Multi-rotor linear motor control method and system and medium

Abstract

The invention discloses a multi-mover linear motor control method and system and a medium, mover temporary parking areas are arranged among a plurality of work stations, after a production line is started, state attribute items of all the work stations on the production line and operation states of all the movers are detected in real time through a control system, and the mover temporary parking areas are stored in the mover temporary parking areas. After it is detected that the current rotor completes the operation of the working procedure of the current working station, whether the next working station is idle or not is judged; if yes, the current rotor is controlled to move to the next working station; otherwise, whether the temporary parking stack of the temporary parking area is full is judged, if yes, waiting is carried out, and if not, the current mover is controlled to move to the position corresponding to the temporary parking stack. According to the invention, preemptive mutual exclusion control is carried out on each work station, the mover temporary parking areas are arranged between the work stations, management is carried out through first-in first-out thinking, effective control of the multi-mover linear motor can be realized, and the utilization efficiency of the work stations and the mover moving efficiency and carrying efficiency are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a multi-motor linear motor control method, system and medium. Background Art

[0002] For multi-motor linear motors, for example, in application scenarios where there are more than or equal to two motor movers on a track and more than or equal to one workstation, the existing control process and thinking is to wait for the first motor mover to complete its work at the first workstation and leave the first workstation to arrive at the next workstation before the second motor mover moves to the first workstation to perform its work. This is the case for N movers and N workstations. They all need to wait for the previous mover to complete its work and move to the next workstation, giving up its workstation position before the next motor mover starts moving. This is the case for every work cycle in the production line. This control method, due to the inconsistent time required for the workstations on the production line to complete the node process, leads to frequent waiting and blocking situations. Therefore, this existing control method has low utilization efficiency of the workstations, because the blockage of any one station can block the process on the entire production line, resulting in low overall utilization of the production line. Summary of the Invention

[0003] The main purpose of the present invention is to provide a multi-motor linear motor control method, system and medium, which can achieve effective control of the multi-motor linear motor and improve the utilization efficiency of the workstation.

[0004] To achieve the above objectives, the present invention proposes a multi-motor linear motor control method, which is applied to a multi-motor linear motor control system. The linear motor is configured with multiple motor movers and at least one workstation on a production line, with a temporary stop area for the movers provided between the multiple workstations. The method comprises the following steps:

[0005] After the production line is started, the control system detects in real time the status attribute items of each workstation on the production line and the operating status of each mover, wherein the status attribute items of the workstation include idle state and occupied state;

[0006] After detecting that the current mover has completed the operation of the current workstation process, determine whether the next workstation is idle;

[0007] If so, controlling the current mover to move to the next working station;

[0008] Otherwise, determine whether the temporary docking stack in the temporary docking area is full. If so, wait; otherwise, control the current mover to move to the position corresponding to the temporary docking stack.

[0009] The method further comprises:

[0010] After detecting that the mover of the previous process has left the current workstation, the state of the current workstation is updated to the idle state, and the mover of the next process is controlled to move to the current workstation for operation.

[0011] The step of controlling the current mover to move to the position corresponding to the temporary docking stack includes:

[0012] According to the starting position of the temporary docking area and the number of elements in the temporary docking stack of the temporary docking area, the position of the current mover is determined, and the current mover is controlled to move to the corresponding element position in the temporary docking stack.

[0013] Wherein, before the step of detecting the status attribute items of each workstation and the operating status of each mover on the production line in real time through the control system after the production line is started, the method further includes:

[0014] Each workstation is numbered in the order of operation, a status attribute item is set for each workstation, and the absolute value of the physical position of each workstation on the production line is set.

[0015] Wherein, before the step of detecting the status attribute items of each workstation and the operating status of each mover on the production line in real time through the control system after the production line is started, the method further includes:

[0016] Set the starting position and the ending position of the temporary docking area, and the number of elements in the temporary docking stack of the temporary docking area; set the dynamic sub-property items.

[0017] Among them, the temporary docking stack adopts a first-in-first-out docking stack management strategy; the mover attribute items include: one or more of the mover length, width, current position, current process, current state, next moving target position, and moving speed.

[0018] Wherein, all movers on the production line share one zero point for zero return initialization, or share multiple zero points for zero return initialization.

[0019] Wherein, the production line includes one or more production material feed ports.

[0020] The present invention also proposes a multi-motor linear motor control system, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the multi-motor linear motor control method described above is implemented.

[0021] The present invention further provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a processor, the multi-motor linear motor control method described above is implemented.

[0022] The present invention provides a control method, system, and medium for a multi-motor linear motor. The linear motor is configured on a production line with multiple motors and at least one workstation. Temporary parking areas for the motors are provided between the workstations. After the production line is started, the control system detects in real time the status attributes of each workstation and the operating status of each motor. The status attributes of each workstation include idle and occupied status. After detecting that the current motor has completed the process at the current workstation, the system determines whether the next workstation is idle. If so, the current motor is controlled to move to the next workstation. Otherwise, the system determines whether the temporary parking stack in the temporary parking area is full. If so, the system waits; otherwise, the current motor is controlled to move to the corresponding position in the temporary parking stack. The control scheme proposed in the present invention treats each workstation as a key resource for improving production line operation efficiency. Preemptive mutual exclusion control is implemented for each workstation, and temporary parking areas for the motors are provided between the workstations. These temporary parking areas are managed using a first-in-first-out (FIFO) principle. This system effectively controls the multi-motor linear motor, significantly improving the utilization efficiency of the workstations, and enhancing the efficiency of motor movement and transportation. In the case where the operation process time of each work station is inconsistent, the solution of the present invention can reduce the total blocking time of all stations in the production line, thereby improving the operation efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of the multi-motor linear motor control method of the present invention. DETAILED DESCRIPTION

[0024] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] Reference Figure 1 The present invention proposes a method for realizing initial phase detection of a permanent magnet synchronous motor, the method comprising the following steps:

[0026] The present invention provides a multi-motor linear motor control method, which is applied to a multi-motor linear motor control system. The linear motor is configured with multiple motor movers and at least one workstation on a production line, with a temporary stop area for the movers provided between the multiple workstations. The method comprises the following steps:

[0027] Step S1, after the production line is started, the control system is used to detect in real time the state attribute items of each workstation on the production line and the operating state of each mover, wherein the state attribute items of the workstation include an idle state and an occupied state;

[0028] Step S2: after detecting that the current mover has completed the operation of the current workstation process, determine whether the next workstation is idle;

[0029] Step S3: If yes, control the current mover to move to the next workstation; otherwise, determine whether the temporary docking stack in the temporary docking area is full, if yes, wait, otherwise control the current mover to move to the position corresponding to the temporary docking stack.

[0030] Furthermore, the method further comprises:

[0031] After detecting that the mover of the previous process has left the current workstation, the state of the current workstation is updated to the idle state, and the mover of the next process is controlled to move to the current workstation for operation.

[0032] The step of controlling the current mover to move to the position corresponding to the temporary docking stack includes:

[0033] According to the starting position of the temporary docking area and the number of elements in the temporary docking stack of the temporary docking area, the position of the current mover is determined, and the current mover is controlled to move to the corresponding element position in the temporary docking stack.

[0034] Wherein, before the step of detecting the status attribute items of each workstation and the operating status of each mover on the production line in real time through the control system after the production line is started, the method further includes:

[0035] Each workstation is numbered in the order of operation, a status attribute item is set for each workstation, and the absolute value of the physical position of each workstation on the production line is set.

[0036] Wherein, before the step of detecting the status attribute items of each workstation and the operating status of each mover on the production line in real time through the control system after the production line is started, the method further includes:

[0037] The starting position and the ending position of the temporary docking area and the number of elements in the temporary docking stack of the temporary docking area are set.

[0038] Wherein, the temporary docking stack adopts a first-in-first-out docking stack management strategy.

[0039] Wherein, all movers on the production line share one zero point for zero return initialization, or share multiple zero points for zero return initialization.

[0040] Wherein, the production line includes one or more production material feed ports.

[0041] The control scheme proposed by the present invention regards each workstation as a key resource for improving the operating efficiency of the production line. "Preemptive mutual exclusion" control is performed on each workstation, and temporary parking areas for movers are set between the workstations, and the temporary parking areas are managed with a first-in-first-out mentality. It can achieve effective control of multi-motor linear motors, greatly improve the utilization efficiency of the workstations, and improve the efficiency of mover movement and transportation. In the case that the operation process time of each workstation is inconsistent, the scheme of the present invention can reduce the total blocking time of all stations on the production line, thereby improving the operating efficiency of the production line.

[0042] The overall process of the multi-motor linear motor control method of the present invention is described in detail below:

[0043] First, each workstation is numbered in the order of operation, and status attribute items are set for each workstation. The status attribute items include idle state and occupied state, which are detected and updated in real time by the control system. At the same time, the absolute value of the physical position of each workstation on the production line is set.

[0044] In addition, temporary docking areas for one or more movers are set up between each workstation. Each temporary docking area is numbered, with a start and end location set. A temporary docking stack is set up within the temporary docking area, and is managed using a "first-in, first-out" (FIFO) strategy. The temporary docking stack contains multiple elements, and each mover uses an element in the temporary docking stack. The number of movers that can dock in a temporary docking area corresponds to the number of elements in the temporary docking stack. If the stack is full, subsequent movers wait.

[0045] In this embodiment, the motor is abstracted into an object for management, with properties configured. These properties include length, width, current position, current process, current state, next target position, and speed. Other motor parameters should be configured based on project requirements and are not detailed here.

[0046] Secondly, after the production line is started and the mover is initialized, the control system detects that the mover has completed the operation of the current workstation process and determines whether the previous workstation is idle. If so, it moves directly to the next workstation. Otherwise, it determines whether the temporary docking stack is full. If the temporary docking stack is full, it waits. Otherwise, it moves the mover to the temporary docking area. The mover's moving position is determined based on the starting position and number of elements in the temporary docking area.

[0047] Among them, after the mover of the previous process leaves the workstation, the status of the workstation is updated to idle, and the mover of the next process immediately moves to the workstation to perform operations.

[0048] Compared with the control method of the prior art, the control scheme of the present invention manages the workstations on the production line with mutually exclusive resources. By setting up temporary docking areas between the workstations and managing the temporary docking areas with a first-in-first-out stacking mentality. In the case of N workstations and N movers, and the operation time of each process is equal, this scheme can improve the efficiency of mover movement by 50%. In the case of N workstations and N+M movers, this scheme improves the carrying efficiency of M movers. Wherein, M and N are both positive integers.

[0049] In addition, when the operation process time of each work station is inconsistent, this solution can reduce the total blocking time of all stations in the production line and improve operating efficiency.

[0050] Furthermore, this solution supports both the shared zero-point return initialization for all movers on a production line and the return to zero initialization of movers at multiple zero points. Furthermore, this solution supports the situation where a production line has only one or more production material feed ports. This solution can further improve efficiency when multiple mover zero-point return initialization is performed and multiple feed ports are used.

[0051] In addition, the present invention also proposes a multi-motor linear motor control system, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the multi-motor linear motor control method described above is implemented.

[0052] The present invention further provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a processor, the multi-motor linear motor control method described above is implemented.

[0053] The present invention provides a control method, system, and medium for a multi-motor linear motor. The linear motor is configured on a production line with multiple motors and at least one workstation. Temporary parking areas for the motors are provided between the workstations. After the production line is started, the control system detects in real time the status attributes of each workstation and the operating status of each motor. The status attributes of each workstation include idle and occupied status. After detecting that the current motor has completed the process at the current workstation, the system determines whether the next workstation is idle. If so, the current motor is controlled to move to the next workstation. Otherwise, the system determines whether the temporary parking stack in the temporary parking area is full. If so, the system waits; otherwise, the current motor is controlled to move to the corresponding position in the temporary parking stack. The control scheme proposed in the present invention treats each workstation as a key resource for improving production line operation efficiency. Preemptive mutual exclusion control is implemented for each workstation, and temporary parking areas for the motors are provided between the workstations. These temporary parking areas are managed using a first-in-first-out (FIFO) principle. This system effectively controls the multi-motor linear motor, significantly improving the utilization efficiency of the workstations, and enhancing the efficiency of motor movement and transportation. In the case where the operation process time of each work station is inconsistent, the solution of the present invention can reduce the total blocking time of all stations in the production line, thereby improving the operation efficiency of the production line.

[0054] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Equivalent structures or equivalent process changes made by the scheme using the contents of the description and drawings of the present invention, or direct or indirect application in other related technical fields are also included in the patent protection scope of the present invention.

Claims

1. A multi-motor linear motor control method, characterized in that: The method is applied to a multi-motor linear motor control system, wherein the linear motor is configured with multiple motor movers and at least one workstation on a production line, and a mover temporary parking area is provided between the multiple workstations. The method comprises the following steps: After the production line is started, the control system detects in real time the state attribute items of each workstation on the production line and the operation state of each mover, wherein the state attribute items of the workstation include an idle state and an occupied state; After detecting that the current mover has completed the operation of the current workstation process, determine whether the next workstation is idle; If yes, control the current mover to move to the next working station; Otherwise, determine whether the temporary docking stack in the temporary docking area is full, if so, wait, otherwise control the current mover to move to the position corresponding to the temporary docking stack.

2. The method according to claim 1, characterized in that The method further comprises: After detecting that the mover of the previous process leaves the current workstation, the state of the current workstation is updated to an idle state, and the mover of the next process is controlled to move to the current workstation for operation.

3. The method according to claim 1, characterized in that The step of controlling the current mover to move to a position corresponding to the temporary docking stack comprises: According to the starting position of the temporary docking area and the number of elements in the temporary docking stack of the temporary docking area, the position of the current mover is determined, and the current mover is controlled to move to the corresponding element position in the temporary docking stack.

4. The method according to claim 1, characterized in that: After the production line is started, before the step of detecting the state attribute items of each workstation on the production line and the operation state of each mover in real time through the control system, the step further includes: Each workstation is numbered in the order of operation, a status attribute item is set for each workstation, and an absolute value of the physical position of each workstation on the production line is set.

5. The method according to claim 1, characterized in that After the production line is started, before the step of detecting the state attribute items of each workstation on the production line and the operation state of each mover in real time through the control system, the step further includes: Set the starting position and the ending position of the temporary docking area, and the number of elements in the temporary docking stack of the temporary docking area; set the mover attribute items.

6. The method according to claim 5, characterized in that The temporary docking stack adopts a first-in-first-out docking stack management strategy; the mover attribute items include: one or more of the mover length, width, current position, current process, current state, next moving target position, and moving speed.

7. The method according to any one of claims 1 to 6, characterized in that All movers on the production line share one zero point for zero return initialization, or share multiple zero points for zero return initialization.

8. The method according to any one of claims 1 to 6, characterized in that The production line includes one or more production material feed ports.

9. A multi-motor linear motor control system, characterized in that: The system includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the multi-motor linear motor control method according to any one of claims 1 to 8 is implemented.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by a processor, the multi-motor linear motor control method according to any one of claims 1 to 8 is implemented.

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