“…This current enables the motor to generate high-frequency vibration, and to weaken the interference of static friction torque, so as to enhance the low speed features of the servo system. As a result, we adopt H type bipolar pulse width modulation driving mode in the voice coil motor power driving (Wu, Jiao, Yan, Zhang, Yu & Chen, 2014;Wang, Guo, Yu & Zhang, 2010). Considering factors like simplification of the circuit design, the system reliability and the driving module size, we choose the integrated power driving device LMD18200, whose internal function block diagram is shown in Figure 1.…”