁇ 10 dB.
  • Characteristic curves GA19 and PH19 represented by dotted lines show frequency characteristics when the Q value at the primary resonance frequency of the nominal model is ⁇ 12 dB.
  • FIGS. 9A to 11B are diagrams showing the step response of the actuator 30 when the Q value at the primary resonance frequency of the nominal model in the first embodiment is changed.
  • the DC sensitivity DCS m of the nominal model is set to 5.3333e-5, and the temperature is set to 20 ° C.
  • the horizontal axis represents the elapsed time [sec] from a certain reference time.
  • the position target signal ref_p of the actuator 30 is changed from 0 [m] to 1e-4 [m] ("e- “4” represents “ ⁇ 10 ⁇ 4 ” (the same applies hereinafter), and the change in the position target signal ref_p is shown.
  • 9B, FIG. 10B, and FIG. 11B show the position target signal ref_p of the actuator 30 in FIG. 9A, FIG. 10A, and FIG.
  • characteristic curves RE21 and A21 indicated by chain lines indicate step responses when the Q value at the primary resonance frequency of the nominal model is 4 dB.
  • Characteristic curves RE22 and A22 represented by broken lines show step responses when the Q value at the primary resonance frequency of the nominal model is 2 dB.
  • Characteristic curves RE23 and A23 represented by dotted lines show step responses when the Q value at the primary resonance frequency of the nominal model is 0 dB.
  • characteristic curves RE24 and A24 represented by chain lines indicate step responses when the Q value at the primary resonance frequency of the nominal model is ⁇ 2 dB.
  • Characteristic curves RE25 and A25 represented by broken lines indicate step responses when the Q value at the primary resonance frequency of the nominal model is ⁇ 4 dB.
  • Characteristic curves RE26 and A26 represented by dotted lines show step responses when the Q value at the primary resonance frequency of the nominal model is ⁇ 6 dB.
  • characteristic curves RE27 and A27 indicated by chain lines indicate step responses when the Q value at the primary resonance frequency of the nominal model is ⁇ 8 dB.
  • Characteristic curves RE28 and A28 represented by broken lines show step responses when the Q value at the primary resonance frequency of the nominal model is ⁇ 10 dB.
  • Characteristic curves RE29 and A29 represented by dotted lines show step responses when the Q value at the primary resonance frequency of the nominal model is ⁇ 12 dB.
  • FIG. 12 is a diagram showing the relationship between the Q value at the primary resonance frequency of the nominal model in the first embodiment and the target value convergence time in the step response of the actuator.
  • the horizontal axis represents the Q value [dB] at the primary resonance frequency of the nominal model, and the vertical axis represents the target value convergence time [sec].
  • the target value convergence time is the time from the start of the step response until the actuator settles at the target position.
  • FIG. 12 shows that the target value convergence time is short when the Q value at the primary resonance frequency of the nominal model is between ⁇ 6 dB and 0 dB. Therefore, the Q value at the primary resonance frequency of the nominal model is set to -6 dB or more and 0 dB or less.
  • the target value convergence time can be suppressed between 0.00481 [sec] and 0.0052 [sec].
  • FIGS. 13A and 13B are diagrams showing frequency characteristics of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20 when the DC sensitivity of the nominal model in the first embodiment is changed. It is. However, the Q value at the primary resonance frequency of the nominal model is set to ⁇ 4 dB. The temperature is set to 20 ° C.
  • FIG. 13A shows the frequency characteristic (gain characteristic) of the gain.
  • the horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB].
  • FIG. 13B shows the frequency characteristics (phase characteristics) of the phase.
  • the horizontal axis is frequency [Hz] and the vertical axis is phase [deg].
  • characteristic curves GA31 and PH31 indicated by chain lines indicate frequency characteristics when the DC sensitivity of the nominal model is 8.00e-5 [m / V].
  • Characteristic curves GA32 and PH32 represented by broken lines show frequency characteristics when the DC sensitivity of the nominal model is 3.20e-5 [m / V].
  • Characteristic curves GA33 and PH33 represented by dotted lines show frequency characteristics when the DC sensitivity of the nominal model is 2.00e-5 [m / V].
  • FIGS. 14A and 14B are diagrams showing step responses of the actuator 30 when the DC sensitivity of the nominal model in the first embodiment is changed.
  • the Q value at the primary resonance frequency of the nominal model is set to ⁇ 4 dB.
  • the temperature is set to 20 ° C.
  • the horizontal axis represents the elapsed time [sec] from a certain reference time point.
  • FIG. 14A shows a change in the position target signal ref_p when the position target signal ref_p of the actuator 30 is changed from 0 [m] to 1e-4 [m] after 0.002 seconds have elapsed.
  • FIG. 14B shows a step response of the position detection signal act_p when the position target signal ref_p of the actuator 30 is changed as shown in FIG. 14A.
  • characteristic curves RE41 and A41 represented by chain lines indicate step responses when the DC sensitivity of the nominal model is 8.00e-5 [m / V].
  • Characteristic curves RE42 and A42 represented by broken lines show step responses when the DC sensitivity of the nominal model is 3.20e-5 [m / V].
  • Characteristic curves RE43 and A43 represented by dotted lines show step responses when the DC sensitivity of the nominal model is 2.00e-5 [m / V].
  • FIG. 15 is a diagram showing the relationship between the DC sensitivity of the nominal model in the first embodiment and the target value convergence time in the step response of the actuator.
  • the horizontal axis represents the DC sensitivity of the nominal model, and the vertical axis represents the target value convergence time [sec].
  • the target value convergence time is the time from the start of the step response until the actuator settles at the target position.
  • FIG. 15 shows that the target value convergence time is shorter as the DC sensitivity of the nominal model is smaller.
  • the direct current sensitivity decreases, it is necessary to increase the voltage signal Edr for moving to the target position.
  • the DC sensitivity of the nominal model is ref_p_e / V_max
  • the direct current sensitivity of the nominal model at this time is 2.5e-5 [m / V]. This is 1.25 times the lower limit of 2e-5 [m / V].
  • the DC sensitivity of the nominal model is ref_p_e / V_max Or a value slightly larger than this, for example, ref_p_e / V_max It is desirable to design so as to be a value within a range from the value given by 1.25 to a value 1.25 times that value. However, if the target value convergence time in FIG. 15 is within the allowable range, the DC sensitivity of the nominal model is not necessarily set within the above range.
  • the maximum value V_max of the voltage that can be applied is, for example, the maximum rated value described in the specifications of the actuator 30.
  • 16 (a) and 16 (b) are diagrams showing a step response of the actuator 30 in the conventional example.
  • the horizontal axis represents an elapsed time [sec] from a certain reference time point.
  • FIG. 16A shows a change in the position target signal ref_p when the position target signal ref_p of the actuator 30 is changed from 0 [m] to 1e-4 [m] after 0.002 seconds have elapsed.
  • FIG. 16B shows a step response of the position detection signal act_p when the position target signal ref_p of the actuator 30 is changed as shown in FIG.
  • characteristic curves RE51 and A51 represented by chain lines indicate step responses when the temperature of the actuator 30 is ⁇ 30 ° C.
  • Characteristic curves RE52 and A52 represented by broken lines indicate step responses when the temperature of the actuator 30 is + 20 ° C.
  • Characteristic curves RE53 and A53 represented by dotted lines show step responses when the temperature of the actuator 30 is + 85 ° C.
  • FIGS. 17A and 17B are diagrams showing the step response of the actuator 30 in the first embodiment.
  • the horizontal axis represents the elapsed time [sec] from a certain reference time point.
  • FIG. 17A shows a change in the position target signal ref_p when the position target signal ref_p of the actuator 30 is changed from 0 [m] to 1e-4 [m] after 0.002 seconds have elapsed.
  • FIG. 17 (b) shows the step response of the position detection signal act_p when the position target signal ref_p of the actuator 30 is changed as shown in FIG. 17 (a).
  • characteristic curves RE61 and A61 represented by chain lines indicate step responses when the temperature of the actuator 30 is ⁇ 30 ° C.
  • Characteristic curves RE62 and A62 represented by broken lines show step responses when the temperature of the actuator 30 is + 20 ° C.
  • Characteristic curves RE63 and A63 represented by dotted lines show step responses when the temperature of the actuator 30 is + 85 ° C.
  • step response of the actuator 30 in the first embodiment has no overshoot and a good response.
  • the characteristic of the nominal model is the same as the characteristic when the temperature of the actuator 30 is + 20 ° C. This is because + 20 ° C. is the design center in the position control of the actuator 30.
  • the Q value at the primary resonance frequency of the nominal model is greater than 0 dB. For this reason, feedback control is required as position control. This causes a trade-off problem between stability and responsiveness in control.
  • the Q value at the primary resonance frequency of the nominal model to 0 dB or less, the position can be properly adjusted without performing feedback control. Control can be performed.
  • the Q value at the primary resonance frequency of the nominal model is set to 0 dB or less, and the DC sensitivity of the nominal model is reduced, thereby reducing the actuator.
  • Embodiment 2 the position control of the movable part of the actuator 30 has been described on the assumption that the actuator 30 is an objective lens actuator in an optical pickup.
  • position control in the case where the actuator 30 is a drive mechanism for a directivity control mirror will be described.
  • the directivity control mirror corrects, for example, the occurrence of a directional axis shift or observation image blur due to vibration of an optical observation device mounted on a high-precision optical observation satellite, and is installed inside the optical observation device.
  • the position control device according to the second embodiment controls the position in the rotational direction (angular position), but is simply referred to as a position for simplicity.
  • the angular velocity and angular acceleration are referred to as velocity and angular velocity for simplicity.
  • FIG. 18 is a block diagram schematically showing the configuration of the position control device 1b according to the second embodiment of the present invention.
  • the position control device 1b of FIG. 18 is generally the same as the position control device 1 of FIG. 1, but instead of the DC sensitivity division unit 14 and disturbance compensation unit 20 of FIG. 1, the DC sensitivity division unit 14b and disturbance compensation unit 20b. Is provided.
  • FIG. 19 is a block diagram schematically showing the configuration of the disturbance compensation unit 20b in the second embodiment.
  • the disturbance compensator 20b in FIG. 19 is generally the same as the disturbance compensator 20 in FIG. 2, but a nominal model divider 22b is provided instead of the nominal model divider 22 in FIG.
  • the actuator 30b in the second embodiment can be grasped as having the configuration shown in the block diagram of FIG. 20 by paying attention to the transfer function.
  • FIG. 20 assumes a case where the actuator 30b is a drive mechanism for a directivity control mirror.
  • FIG. 20 further assumes a case where the actuator 30b includes an electromagnetic drive mechanism and drives a movable part including a directivity control mirror by causing a current to flow through the coil.
  • the actuator 30b shown in FIG. 20 is generally the same as the actuator 30 of FIG. 3, but the current force converter 303, the movable part mass divider 305, the movable part viscosity coefficient multiplier 310, and the movable part elastic coefficient multiplier of FIG. Instead of the unit 311, a current torque conversion unit 323, an inertia moment division unit 325, a bearing viscosity coefficient multiplication unit 330, and a bearing elastic coefficient multiplication unit 331 are provided.
  • the current torque converter 323 receives the current signal Idro1 from the voltage / current converter 302.
  • the current torque converter 323 outputs a torque signal ⁇ dro1 based on the current signal Idro1.
  • the transfer function of the current torque converter 323 is a torque constant K ⁇ .
  • the inertia moment division unit 325 receives the torque signal ⁇ dro3 from the subtraction unit 304.
  • the inertia moment division unit 325 divides the torque signal ⁇ dro3 by the inertia moment J to generate and output an angular acceleration signal Aro3.
  • the transfer function of the inertia moment dividing unit 325 is 1 / J when expressed using the inertia moment J.
  • the bearing viscosity coefficient multiplier 330 receives the speed signal Vdro4 from the acceleration speed converter 307.
  • Bearing viscosity coefficient multiplication unit 330 generates and outputs a torque signal ⁇ dro4 by multiplying the viscosity coefficient c 2 on the speed signal Vdro4.
  • the transfer function of the bearing viscosity coefficient multiplying unit 330 is a viscosity coefficient c 2.
  • the “bearing” here is a bearing that rotatably supports the directivity control mirror.
  • the bearing elastic coefficient multiplier 331 receives the actuator position detection signal act_p from the speed position converter 309. Bearing elastic coefficient multiplication unit 331 generates and outputs a torque signal ⁇ dro5 by multiplying the elastic coefficient k 2 in the actuator position detection signal Act_p.
  • the transfer function of the bearing elastic coefficient multiplication unit 331 is an elastic coefficient k 2.
  • the DC sensitivity divider 14b receives the position target signal ref_p from the position target signal generator 10, receives the change width signal ref_p_s from the change width signal generator 12, and generates and outputs a voltage signal Edr based on these.
  • DC sensitivity divider 14 defines a DC sensitivity DCS m nominal model based on the change width signal Ref_p_s, in the DC sensitivity DCS m, and generates a voltage signal Edr by dividing the target position signal REF_P.
  • the transfer function of the DC sensitivity dividing unit 14b is 1 / DCS m when expressed using the DC sensitivity DCS m of the nominal model.
  • the nominal model division unit 22b receives the position detection signal act_p from the actuator 30b.
  • the nominal model division unit 22b generates and outputs a voltage signal Edr1 by dividing the position detection signal act_p by the transfer function P n (s) of the nominal model.
  • the nominal model division unit 22 b includes a transfer function generation unit 23 b and a division unit 24.
  • the transfer function generation unit 23b generates a transfer function P n (s) of a model that simulates the transfer function of the actuator 30b.
  • the division unit 24 divides the position detection signal act_p by the transfer function P n (s) generated by the transfer function generation unit 23b.
  • the nominal model used for generating the transfer function in the transfer function generating unit 23b has generally the same configuration as the actuator 30b shown in FIG. However, the nominal model is different from that in FIG. 20 in that the acceleration disturbance g is not input, the adder 306 is not provided, and the output Adro3 of the inertia moment divider 325 is input to the acceleration speed converter 307 as it is.
  • the actuator 30b the viscosity coefficient c 2 multiplied by the bearing viscosity coefficient multiplier 330, the elastic coefficient k 2 multiplied by the bearing elastic coefficient multiplier 331, the resistance R and inductance L in the voltage / current converter 302, and the current torque converter.
  • the constant K ⁇ in H.323 and the constant K e in the speed counter electromotive force conversion unit 308 are affected by temperature, but in the nominal model, they are assumed to be constant regardless of the temperature. Furthermore, viscosity coefficient c 2 and elastic coefficient k 2 can be altered, Q value is adjustable in the DC sensitivity and the primary resonance frequency of the nominal model by changing them.
  • the change width signal ref_p_s output from the change width signal generation unit 12 is supplied to the transfer function generation unit 23b so that the Q value at the primary resonance frequency of the nominal model is 0 dB or less and this change
  • the parameters of the nominal model are adjusted so that the DC sensitivity DCS m of the nominal model becomes sufficiently small.
  • the change width represented by the change width signal ref_p_s is represented by a symbol ref_p_e so that the Q value at the primary resonance frequency of the nominal model is in the range of ⁇ 6 dB to 0 dB, and the actuator 30b
  • the DC sensitivity DCS m of the nominal model is a value given by ref_p_e / V_max or a value slightly larger than this, for example, a value given by ref_p_e / V_max. It is desirable to adjust the parameters of the nominal model so that the value is within the range up to 25 times. Adjustment of the parameters of the nominal model can be performed, for example, by changing the viscosity coefficient c 2 and the elastic coefficient k 2 used in the transfer function generation unit 23b.
  • FIG. 21 (a) and 21 (b) are diagrams showing frequency characteristics of the position detection signal act_p with respect to the voltage signal Edro of the actuator 30b in the second embodiment.
  • FIG. 21A shows a frequency characteristic (gain characteristic) of gain.
  • the horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB].
  • FIG. 21B shows the frequency characteristics (phase characteristics) of the phase.
  • the horizontal axis is frequency [Hz] and the vertical axis is phase [deg].
  • the frequency characteristic of the actuator 30b is similar to the frequency characteristic of the actuator 30 in the first embodiment, and the Q value at the primary resonance frequency is greater than 0 dB. Yes.
  • FIG. 22 (a) and 22 (b) are diagrams showing frequency characteristics of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20b in the second embodiment.
  • FIG. 22A shows the frequency characteristic (gain characteristic) of the gain.
  • the horizontal axis represents frequency [Hz] and the vertical axis represents gain [dB].
  • FIG. 22B shows the frequency characteristics (phase characteristics) of the phase.
  • the horizontal axis is frequency [Hz] and the vertical axis is phase [deg].
  • characteristic curves GA71 and PH71 represented by dotted lines indicate the frequency characteristics of the actuator 30b.
  • Characteristic curves GA72 and PH72 represented by solid lines indicate the frequency characteristics of the nominal model.
  • the Q value at the primary resonance frequency of the nominal model is set to ⁇ 4 dB.
  • the frequency characteristics of the position detection signal act_p with respect to the input voltage signal Edr to the disturbance compensation unit 20b that is, the disturbance compensation unit.
  • the overall characteristics of 20b and actuator 30b can be made equivalent to those of the nominal model.
  • FIG. 23A and FIG. 23B are diagrams showing a step response of the actuator 30b in the second embodiment.
  • the horizontal axis represents the elapsed time [sec] from a certain reference time.
  • FIG. 23A shows a change in the position target signal ref_p when the position target signal ref_p of the actuator 30b is changed from 0 [rad] to 1e-4 [rad] after 0.2 seconds have elapsed.
  • FIG. 23B shows the step response of the position detection signal act_p when the position target signal ref_p of the actuator 30b is changed as shown in FIG.
  • step response of the actuator 30b according to the second embodiment has no overshoot and a good response.
  • the step response can be improved with the same configuration as the position control device 1 according to the first embodiment. That is, the same effect as in the first embodiment can be obtained by designing the nominal model similar to that in the first embodiment.
  • a part or all of the processing performed by a part or all of the configuration of the above position control circuit or the part of the processing performed by the above position control method can be executed by a computer including a processor. Therefore, a program for causing a computer to execute part or all of the configuration of the position control device described above, a part or all of the processing performed by the position control method, and a computer recording the program A readable recording medium also forms part of the present invention.
  • the computer shown in FIG. 24 includes a processor 51, a program memory 52, a data memory 53, an input interface 54, and an output interface 55, which are connected by a data bus 56.
  • the processor 51 operates in accordance with a program stored in the program memory 52, and processes each part of the position control device of the first or second embodiment on the position detection signal act_p input via the input interface 54.
  • the voltage signal Edro obtained as a result of the processing is output from the output interface 55.
  • the contents of the processing by the processor 51 are the same as those described in the first and second embodiments.
  • Data generated in the course of processing is held in the data memory 53.
  • the data memory 53 is also used to store data necessary for processing, for example, a transfer function P n (s).
  • the voltage signal Edro output from the output interface 55 is supplied to the actuator 30.
  • each unit may perform processing of each part of the position control device. The same applies to the case where the computer executes part or all of the processing of the position control method.
  • the present invention is not limited to this, and can be applied to actuators other than the above as long as the actuator includes an elastic support mechanism.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention concerne un appareil de commande de position permettant de commander la position d'une partie mobile d'un actionneur pourvu d'un mécanisme de support élastique, l'appareil comprenant : une unité de génération de signal cible de position (10) qui délivre un signal cible de position (ref_p) indiquant la position cible de la partie mobile ; une unité de division de sensibilité en courant continu (14) qui divise la sensibilité en courant continu (DCSm) d'un modèle nominal simulant les caractéristiques de transmission de l'actionneur (30) ; et une unité de compensation de perturbation externe (20) qui compense une variation des caractéristiques de l'actionneur (30) et une perturbation externe appliquée à l'actionneur (30). Une valeur Q à une fréquence de résonance primaire du modèle nominal est fixée à un niveau allant de -6 à 0 dB. Au moyen de la présente invention, le problème de compromis entre stabilité et réactivité peut être résolu.
PCT/JP2017/040209 2017-03-31 2017-11-08 Appareil et procédé de commande de position, programme, et support d'enregistrement Ceased WO2018179566A1 (fr)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09128770A (ja) * 1995-10-30 1997-05-16 Alpine Electron Inc フォーカスサーボ制御装置
JPH10149614A (ja) * 1996-11-15 1998-06-02 Hitachi Ltd 光ディスク装置
JP2000274482A (ja) * 1999-01-18 2000-10-03 Canon Inc 能動的除振装置、露光装置及び方法並びにデバイス製造方法
JP2003151231A (ja) * 2001-08-27 2003-05-23 Mitsubishi Electric Corp 位置制御方法
WO2005029477A1 (fr) * 2003-09-16 2005-03-31 Fujitsu Limited Dispositif de suivi
JP2005174383A (ja) * 2003-12-08 2005-06-30 Matsushita Electric Ind Co Ltd 迷光オフセットの除去方法及び光ディスク装置
JP2008034038A (ja) * 2006-07-28 2008-02-14 Sony Corp 光ディスクドライブ装置及び光ディスクドライブ装置のチルト制御方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09128770A (ja) * 1995-10-30 1997-05-16 Alpine Electron Inc フォーカスサーボ制御装置
JPH10149614A (ja) * 1996-11-15 1998-06-02 Hitachi Ltd 光ディスク装置
JP2000274482A (ja) * 1999-01-18 2000-10-03 Canon Inc 能動的除振装置、露光装置及び方法並びにデバイス製造方法
JP2003151231A (ja) * 2001-08-27 2003-05-23 Mitsubishi Electric Corp 位置制御方法
WO2005029477A1 (fr) * 2003-09-16 2005-03-31 Fujitsu Limited Dispositif de suivi
JP2005174383A (ja) * 2003-12-08 2005-06-30 Matsushita Electric Ind Co Ltd 迷光オフセットの除去方法及び光ディスク装置
JP2008034038A (ja) * 2006-07-28 2008-02-14 Sony Corp 光ディスクドライブ装置及び光ディスクドライブ装置のチルト制御方法

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