Rotor identification device and method

Abstract

The invention discloses a rotor identification device and method, and the device comprises a rotor unit and a stator unit, the rotor unit is connected with at least one rotor ID identification unit, the rotor ID identification unit comprises a plurality of flag bits, the flag bits can be provided with or not provided with identification members, the stator unit is connected with an eddy current transmitting and receiving unit, and the eddy current transmitting and receiving unit is connected with the rotor unit. The eddy current transmitting and receiving unit is used for transmitting a high-frequency oscillation electromagnetic field to the rotor ID identification unit after high-frequency driving current is introduced, an eddy current field generated in the identification piece changes the amplitude and phase of the high-frequency driving current, and the stator unit is connected with a data processing unit. According to the rotor identification method, the identification piece and the eddy current effect are adopted, rotor identification is not interfered by the magnetic field of the motor, the identification stability is improved, the coding capacity can be conveniently expanded by increasing the number of the flag bits, flexible increase and decrease of the number of the rotors are supported, and the problem that multiple rotors on the magnetic suspension planar motor are difficult to identify is solved.

Description

Technical Field

[0001] This invention relates to the field of industrial transmission and manufacturing technology, and in particular to a moving part identification device and method. Background Technology

[0002] Magnetic levitation planar motors are increasingly widely used due to their contactless operation, independent speed regulation of the mover, and ability to move in multiple degrees of freedom. When multiple movers operate simultaneously on a magnetic levitation planar motor system, it is necessary to identify each mover in order to plan and control its motion.

[0003] Identifying multiple movers on a magnetically levitated planar motor is challenging. Existing identification methods generally encode movers by altering the arrangement of the permanent magnet array. Since permanent magnets have different magnetization intensities, lengths, widths, and heights, each mover can have a unique identification number. Other identification methods involve charging and communicating with an identification device within the mover via a coupling coil. This involves placing a coupling coil on the stator and an induction coil on the mover. Applying current to the coupling coil powers the induction coil through magnetic field coupling, which in turn powers the identification device on the mover. Once energized, the identification device uses the induction coil to transmit identification information to the coupling coil via magnetic field coupling. Both of these methods are complex, requiring sophisticated hardware and high system stability. Furthermore, both methods are susceptible to various interferences, which can reduce identification accuracy. Summary of the Invention

[0004] This invention provides a mover identification device and method, which can solve the problem of difficulty in identifying multiple movers on magnetically levitated planar motors in the prior art.

[0005] A mover identification device includes: a mover unit and a stator unit;

[0006] The moving part unit is connected to at least one moving part ID identification unit, and the moving part ID identification unit includes several flag bits, and the flag bits may or may not be equipped with identification elements;

[0007] The stator unit is connected to an eddy current transmitting and receiving unit. After a high-frequency driving current is applied to the eddy current transmitting and receiving unit, it is used to transmit a high-frequency oscillating electromagnetic field to the mover ID identification unit. When the high-frequency oscillating electromagnetic field acts on the identification element, the eddy current field generated in the identification element weakens the high-frequency oscillating electromagnetic field and changes the amplitude and phase of the high-frequency driving current.

[0008] The stator unit is connected to a data processing unit, which is used to drive the eddy current transmitting and receiving unit, acquire signals, resolve IDs, and transmit data.

[0009] Preferably, the identification element is a metal sheet, which is one or more non-ferromagnetic materials selected from copper, aluminum, or stainless steel.

[0010] Preferably, the data processing unit includes a driving module, the driving module includes an inverter, the inverter is connected in series with a driving amplifier, the driving amplifier is connected in series with a coil, and the driving module is used to generate a high-frequency driving current.

[0011] Preferably, the driving module is connected in series with a sampling module, the sampling module includes a detection circuit, the detection circuit is connected in series with a filter circuit, the filter circuit is connected in series with an A / D converter, and the sampling module is used to convert the high-frequency oscillating electromagnetic field change into a digital signal.

[0012] Preferably, the sampling module is connected in series with a processor, which is used to parse digital signals and generate a mover ID.

[0013] Preferably, the processor, the driver module, and the sampling module form a closed loop.

[0014] Preferably, the processor is connected to the motor control system for communication.

[0015] A mover identification method, using a mover identification device, includes:

[0016] Apply a drive coil current to the stator unit and move the mover unit so that the first flag bit in the mover ID identifier unit matches the eddy current transmitter and receiver unit;

[0017] After the flag bits are matched, the eddy current transmitting and receiving unit receives the high-frequency driving current sent by the data processing unit and transmits a high-frequency oscillating electromagnetic field to the mover ID identification unit.

[0018] The data processing unit identifies the flag bits, detects the amplitude and phase changes of the high-frequency drive current, defines the flag bits based on the changes, and generates the definition results.

[0019] The remaining flag bits are matched sequentially to the eddy current transmitting and receiving unit, and the flag bit identification process is repeated until all flag bits are identified. The data processing unit generates a binary sequence based on the definition result of each flag bit.

[0020] The data processing unit converts the binary sequence into a mover ID number and transmits it to the motor control system.

[0021] Preferably, when an identification element is provided in the flag position, the identification element will generate an eddy current field after being subjected to a high-frequency oscillating electromagnetic field, and change the amplitude and phase of the high-frequency driving current.

[0022] Preferably, when no identification element is provided in the flag bit, the amplitude and phase of the high-frequency drive current do not change.

[0023] The beneficial effects of this invention are:

[0024] (1) In this invention, the mover identification device has a simple structure and low cost. The mover ID identification unit only encodes the mover by combining the presence or absence of the identification element, without the need to design a complex permanent magnet array or coil structure, and the manufacturing and assembly are easy. Moreover, the eddy current transmitting and receiving unit and the data processing unit can be directly integrated into the stator unit, which simplifies the system design, improves the integration, and eliminates the need for additional energy transmission or signal modulation circuits, thus significantly reducing the system hardware cost.

[0025] (2) In this invention, the identification component of the moving part is made of metal sheet, which can avoid interference from the magnetic field of the magnetic levitation planar motor itself, ensure the stability of the eddy current feedback signal, and have strong anti-interference ability.

[0026] (3) In this invention, the mover identification method adopts the identification element and the eddy current effect, which can make the mover identification unaffected by the magnetic field of the motor, improve the identification stability, and can also conveniently expand the coding capacity by increasing the number of flag bits, support the flexible increase or decrease of the number of movers, and thus solve the problem of difficulty in identifying multiple movers on a magnetic levitation planar motor. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a moving part identification device provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the data processing unit.

[0029] Figure 3 This is a schematic diagram showing the connection between the stator unit and the eddy current transmitting and receiving unit.

[0030] Figure 4 This is a schematic diagram showing the connection between the moving sub-unit and the moving sub-ID identifier unit;

[0031] Figure 5 This is a flowchart illustrating a motion identification method provided by the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 10. Moving element unit; 11. Moving element ID identification unit; 20. Stator unit; 21. Eddy current transmitter and receiver unit; 22. Data processing unit; 220. Processor; 221. Inverter; 222. Driver amplifier; 223. Coil; 224. Detector circuit; 225. Filtering circuit; 226. A / D converter. Detailed Implementation

[0034] The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0035] The inventors discovered that the method of encoding movers by changing the arrangement of permanent magnet arrays has drawbacks. Each mover has a unique permanent magnet array, making manufacturing difficult and increasing motor control complexity. Furthermore, as the number of movers increases, the combination of permanent magnets becomes extremely complex, drastically increasing the difficulty of encoding and recognition. Additionally, the encoding capacity is limited, making it unsuitable for high-capacity motor systems. In the method of charging and communicating with the recognition device within the mover via a coupling coil, multiple magnetic fields exist within the planar motor. Information transmission via magnetic field coupling is highly dependent on the magnetic field environment and is easily affected by external magnetic field interference, leading to unstable energy transmission and affecting the normal operation of the recognition device. If the number of movers is large, the magnetic field coupling between multiple movers may interfere with each other, affecting the accuracy and reliability of recognition.

[0036] like Figure 1 , Figure 4 As shown in the figure, an embodiment of the present invention provides a mover identification device, comprising: a mover unit 10 and a stator unit 20 provided with a main drive circuit. The mover unit 10 is connected to at least one mover ID identification unit 11, which includes a plurality of flag bits, and the flag bits may or may not contain an identification element. The identification element is a metal sheet, which is one or more non-ferromagnetic materials selected from copper, aluminum, or stainless steel.

[0037] In this embodiment, five flag bits are set. The first, third, and fifth flag bits have identification elements, while the second and fourth flag bits do not. This is one combination method. For the identification of five flag bits, there are 32 (i.e., 2...) flag bits. 5 These different combinations represent 32 dynamic IDs.

[0038] Since the encoding capacity of the mover ID identification unit 11 is determined by the number of flag bits, with n flag bits corresponding to 2n IDs, the recognition range can be easily expanded by increasing the number of flag bits, meeting the expansion requirements of multi-movement subsystems. Moreover, the encoding can be flexibly modified by changing the layout of the ID identification component, without the need to redesign the structure of the mover unit 10 or the stator unit 20, thus providing stronger adaptability.

[0039] like Figure 1 , Figure 3As shown, an eddy current transmitting and receiving unit 21 is connected to one side of the stator unit 20, with its transmitting and receiving directions along the positive X-axis. After a high-frequency driving current is applied to the eddy current transmitting and receiving unit 21, it is used to transmit a high-frequency oscillating electromagnetic field to the mover ID identification unit 11. When the high-frequency oscillating electromagnetic field acts on the identification element, the eddy current field generated in the identification element weakens the high-frequency oscillating electromagnetic field and changes the amplitude and phase of the high-frequency driving current.

[0040] The stator unit 20 is also connected to a data processing unit 22, which is electrically connected to the eddy current transmitting and receiving unit 21. The data processing unit 22 is used to drive the eddy current transmitting and receiving unit 21, acquire signals, resolve IDs, and transmit data.

[0041] like Figure 2 As shown, the data processing unit 22 includes a drive module for generating a high-frequency drive current. A sampling module is connected in series with the drive module, converting the high-frequency oscillating electromagnetic field changes into digital signals. A processor 220 is connected in series with the sampling module, parsing the digital signals and generating a mover ID. The processor 220, drive module, and sampling module form a closed loop. The processor 220 is also connected to an external motor control system for communication. In this embodiment, the processor 220 uses an MCU, which stands for Microcontroller Unit, also known as a single-chip microcomputer or microcontroller, a chip-level computer.

[0042] Specifically, the driving module includes an inverter 221, a driving amplifier 222 connected in series with the inverter 221, and a coil 223 connected in series with the driving amplifier 222. The sampling module includes a detector circuit 224, a filter circuit 225 connected in series with the detector circuit 224, and an A / D converter 226 connected in series with the filter circuit 225.

[0043] In this embodiment, the motor control system, as the overall control system of the magnetic levitation planar motor, is responsible for triggering the mover identification process. After receiving the identification command, the processor 220 controls the main drive circuit in the stator unit 20 to apply drive coil current to the stator unit 20, thereby driving the mover unit 10 to move, so that the flag bit in the mover ID identification unit 11 coincides with the eddy current transmitting and receiving unit 21. The processor 220, as the core controller, starts the internal workflow and initializes the parameters of each module (such as drive current frequency and sampling threshold). The processor 220 sends control signals to the drive module. The inverter 221 receives the control signals output by the processor 220, reverses their phase, and converts them into high-frequency pulse signals (which need to be matched with the preset electromagnetic field frequency) to prepare for subsequent current amplification. The drive amplifier 222 receives the high-frequency pulse signals output by the inverter 221 and amplifies them into high-frequency drive current to meet the excitation requirements of the coil 223. Under the excitation of the high-frequency drive current, the coil 223 generates a high-frequency oscillating electromagnetic field and emits it directionally to the flag bit in the mover ID identification unit 11.

[0044] When the electromagnetic field interacts with the mover ID identification unit 11, the current amplitude and phase of coil 223 change. The sampling module processes this change. Detector circuit 224 converts the changing AC current signal in coil 223 into a DC voltage signal (extracting signal amplitude characteristics). Filtering circuit 225 filters high-frequency noise (such as electromagnetic interference) from the DC voltage signal, retaining the valid signal. A / D converter 226 converts the filtered analog voltage signal into a digital signal and transmits it to processor 220. After receiving the digital signal from the sampling module, processor 220 first performs signal judgment, then position control, and finally generates an ID.

[0045] During signal judgment, the digital signal is compared with a preset threshold (e.g., amplitude change ≥ 0.1A or phase shift ≥ 5°). If the threshold is exceeded (if the flag bit of the identification element is set), it is defined as "1"; otherwise (if the flag bit of the identification element is not set), it is defined as "0". During position control, after each flag bit is identified, the processor 220 controls the mover unit 10 to move to the next flag bit through the motor main drive system, repeatedly triggering the drive module and sampling module to work. Finally, the "0 / 1" results of all flag bits are collected, combined into a binary sequence, and converted into a unique mover ID (e.g., "10101" is converted to decimal "21"). The processor 220 sends the generated mover ID to the motor control system through the communication interface, completing the entire identification process, and waits for the next identification command.

[0046] In this application, the process is as follows: motor control system command → processor 220 starts → drive module generates high-frequency electromagnetic field → mover ID identification unit 11 provides feedback → sampling module collects and converts the signal → processor 220 parses and generates mover ID → communication interface transmits the result. Each component is centered around processor 220, with the drive module responsible for transmitting signals, the sampling module responsible for receiving feedback, and finally, external interaction via the communication interface forms a closed-loop collaboration, enabling rapid and accurate mover identification.

[0047] This mover identification device has a simple structure and low cost. The mover ID identification unit is encoded simply by the combination of "presence or absence of an identification element," eliminating the need for complex permanent magnet arrays or coil structures, thus reducing manufacturing and assembly difficulties. Furthermore, the eddy current transmitting and receiving unit 21 and the data processing unit 22 can be directly integrated into the stator unit 20, simplifying system design, increasing integration, and eliminating the need for additional energy transmission or signal modulation circuits, significantly reducing system hardware costs. The identification element uses non-ferromagnetic materials such as copper, aluminum, and stainless steel, avoiding interference from the magnetic field of the magnetically levitated planar motor itself, ensuring stable eddy current feedback signals, and providing strong anti-interference capabilities. Moreover, the eddy current effect-based detection method is insensitive to external electromagnetic noise, solving the signal distortion problem caused by magnetic field interference in the coupled coil communication method.

[0048] Moreover, the signal detection is achieved through the combination of the detector circuit 224, the filter circuit 225, and the A / D converter 226, resulting in a low error rate and effectively improving the recognition accuracy. It can even work stably in a magnetic field environment of 10mT, enhancing the efficiency and reliability of mover recognition.

[0049] Therefore, this mover identification device effectively solves the limitations of existing mover identification methods by simplifying the structure, enhancing anti-interference capabilities, and improving coding flexibility, and is suitable for precise control scenarios of multi-magnetic levitation planar motor systems.

[0050] like Figure 5 As shown, in one embodiment, the present invention provides a mover identification method, which uses a mover identification device for identification.

[0051] The mover identification method includes:

[0052] A drive coil current is applied to the stator unit 20, and the mover unit 10 is moved so that the first flag bit in the mover ID identification unit 11 is matched with the eddy current transmitting and receiving unit 21. After the flag bit is matched, the eddy current transmitting and receiving unit 21 receives the high-frequency drive current sent by the data processing unit 22 and transmits a high-frequency oscillating electromagnetic field to the mover ID identification unit 11.

[0053] The data processing unit 22 identifies the flag bit, detects the amplitude and phase changes of the high-frequency drive current, and defines the flag bit based on the change results, generating the definition result.

[0054] The remaining flag bits are matched sequentially to the eddy current transmitting and receiving unit 21, and the flag bit identification process is repeated until all flag bits are identified. The data processing unit 22 generates a binary sequence based on the definition result of each flag bit, and finally converts the binary sequence into a mover ID number and transmits it to the motor control system.

[0055] The specific steps are as follows:

[0056] S1. The motor control system, as the overall control system of the magnetic levitation planar motor, is responsible for triggering the mover identification process. After receiving the identification command, the processor 220 controls the main drive circuit in the stator unit 20 to apply the drive coil current to the stator unit 20, thereby driving the mover unit 10 to move, so that the first flag bit in the mover ID identification unit 11 matches the eddy current transmitting and receiving unit 21, that is, the flag bit in the mover ID identification unit 11 coincides with the eddy current transmitting and receiving unit 21.

[0057] S2. After the flag bit is matched, the drive amplifier 222 of the data processing unit 22 outputs a high-frequency drive current to the eddy current transmitting and receiving unit 21. After receiving the high-frequency drive current from the data processing unit 22, the eddy current transmitting and receiving unit 21 transmits a high-frequency oscillating electromagnetic field to the mover ID identification unit 11. When an identification element is set in the flag bit of the mover ID identification unit 11, the identification element will generate an eddy current field after being subjected to the high-frequency oscillating electromagnetic field. This eddy current field weakens the high-frequency oscillating electromagnetic field generated by the eddy current transmitting and receiving unit 21 and changes the amplitude and phase of the high-frequency drive current (also called the transmitting current, i.e., the high-frequency drive current carried by the coil 223 of the drive module in the data processing unit 22). When no identification element is set in the flag bit, the amplitude and phase of the high-frequency drive current do not change.

[0058] S3. The data processing unit 22 identifies the flag bit, detects the amplitude and phase changes of the high-frequency drive current, and defines the flag bit based on the change results, generating the definition result.

[0059] Specifically, when the data processing unit 22 detects changes in the amplitude and phase of the high-frequency drive current, it considers them to represent "1", and the result is defined as "1". If the data unit does not detect changes in the amplitude and phase of the high-frequency drive current, it considers them to represent "0", and the result is defined as "0".

[0060] S4. Repeat S1 to S3, apply a driving coil current to the given subunit 20, and sequentially match the remaining flag bits to the eddy current transmitting and receiving unit 21. Repeat the flag bit identification process until all flag bits have been identified. The data processing unit 22 generates a binary sequence based on the definition result of each flag bit.

[0061] In this invention, the detection process for a single flag bit is simple, requiring only electromagnetic field emission, signal sampling, and digital generation, which takes less time and enables rapid identification of the mover.

[0062] S5, the data processing unit 22 converts the binary sequence into a unique mover ID number and transmits it to the motor control system through the communication interface.

[0063] In this application, the method employs an identification element and the eddy current effect, which enables mover identification to be unaffected by the motor's magnetic field, thus improving identification stability. Furthermore, the encoding capacity can be easily expanded by increasing the number of flag bits, supporting flexible increases or decreases in the number of movers, thereby solving the problem of difficult identification of multiple movers on magnetically levitated planar motors. Mover ID identification is achieved solely through the presence or absence of identification elements, eliminating the need for complex permanent magnet or coil designs, thereby reducing manufacturing and assembly costs.

[0064] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A moving part identification device, characterized in that, include: Moving subunit (10) and stator unit (20); The moving sub-unit (10) is connected to at least one moving sub-ID identification unit (11), the moving sub-ID identification unit (11) includes several flag bits, and the flag bits may or may not be equipped with identification elements; The stator unit (20) is connected to an eddy current transmitting and receiving unit (21). After the eddy current transmitting and receiving unit (21) is supplied with a high-frequency driving current, it is used to transmit a high-frequency oscillating electromagnetic field to the mover ID identification unit (11). When the high-frequency oscillating electromagnetic field acts on the identification element, the eddy current field generated in the identification element weakens the high-frequency oscillating electromagnetic field and changes the amplitude and phase of the high-frequency driving current. The stator unit (20) is connected to a data processing unit (22), which is used to drive the eddy current transmitting and receiving unit (21), acquire signals, resolve IDs, and transmit data.

2. The moving part identification device as described in claim 1, characterized in that, The identification element is a metal sheet, which is one or more non-ferromagnetic materials selected from copper, aluminum, or stainless steel.

3. The moving part identification device as described in claim 1, characterized in that, The data processing unit (22) includes a driving module, which includes an inverter (221), a driving amplifier (222) connected in series with the inverter (221), and a coil (223) connected in series with the driving amplifier (222). The driving module is used to generate a high-frequency driving current.

4. The moving part identification device as described in claim 3, characterized in that, The driving module is connected in series with a sampling module, which includes a detection circuit (224), a filter circuit (225) connected in series with the detection circuit (224), and an A / D converter (226) connected in series with the filter circuit (225). The sampling module is used to convert the high-frequency oscillating electromagnetic field change into a digital signal.

5. The moving part identification device as described in claim 4, characterized in that, The sampling module is connected in series with a processor (220), which is used to parse digital signals and generate a mover ID.

6. The moving part identification device as described in claim 5, characterized in that, The processor (220), the driving module, and the sampling module form a closed loop.

7. The moving part identification device as described in claim 6, characterized in that, The processor (220) is connected to the motor control system for communication.

8. A method for identifying a moving part, using the moving part identification device as described in any one of claims 1-7, characterized in that, include: Apply a drive coil current to the stator unit (20) and move the mover unit (10) so that the first flag bit in the mover ID identification unit (11) matches the eddy current transmitting and receiving unit (21); After the flag bit is matched, the eddy current transmitting and receiving unit (21) receives the high-frequency driving current sent by the data processing unit (22) and transmits a high-frequency oscillating electromagnetic field to the mover ID identification unit (11); The data processing unit (22) identifies the flag bit, detects the amplitude and phase changes of the high-frequency drive current, defines the flag bit based on the change results, and generates the definition result; The remaining flag bits are matched sequentially to the eddy current transmitting and receiving unit (21), and the flag bit identification process is repeated until all flag bits are identified. The data processing unit (22) generates a binary sequence based on the definition result of each flag bit. The data processing unit (22) converts the binary sequence into a mover ID number and transmits it to the motor control system.

9. The mover identification method as described in claim 8, characterized in that, When an identification element is set in the flag position, the identification element will generate an eddy current field after being subjected to a high-frequency oscillating electromagnetic field, and change the amplitude and phase of the high-frequency driving current.

10. The mover identification method as described in claim 9, characterized in that, When no identification element is set in the flag bit, the amplitude and phase of the high-frequency drive current do not change.

Images