86results about "Linear DC motor control" patented technology

The invention discloses a high-precision linear vibration feedback motor system, and relates to the technical field of precise electromagnetic driving, and the system comprises a core driving module which is a moving magnet type linear motor of a Halbach array magnetic circuit structure, and is integrated with a multi-physics field sensing unit; the dynamic parameter tracking module is used for acquiring a reed rigidity coefficient, a damping coefficient and a magnetic constant in real time when the motor runs, and establishing a dynamic displacement model based on a recursive least square method; a double-closed-loop control framework is adopted, an inner loop adopts field-oriented control, and an outer loop is based on model prediction control; the aging prediction unit activates a temperature rise compensation algorithm when the accumulated number of vibration times is greater than a set threshold value; the self-adaptive calibration engine is used for injecting a sweep frequency excitation signal when the system is started, and automatically compensating individual difference parameters according to the harmonic peak offset; and the digital twin mapping unit is used for establishing a real-time mapping relationship between the physical parameters of the motor and the virtual model, and dynamically correcting the model parameters by comparing the actual displacement with the model displacement.

The invention provides a related method of linear motor equipment, the method is applied to industrial conveying, and the method comprises the following steps: creating a plurality of position points, the plurality of position points are distributed along a stator line body, the plurality of position points are used for controlling the moving path of a mover module, and the mover module is used for controlling the moving path of the mover module based on the conveying process information of the mover module. And corresponding dynamic pointing information is configured for each position point, and the dynamic pointing information is used for dynamically indicating a pointing object of the position point according to a conveying condition existing in the transportation scene. According to the method, the dynamic pointing information can be configured for each position point through the conveying process information of the mover module, the function of dynamically adjusting the pointing of the position points is achieved, the position points are used for controlling the moving path of the mover module, and the dynamic adjustment of the pointing of the position points can enable the moving path of the mover module to have variability; the moving flexibility of the mover module is improved, so that the transportation efficiency is improved, and the device is more suitable for complex and changeable working scenes.

The invention discloses a real-time compensation control method and system for thrust fluctuation of a linear motor, and belongs to the technical field of linear motors, and the method comprises the steps: collecting a hybrid fluctuation source in the operation process of the linear motor, splitting the hybrid fluctuation source, and generating independent geometric nonlinear fluctuation signals; further screening the mixed fluctuation source, screening out a non-geometric nonlinear fluctuation signal, and preprocessing the non-geometric nonlinear fluctuation signal; establishing an independent compensation strategy, and respectively performing targeted compensation on geometric nonlinear fluctuation and non-geometric nonlinear fluctuation; and establishing a feed-forward compensation network, inputting the compensation strategy into the feed-forward compensation network, predicting a fluctuation component, and performing pre-compensation processing in advance. In the implementation process of the technical scheme provided by the invention, the pertinence and effectiveness of a compensation strategy are ensured through precise splitting and preprocessing of the hybrid fluctuation source, and meanwhile, the compensation amount is adjusted in real time by using the prediction function of the feedforward compensation network, the thrust fluctuation is remarkably reduced, and the operation stability of the linear motor is improved.

The invention relates to the technical field of motor control, and discloses a chip mounter Z-axis linear motor module end-process force control method, a driver, a medium and a method, and the method comprises the following steps: S1, after a preset end-process position is reached, motor control is switched from position loop control to speed loop control, so that a motor keeps uniform motion; s2, monitoring whether a real-time current value fed back by the motor reaches a threshold current Iset1 or not and maintaining the real-time current value for a preset time length; s3, if the real-time current value reaches Iset1 and is maintained for a preset time length, continuously monitoring whether the real-time current value reaches a threshold current Iset2 and is maintained for a preset time length; and S4, if the real-time current value reaches Iset2 and is maintained for a preset time length, judging that collision occurs. According to the scheme, the speed ring is adopted to control the motor to move at a constant speed to carry out precise force control, meanwhile, the dynamic current threshold value is set to carry out two times of collision detection, collision detection is achieved while force control is carried out, a sensor does not need to be additionally used, and the requirements for mounting precision and compact structure are met.

The invention provides a motor driving voltage adjusting method and device, electronic equipment and a program product, and relates to the technical field of terminal equipment, and the method comprises the steps: collecting a vibration signal of a time domain through a sensor on the electronic equipment when a motor on the electronic equipment vibrates, converting the vibration signal of the time domain into a vibration signal of a frequency domain through Fourier transform, and outputting the vibration signal of the frequency domain; according to the method, the noise signal is decomposed into components with different frequencies, then the vibration signal in the frequency domain is filtered to obtain the filtered vibration signal, and the components with different frequencies can be conveniently filtered by the vibration signal in the frequency domain, so that the components of the noise signal can be selectively filtered, and the filtered vibration signal can be understood as a real vibration signal of the motor. And then voltage regulation is carried out according to the real vibration signal of the motor, namely the filtered vibration signal, and if the filtered vibration signal does not meet the preset vibration condition, the driving voltage of the motor is regulated, so that accurate control on the motor is realized, and the original control effect is maintained.

The invention provides a motor control method and device, a transmission system, electronic equipment and a storage medium. The method comprises the following steps: when a plurality of mover modules are all located on a linear stator module, obtaining respective motion measurement data and motion control parameters of the plurality of mover modules; according to the respective motion measurement data and motion control parameters of the plurality of mover modules, predicting whether the plurality of mover modules collide when the plurality of mover modules turn along the arc-shaped stator module; and if the prediction result is that the plurality of mover modules collide when the plurality of mover modules turn along the arc-shaped stator module, and when the plurality of mover modules are all located on the linear stator module, at least adjusting motion control parameters of part of the plurality of mover modules, the distance between the plurality of rotor modules is controlled to be a safe distance, and the plurality of rotor modules are controlled to pass through the arc-shaped stator module according to the same moving speed.

The invention discloses a high-precision closed-loop force control linear rotating motor and a force control method thereof, and relates to the technical field of motors, the linear rotating motor comprises a shell, a linear motor, a rotating output shaft part, a constant force spring device, a force sensor and a controller, the rotary output shaft part comprises a rotary motor, a rotary connecting piece and an output rotating shaft, and can realize composite motion of axial reciprocating and angular rotation; the constant-force spring device provides constant balance force in the linear direction to compensate for gravity loads. The force sensor detects output thrust in real time and generates a feedback signal; the controller performs closed-loop force control adjustment according to the feedback signal; according to the motor, through the built-in high-precision force sensor and the constant-force spring structure, high-precision, low-force-value and stable force control performance is achieved, output fluctuation can be effectively reduced, and the system response speed and control precision can be improved.

The invention relates to a multi-rotor linear motor scheduling method based on an improved genetic algorithm. The multi-rotor linear motor scheduling method comprises six steps of population initialization, fitness evaluation, selection operation, crossover operation, mutation operation, iteration and termination. According to the method, the scheduling problem of the multi-mover linear motor is solved by utilizing the global search capability and the complex problem processing capability of the improved genetic algorithm, the problems of multi-target performance, multi-constraint performance and multi-dynamic performance in the multi-mover scheduling process are solved, and the optimal scheduling performance and production efficiency are realized.

The invention discloses a driving waveform gain adjustment method and device, a controller, a chip and electronic equipment. The method comprises the following steps: acquiring a battery voltage; comparing the battery voltage with a predetermined total voltage protection threshold value; under the condition that the battery voltage is lower than the total voltage protection threshold value, the gain of a driving waveform output to a linear motor is adjusted according to the battery voltage and a preset gain and voltage mapping relation; wherein the gain and voltage mapping relation defines a corresponding rule between a battery voltage interval below the total voltage protection threshold value and the driving waveform gain. According to the invention, the driving current peak value can be actively inhibited when the battery voltage is low, so that the collapse of a system power supply network caused by the impact of a large load current is avoided, the technical problem that the system is easy to reset or crashed under a low electric quantity is effectively solved, and the power supply integrity, stability and reliability of the electronic equipment are remarkably improved.

The invention discloses a control mechanism of a sliding massager and a control method thereof, and relates to the field of massagers, the control mechanism comprises a frame body, a sliding rail arranged in the frame body, a slidable sliding block installed on the sliding rail and a connecting block fixed on the sliding block, and the connecting block penetrates through a through groove formed in the frame body and is fixedly provided with a massage part; the belt displacement control mechanism is arranged in the frame body; the driving wheel and the driven wheel are arranged on the left side and the right side of the frame body, the transmission belt is in meshing transmission with the driving wheel and the driven wheel, and the transmission belt located below the sliding block penetrates through the sliding block, is fixedly connected with the sliding block and is used for driving the driving wheel to operate. The stroke and speed of the massage part where the sliding block is located are controlled through the servo motor, so that multiple massage modes can be switched, and different parts of the body can be massaged to different degrees.

A valve control system and method can include: a control logic configured to couple to a conductor and to a movable mechanism such that a back electromotive force (BEMF) peak is created within the conductor based on the movable mechanism being moved, the control logic further configured to: apply a control voltage to the conductor; detect the BEMF peak; determine a peak timing for the BEMF peak, and adjust a control voltage timing for the control voltage based on the peak timing.

The invention discloses a high-precision linear motion direct-current driving system for spaceflight and a control method of the high-precision linear motion direct-current driving system, and relates to the technical field of spacecraft attitude driving control. The high-precision linear motion direct current driving control method for spaceflight comprises the steps of linear direct current motor response aging judgment, spacecraft driving load evaluation and spacecraft driving signal optimization. According to the method, the driving load influence evaluation requirement is determined through command signal response timeliness judgment, if the driving load influence evaluation requirement does not exist, the spacecraft attitude adjustment process continues to be monitored, otherwise, the driving load optimization requirement continues to be determined, and finally if the driving load optimization requirement exists, the oscillation signal influence quantification requirement continues to be determined. Otherwise, the oscillation signal optimization requirement is directly determined after the oscillation signal influences quantification, the spacecraft linear motion direct current driving stability is improved, and the problem that in the prior art, spacecraft linear motion direct current driving is not stable due to the spacecraft attitude adjustment load requirement difference is solved.

A conveying system (1) includes: a plurality of conveying path units (11A-11H) constituting a conveying path (10) for a conveying body to move, each of which includes a plurality of drive units that generate thrust for moving the conveying body by flowing current; and a controller (12) including a current command generator that generates current commands for controlling current flowing through the plurality of drive units. The plurality of conveying path units (11A-11H) each control the current flowing through the plurality of drive units in accordance with the current commands. The current command generator generates a current command that sets all of the plurality of drive units of each conveying path unit (11A-11H) as the target of current control in each control cycle when generating the current command.

A method may include receiving topology information associated with a linear motor system that includes multiple track modules. Each track module may include one or more motors. The topology information may include one or more media access control (MAC) addresses associated with the motors. The method may also include associating one or more IP addresses with the MAC addresses associated with the motors, generating a configuration file associated with the linear motor system based on the topology information and the IP addresses, and transmitting one or more commands to the motors to control or adjust one or more operations of the motors based on the configuration file.

The utility model discloses a control mechanism of a sliding massager, which relates to the field of massagers and comprises a frame body, a sliding rail arranged in the frame body, a sliding block arranged on the sliding rail and a connecting block fixed on the sliding block, the connecting block penetrates through a through groove arranged on the frame body and is fixedly provided with a massaging part, and the massaging part is fixed on the frame body. The massage head is assembled with the massage part; the belt displacement control mechanism is arranged in the frame body; the driving wheel and the driven wheel are arranged on the left side and the right side of the frame body, the transmission belt is in meshing transmission with the driving wheel and the driven wheel, and the transmission belt located below the sliding block penetrates through the sliding block, is fixedly connected with the sliding block and is used for driving the driving wheel to operate. The stroke and the speed of the massage part where the sliding block is located are controlled through the servo motor, so that various massage modes can be switched, and different parts of the body can be massaged to different degrees.

The present invention relates to the technical field of Z-axis motor balance, and particularly relates to a control method and system for a linear motor balance device based on positioning compensation. The balance device is used to balance the weight of the Z-axis motor. The balance device includes a support electric cylinder, a connecting frame is installed at the top of the support electric cylinder, and a plurality of springs are connected between the connecting frame and the Z-axis motor. By collecting real-time balance characteristic parameters, the present invention predicts the spring tension based on the trained first machine learning model, comprehensively considering the external temperature, the weight of the Z-axis motor, the acceleration of the Z-axis motor, and the load of the Z-axis motor, ensuring the accuracy of the prediction, and performing real-time collection and real-time feedback, so as to be able to automatically adjust the spring tension according to the external environment (such as temperature change) and working conditions (such as acceleration, load), and has strong adaptability to adapt to complex and changeable working conditions.

The invention discloses a linear motor calibration method and related equipment, which are applied to electronic equipment comprising a linear motor. Comprising the following steps: calibrating the linear motor through a first calibration frequency, and judging whether the linear motor is successfully calibrated at the first calibration frequency; if the first calibration frequency is successfully calibrated, driving the linear motor according to the first calibration frequency; determining a first target frequency based on the first calibration frequency, and storing the first target frequency; after driving the linear motor to vibrate for N periods according to the first calibration frequency, stopping driving the linear motor; calibrating the linear motor through the second calibration frequency, and judging whether the linear motor is successfully calibrated at the second calibration frequency; and if the calibration of the second calibration frequency fails, driving the linear motor according to the first target frequency. According to the embodiment of the invention, the driving frequency of the linear motor can be adaptively adjusted to improve the vibration effect of the linear motor, so that the user experience is improved.

The present application discloses a control method for a linear motor. The linear motor includes a mover and at least two stator segments. The control method includes: obtaining the structural parameters of the linear motor, where the structural parameters include pole pitch, mover length, mover pole pairs, stator length, stator pole pairs, and the number of stator segments; calculating the coupling coefficients between the mover and each stator segment, where the coupling coefficients are related to the stator length, mover length, and the relative position between the mover and the stator, and the sum of the coupling coefficients between the mover and each stator segment is equal to 1; and powering the stator according to the coupling state between the mover and the stator according to a power supply strategy, where the power supply strategy includes: in response to the coupling coefficient between the mover and any stator segment being non-zero, powering the stator segment, and in response to the coupling coefficient between the mover and any stator segment being zero, stopping power supply to the stator segment. The present application can achieve general control of long / short mover motors and improve the stability of the mover movement process.

The present invention discloses a field-weakening control strategy for a direct-drive wave power generation system based on model predictive control, belonging to the technical field of renewable energy power generation. The present invention applies the model predictive control algorithm to the direct-drive wave power generation system, takes maximizing power capture as the optimization objective, incorporates the actual physical limitations of the device into the constraints of the algorithm, predicts using the wave force data within a certain future time domain, and obtains the optimal control quantity of the wave power generation system; and adopts a stator current vector control scheme combining i d = 0 and field-weakening control, and incorporates the d-axis current into the control objective of the model predictive control algorithm. The present invention can improve the power capture performance of the direct-drive wave power generation system while satisfying the system constraints, effectively broaden the operating speed range of the permanent magnet linear generator, and improve the stability of system operation.

The application relates to the technical field of electromagnetic driving, and discloses an electromagnetic driving device, a motor and a control method of the electromagnetic driving device.The electromagnetic driving device comprises a permanent magnet, at least two magnetic cores and at least two coils; the magnetic core has a C-shaped structure; the at least two magnetic cores are oppositely arranged, the openings are opposite, and a magnetic circuit space is formed around the end of the magnetic core; the permanent magnet is arranged in the magnetic circuit space, and the permanent magnet moves in the horizontal direction in the magnetic circuit space; and the at least two coils are wound on the at least two magnetic cores respectively.The application can realize higher energy density and efficiency, and the C-shaped structure of the magnetic core enables the magnetic core to be more compactly arranged, effectively utilizes the space, and thus reduces the overall size of the device.The application can also realize accurate control of the position of the permanent magnet by adjusting the magnetization state of the magnetic core.

This motor includes: coils (3a to 3i) of a plurality of electromagnetic actuators among which the values of one of an electric resistance and an induced voltage constant are different; a movable element (1) being a driven body driven by the coils (3a to 3i) of the electromagnetic actuators; and a current command value determination unit (23) that determines a command value of a current caused to flow through the coil of each of the electromagnetic actuators in order to control an operation of the movable element (1). The current command value determination unit (23) determines the current command value for the coil of each of the electromagnetic actuators, so as to minimize a total sum of copper losses occurring in the coils (3a to 3i) of the plurality of electromagnetic actuators, on the basis of the values of the one of the electric resistance and the induced voltage constant of the coils (3a to 3i) of the electromagnetic actuators.

The invention relates to the technical field of motor control, and discloses a sensorless position estimation method applied to a swing motor of an electric hair clipper, and the method comprises the following steps: firstly constructing a position current linear mapping model based on quasi-static physical field hypothesis; in the conduction driving stage, the current of the motor is sampled in real time and substituted into the model to calculate the swing angle, and the current error is utilized to judge whether the target maximum swing angle is reached or not; and in a reset stage after driving revocation, identifying the original point of the rotor by monitoring a back electromotive force zero crossing point. In addition, the method further comprises the steps of excitation starting and dual-current threshold safety self-checking. The electromechanical coupling model is simplified, complex differential operation is converted into simple algebraic calculation, the requirement for the computing power of the microcontroller is lowered, full-period position closed-loop control and fault protection are achieved in combination with starting self-inspection and back electromotive force detection, and the electromechanical coupling control method has the advantages of being low in cost, high in real-time performance and high in reliability.

The invention relates to the technical field of planar motors, and provides a transition module for a planar motor system, a control method of the transition module and the planar motor system.The planar motor system comprises a stator platform formed by splicing a plurality of stators and a rotor running above the stator platform in a suspended mode, and a through hole is formed in the stator platform in the thickness direction; the transition module is arranged below the through hole and comprises a driving part and a transition plate, the driving part is connected with the transition plate, the transition plate can be driven by the driving part to ascend and descend in the direction close to or away from the through hole, and a transition coil array is arranged on the side, close to the through hole, of the transition plate. The position of the transition module can be adjusted along with the change of the position of the through hole in the stator, the flexibility is high, the response speed is high, and under the scene that the vacant position of the through hole in the stator is frequently changed, compared with changing of the path of the rotor, the arrangement of the transition module can save time, improve efficiency and reduce cost.

This disclosure provides a method, apparatus, and actuator driving system for generating a drive waveform. The method includes: calibrating the actuator's reference sampling rate based on the actuator's actual and ideal resonant frequencies to obtain a calibrated sampling rate; performing data acquisition based on the calibrated sampling rate to obtain various drive data; performing linear interpolation on each drive data based on the reference sampling rate to obtain interpolated data; and converting the interpolated data into a drive waveform for the actuator. Therefore, this disclosure generates a drive waveform with a fixed frequency based on the coordinated operation of frequency conversion sampling and linear interpolation, enabling adaptive frequency calibration of the drive waveform without adjusting the oscillator frequency, thereby improving the actuator's vibration performance.

The invention discloses a control method of a linear motor, the linear motor comprises a rotor and at least two sections of stators, and the control method comprises the following steps: obtaining structure parameters of the linear motor, the structure parameters comprising a pole distance, a rotor length, a rotor pole pair number, a stator length, a stator pole pair number and a stator section number; the coupling coefficients of the rotor and all the sections of stators are calculated, the coupling coefficients are related to the stator length, the rotor length and the relative position between the rotor and the stators, and the sum of the coupling coefficients of the rotor and all the sections of stators is equal to 1; and according to the coupling state between the rotor and the stator, power is supplied to the stator according to a power supply strategy, and the power supply strategy comprises the steps of supplying power to any section of stator in response to the fact that the coupling coefficient between the rotor and any section of stator is not zero, and stopping supplying power to the section of stator in response to the fact that the coupling coefficient between the rotor and any section of stator is zero. According to the invention, the general control of the long / short rotor motor can be realized, and the stability of the rotor movement process is improved.

A circuit and a device for driving a motor. The circuit comprises a converting circuit and a driving circuit. An input terminal of the converting circuit is connected to a power supply. The converting circuit is configured to obtain a PMW waveform of which a complete cycle comprises a first half-cycle and a second half-cycle. The converting circuit comprises: a waveform generating circuit, comprising a first operational amplifier configured to provide a reference voltage and obtain the first half-cycle based on the reference voltage; and a waveform flipping circuit, comprising a second operational amplifier configured to flip the reference voltage to obtain the second half-cycle. An output terminal of the converting circuit is configured to transmit the PWM waveform to the input terminal of the driving circuit. The driving circuit is configured to control operation of the motor based on the PWM waveform.

The present invention provides a transport device that can stably transport an object to be transported. A specimen transport device (1) according to the present invention comprises: a plurality of electromagnets each provided with a tooth (20) formed from a magnetic substance and a coil (30) wound around the tooth (20); and an object to be transported which is provided with a permanent magnet (10) and which is placed above the electromagnets. The object to be transported is a container carrier that holds a specimen container containing a specimen, namely a biological sample, and is transported on at least part of a transport line to an analysis unit. At the analysis unit, components contained in a biological sample are analyzed for biological samples that have reacted with a reagent. The coil (30) comprises a lower coil (30a) located at the position closest to the object to be transported and a propulsion coil (30b) which is in front of the object to be transported in the direction of travel and which generates thrust directed at the object to be transported. When transporting the object to be transported, the lower coil (30a) is excited, after which the propulsion coil (30b) is excited to propel the object to be transported.

A conveying system (1) comprises: a plurality of conveying path units (11A to 11H) forming a conveying path (10) along which a conveyed body moves, each of the conveying path units (11A to 11H) comprising a plurality of drive units, each generating a thrust to move the conveyed body by means of a current flowing through it; and a controller (12) with a current command generator that generates a current command to control a current flowing through the plurality of drive units. Each of the plurality of conveying path units (11A to 11H) controls the current flowing through each of the plurality of drive units according to the current command. The current command generator produces a current command to perform current control of all of the plurality of drive units of each of the conveying path units (11A to 11H) at each control cycle when the current command is generated.

The present invention provides a conveying device capable of detecting the position of an object being conveyed with high accuracy. A conveying device (1) according to the present invention is used in testing for analyzing a specimen, which is a biological sample, and conveys an object being conveyed, using electromagnetic forces as a thrust force and a braking force, the conveying device (1) comprising: a plurality of magnetic poles (25a, 25b) that are arranged in a lattice shape and that are supplied with an electric current to generate the electromagnetic forces; and a calculating unit (41). The object being conveyed is a container carrier (110) that is provided with a permanent magnet and that holds a specimen container (122) in which the specimen is accommodated, and the object being conveyed is conveyed along at least a portion of a conveying line that leads to an analysis unit. In the analysis unit, components contained in the biological sample that has reacted with a reagent are analyzed. The magnetic poles (25a, 25b) are electromagnets, and include a first magnetic pole (25a) positioned in a direction of travel (110a) of the object being conveyed, and a second magnetic pole (25b) positioned adjacent to the first magnetic pole (25a) in the direction opposite to the direction of travel. The calculating unit (41) detects the position of the object being conveyed using the electric current supplied to the second magnetic pole (25b), which generates a braking force on the object being conveyed.