Linear motor motion control method based on fixed-step speed measurement

Abstract

The invention discloses a linear motor motion control method based on fixed-step speed measurement. Equidistantly arranged Hall switch sensor arrays are used for conducting the position measurement and the speed measurement of the rotor of a linear motor and implementing back-and-forth motion control by stages. The control sequentially comprises a high-speed constant speed stage, a speed reduction stage, a low-speed constant speed stage and a boundary guidance stage. Position PID control, acceleration PID control, speed PID control and position PD control are respectively implemented in each of the four stages. Since the method is based on a simple measurement device and the motion control of the linear motor with variable load capacity can be realized, the invention has the advantages that no grating precise measurement mechanism is required, the problem that the millimeter-scale linear motor positioning control cannot be realized on the dependence of Hall switch sensors only in the prior art is solved, and the cost and the complexity of the system are reduced.

Description

technical field [0001] The invention belongs to a linear motor control method, in particular to a linear motor motion control method based on fixed-step speed measurement. Background technique [0002] The principle of linear motor control is as figure 1 As shown, the central controller generates the control quantity and outputs the control signal according to the result of the detection feedback, and the motor drive module drives the motor to move. When the mover of the linear motor moves, the detection feedback part produces signal changes, which are fed back to the central controller. The central controller adjusts the control of the motor according to the feedback content, so that the linear motor runs smoothly. The control function structure of the linear motor is as follows: figure 2 shown. [0003] The difficulty of linear motor control lies in the particularity of its control model. The linear motor model is nonlinear and can exhibit different main characteristi...

AI Technical Summary

Problems solved by technology

High-resolution grating scales are generally expensive, difficult to manufacture, and require high working conditions. These characteristics directly limit the application of grating scales in sliding doors.

[0006] In the translational door using linear motors, Japan Tateyama Company only relies on three Hall switch sensors to measure the speed of the linear motor mover, but its products need to be customized, that is, the load cannot be set arbitrarily, which shows that its control method is very important. The model has strict requirements, which is not conducive to the mass development of products

Images