Control method and related equipment of direct drive system

Abstract

The present invention belongs to the field of direct drive transmission technology and provides a control method for a direct drive system, the method comprising the following steps: S1, outputting current to the corresponding stator winding via the driver, causing the winding to drive the corresponding mover to move in a single direction along the guide rail; S2, sensing the position of the second position feedback device via the first position feedback device to obtain position information of the mover relative to the stator; S3, modifying the drive mode of the driver based on the position information, causing the driver to adjust the magnitude of the current output to the corresponding stator winding according to the drive mode. Compared with related technologies, the present invention can control a direct drive system in which multiple coils serve as a stator, and reduce the number of power modules used in the direct drive system, thereby reducing the overall production and use costs of the direct drive system.

Description

Technical field

[0001] The present invention belongs to the technical field of direct drive transmission, and in particular relates to a control method of a direct drive system and related equipment. [Background Technology]

[0002] With the development of motor technology, various manufacturing industries have deployed various motors on their production lines. Among them, direct-drive transmission systems using direct-drive motors are widely used in assembly line scenarios such as component transportation. At the same time, solutions that can accurately control the position of each transmission unit through the transmission system are also gradually being adopted.

[0003] The driving scheme adopted by the existing direct drive transmission system of the related technology is to control each coil in the winding individually. When the mover moves to a specific position, the corresponding coil is energized, thereby driving the magnet on the mover to move.

[0004] However, in the direct-drive transmission system of the related technology, each coil needs to be driven individually, and its implementation requires overall coordinated control by the upper system. In the case of multiple windings and coils, the drive and control schemes adopted by the existing direct-drive transmission system are more complicated; secondly, from the perspective of production and manufacturing, the direct-drive transmission system driven by individual coils requires a large number of power modules, which increases the manufacturing and use costs.

[0005] Therefore, it is necessary to provide a new direct drive system control method to solve the above problems. [Summary of the invention]

[0006] The technical problem to be solved by the present invention is to provide a solution for controlling multiple coils as a stator while reducing the number of power modules in a direct drive system.

[0007] To solve the above technical problems, in a first aspect, the present invention provides a control method for a direct-drive system, wherein the direct-drive system includes a guide rail, a plurality of stators attached to the guide rail, a plurality of movers slidably disposed on the guide rail, a driver corresponding to each of the stators, and a controller for controlling all of the drivers, wherein each of the stators includes a stator body, a plurality of windings fixed to the stator body, and a first position feedback device, and each of the movers includes a mover body, a magnet fixed to the stator body, and a second position feedback device, wherein the winding and the magnet are disposed opposite each other. The control method includes the following steps:

[0008] S1. Outputting current to the corresponding winding of the stator by the driver, so that the winding drives the corresponding mover to move in a single direction along the guide rail;

[0009] S2. Performing position sensing on the second position feedback device through the first position feedback device to obtain position information of the mover relative to the stator, and sending the position information to the controller;

[0010] S3. Changing the driving mode of the driver according to the position information, so that the driver adjusts the magnitude of the current output to the corresponding winding of the stator according to the driving mode.

[0011] Preferably, the driving mode includes a main axis mode and a slave axis mode. When the driver is in the main axis mode, the driver adjusts the magnitude of the current output to the corresponding stator winding in real time according to the position information.

[0012] When the driver is in the slave axis mode, the magnitude of the current output by the driver to the corresponding winding of the stator is fixed.

[0013] Preferably, when the magnetic steel on the mover is completely within the driving range of the winding of the stator, the controller controls the driver corresponding to the stator to the spindle mode;

[0014] When the magnetic steel of the mover is completely out of the driving range of the winding of the stator, the controller controls the driver corresponding to the stator to the slave axis mode.

[0015] Preferably, the plurality of stators include at least a first stator and a second stator disposed adjacent to each other, the drivers corresponding thereto being a first driver and a second driver respectively, the first stator having a first winding, the second stator having a second winding, the first winding and the second winding being disposed opposite the magnetic steel respectively, and the mover moving in a single direction along the guide rail and successively approaching a position where the first stator and the second stator are opposite each other, the driving modes of the first driver and the second driver successively change continuously as follows:

[0016] When the mover moves to a position facing the first winding, the first driver is in the master axis mode, and the second driver is in the slave axis mode;

[0017] When the mover moves to a position facing the first winding and the second winding, the first driver is in the spindle mode, and the second driver is in the spindle mode;

[0018] When the mover moves to a position facing the second winding, the first driver is in the slave axis mode, and the second driver is in the master axis mode.

[0019] Preferably, the driving forces generated by the first driver and the second driver on the magnetic steel of the same mover are in the same direction.

[0020] Preferably, the drivers corresponding to the first stator and the second stator are connected to the same controller, and the controller uniformly controls the switching of the driving modes of the drivers.

[0021] Preferably, the controller calculates the absolute position information of the mover moving on the guide rail based on the position information.

[0022] Preferably, the first position feedback device is a reading head, the second position feedback device is a scale, and the reading head is arranged opposite to the scale.

[0023] In a second aspect, an embodiment of the present invention further provides a computer device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps in the control method of the direct drive system in the above embodiment when executing the computer program.

[0024] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the control method of the direct drive system described in the above embodiment are implemented.

[0025] Compared with the related art, the control method of the direct-drive system provided by the present invention is used in a direct-drive system in which multiple coils serve as a stator. Each stator is driven by a separate driver, and all drivers are controlled by a separate controller. This can simply realize the switching of drive modes of different stators, while avoiding the complex control operations brought by multiple control units. At the same time, the method of integrating multiple coils into a stator and using a driver to drive a stator can effectively reduce the number of power modules used in the direct-drive system, thereby reducing the overall production and use costs of the direct-drive system.

Brief Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0027] Figure 1 is a schematic structural diagram of a direct drive system used in an embodiment of the present invention;

[0028] Figure 2 This is a flowchart of the steps of the control method of the direct drive system provided by an embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the change of the drive mode of the driver when the mover moves across the stator of the direct drive system provided by an embodiment of the present invention;

[0030] Figure 4 It is a structural diagram of a computer device provided by an embodiment of the present invention. [Specific implementation method]

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Please refer to Figure 1 , Figure 1 FIG1 is a schematic diagram of the structure of a direct-drive system 100 used in an embodiment of the present invention. Taking a set of stator and mover structures in the direct-drive system 100 as an example, the direct-drive system 100 includes a guide rail 1, a stator 2 attached to the guide rail 1 and having a first position feedback device 21, a mover 3 slidably mounted on the guide rail 1 and having a second position feedback device 31, a driver 4 corresponding to the stator 2, and a controller 5 for controlling the driver 4. The mover 3 includes a mover body 32 and a magnet 33 fixed thereto. The stator 2 includes a stator body 22 and a plurality of windings 23 fixed thereto, the windings 23 being arranged opposite the magnet 33. The first position feedback device 21 and the second position feedback device 31 are both photoelectric sensing devices, and are arranged opposite each other. Specifically, when the first position feedback device 21 and the second position feedback device 31 are facing each other, the first position feedback device 21 can obtain the relative position of the second position feedback device 31.

[0033] The stator 2 includes a plurality of windings 23. When used as a stator structure, the plurality of windings 23 constitute the primary of a stator. The direct drive system 100 includes a plurality of groups of stators and mover structures having the same structure as described above. Each of the stators is controlled by one of the drivers, but the system may include at least one controller.

[0034] Please refer to Figure 2 , Figure 2 : is a flowchart of a method for controlling a direct drive system according to an embodiment of the present invention, the method comprising the following steps:

[0035] S1. Outputting current to the corresponding winding of the stator through the driver so that the winding drives the corresponding mover to move in a single direction along the guide rail.

[0036] Specifically, taking the above-mentioned direct drive system 100 as an example, when the direct drive system 100 is on standby, an air gap magnetic field is generated between the magnet 33 of the mover 3 and the winding 23 of the stator 2 nearby. The primary output current of the winding 23 composed of the driver 4 causes the winding 23 to generate a traveling wave magnetic field, and further generates a thrust between the magnet 33 of the mover 3 and the energized winding 23, so that the mover body 32 moves along the guide rail 1 in the direction of the thrust.

[0037] S2. Perform position sensing on the second position feedback device through the first position feedback device to obtain position information of the mover relative to the stator.

[0038] When the first position feedback device 21 and the second position feedback device 31 are in a relative state, that is, the first position feedback device 21 and the second position feedback device 31 are in a relative state, Figure 2 When the first position feedback device 21 is in a similar position, part of the second position feedback device 31 is located opposite the first position feedback device 21. At this time, the first position feedback device 21 can obtain the relative position of the second position feedback device 31. After that, the first position feedback device 21 sends the obtained position information to the controller 5.

[0039] S3. Changing the driving mode of the driver according to the position information, so that the driver adjusts the magnitude of the current output to the corresponding winding of the stator according to the driving mode.

[0040] Preferably, the driving mode includes a master mode and a slave mode. When the driver 4 is in the master mode, the driver 4 adjusts the magnitude of the current output to the corresponding winding 23 of the stator 2 in real time according to the position information.

[0041] When the driver 4 is in the slave axis mode, the driver 4 outputs a fixed current to the corresponding winding 23 of the stator 2 .

[0042] Generally, the thrust generated between the winding 23 and the magnet 33 will be different depending on the current output by the driver 4 to the winding 23. In an embodiment of the present invention, when the driver 4 is in the spindle mode, the driver 4 will make more detailed adjustments to the output current based on the position information. For example, when the overall position of the mover 3 moves along its movement direction and gradually approaches the position relative to the stator 2, in order to ensure the acceleration performance of the mover 3, its output current should be as large as possible. When the mover 3 gradually moves away from the stator 2 in its movement direction, in order to avoid speed fluctuations of the mover 3, its output current should gradually become smaller. According to such dynamic current adjustment, a power module such as the driver 4 can save power as much as possible while controlling multiple sets of windings.

[0043] Preferably, when the magnetic steel on the mover is completely within the driving range of the winding of the stator, the controller controls the driver corresponding to the stator to the spindle mode;

[0044] When the magnetic steel of the mover is completely out of the driving range of the winding of the stator, the controller controls the driver corresponding to the stator to the slave axis mode.

[0045] Preferably, the present invention provides a specific embodiment to further illustrate the effect of the change of the driving mode of the driver on the stator motion:

[0046] Please refer to Figure 3 , Figure 3 2 is a schematic diagram of a change in the drive mode of a driver when a mover moves across a stator in a direct-drive system provided by an embodiment of the present invention. The multiple stators include at least a first stator and a second stator arranged adjacent to each other, and the corresponding drivers are a first driver 4 and a second driver 6, respectively. The first stator has a first winding, and the second stator has a second winding. The first winding and the second winding are respectively arranged opposite to the magnetic steel. When the mover 3 moves in a single direction along the guide rail 1 and successively approaches the positions corresponding to the first stator and the second stator, the drive modes of the first driver 4 and the second driver 6 successively change continuously as follows:

[0047] When the mover moves to a position facing the first winding, the first driver 4 is in the master axis mode, and the second driver 6 is in the slave axis mode;

[0048] When the mover moves to a position facing the first winding and the second winding, the first driver 4 is in the spindle mode, and the second driver 6 is in the spindle mode;

[0049] When the mover moves to a position facing the second winding, the first driver 4 is in the slave axis mode, and the second driver 6 is in the master axis mode.

[0050] In an embodiment of the present invention, if the drive mode of the driver corresponding to the stator is the spindle mode, it means that the current stator generates the primary force on the mover. When the first driver 4 is in the spindle mode and the second driver 6 is in the spindle mode, the position of the magnet 33 of the mover 3 is simultaneously adjacent to the first winding and the second winding. In this case, it is necessary to ensure that at least one of the stator drivers is in the spindle mode so that the mover 3 can be subjected to sufficient force to maintain its motion state. In other words, in one possible embodiment, when the position of the magnet 32 of the mover 3 is simultaneously in the directly opposite position adjacent to the first winding and the second winding, the drive modes corresponding to the first driver 4 and the second driver 6 can also be:

[0051] The driver 4 is in the master axis mode, and the second driver 6 is in the slave axis mode;

[0052] or:

[0053] The driver 4 is in the slave axis mode, and the second driver 6 is in the master axis mode.

[0054] Among them, how to determine the relationship between the position of the magnetic steel 33 of the mover 3 and the position of the respective windings of the first stator 2 and the second stator 6 is specifically obtained by the first position feedback device 21 on each stator sensing the second position feedback device 31 on the mover.

[0055] Preferably, the driving forces generated by the first driver and the second driver on the magnetic steel of the same mover are in the same direction.

[0056] Such an arrangement is intended to prevent the mover 3 from becoming unstable when moving on the guide rail 1 .

[0057] Preferably, the drivers corresponding to the first stator and the second stator are connected to the same controller, and the controller uniformly switches the driving mode of each driver.

[0058] Preferably, the controller calculates the absolute position information of the mover moving on the guide rail based on the position information.

[0059] In the direct drive system 100, in order to avoid excessive differences in the currents output by different drivers, or to avoid currents that cause the movers to act in different directions, unified control is required through the controller to avoid speed fluctuations of the same mover during movement due to different control instructions received by the driver. At the same time, when the controller obtains the position information, the absolute position information of the mover 3 moving on the guide rail 1 can be obtained based on the position information. For example, when the stator that obtains the position information is fixed in the direct drive system 100, the relative position of the mover 3 can be obtained through the first position feedback device 21 and the second position feedback device 31 as photoelectric sensing devices, and the absolute position of the mover 3 can be further calculated by the controller 5.

[0060] The controller 5 can adjust the driving mode of each of the drivers in real time through the absolute position, thereby realizing motion control of multiple movers in the direct drive system and reducing the operational complexity of the entire direct drive system from a control perspective.

[0061] Preferably, the first position feedback device 21 is a reader for acquiring a photoelectric signal, and the second position feedback device 31 is a scale with a consistent spacing.

[0062] Compared with the related art, the control method of the direct-drive system provided by the present invention is used in a direct-drive system in which multiple coils serve as a stator. Each stator is driven by a separate driver, and all drivers are controlled by a separate controller. This can simply realize the switching of drive modes of different stators, while avoiding the complex control operations brought by multiple control units. At the same time, the method of integrating multiple coils into a stator and using a driver to drive a stator can effectively reduce the number of power modules used in the direct-drive system, thereby reducing the overall production and use costs of the direct-drive system.

[0063] The embodiment of the present invention also provides a computer device, see Figure 4 As shown, Figure 4 2 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention. The computer device 200 includes: a processor 201, a memory 202, and a computer program stored in the memory 202 and executable on the processor 201.

[0064] The computer device 200 is equivalent to the controller 5 in the direct drive system 100 of the above embodiment of the present invention.

[0065] The processor 201 calls the computer program stored in the memory 202 and implements the steps of the control method of the direct drive system in the above embodiment when executing the computer program.

[0066] The computer device 200 provided in the embodiment of the present invention can implement the steps in the control method of the direct drive system in the above embodiment and can achieve the same technical effects. Please refer to the description in the above embodiment and will not be repeated here.

[0067] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes and steps in the control method of the direct drive system provided by the embodiment of the present invention are implemented, and the same technical effects can be achieved. To avoid repetition, they will not be repeated here.

[0068] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0069] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0070] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0071] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for a direct drive system, the direct drive system comprising a guide rail, a plurality of stators attached to the guide rail, a plurality of movers slidably disposed on the guide rail, a driver corresponding to each of the stators, and a controller for controlling all of the drivers, each of the stators comprising a stator body, a plurality of windings fixed to the stator body, and a first position feedback device, each of the movers comprising a mover body, a magnet fixed to the stator body, and a second position feedback device, the windings being disposed opposite the magnets, and characterized in that: The control method comprises the following steps: S1. Outputting current to the corresponding winding of the stator by the driver, so that the winding drives the corresponding mover to move in a single direction along the guide rail; S2. Performing position sensing on the second position feedback device through the first position feedback device to obtain position information of the mover relative to the stator; S3. Changing a driving mode of the driver according to the position information, so that the driver adjusts the magnitude of the current output to the corresponding winding of the stator according to the driving mode; The drive mode includes a master axis mode and a slave axis mode. When the driver is in the master axis mode, the driver adjusts the magnitude of the output current to the corresponding stator winding in real time according to the position information. When the position of the mover as a whole moves along its motion direction and gradually approaches the position of the stator, the output current should be as large as possible. When the mover gradually moves away from the stator in its motion direction, the output current should gradually decrease. When the driver is in the slave axis mode, the magnitude of the current output by the driver to the corresponding winding of the stator is fixed.

2. The control method of the direct drive system according to claim 1, wherein: When the magnetic steel on the mover is completely within the driving range of the winding of the stator, the controller controls the driver corresponding to the stator to the spindle mode; When the magnetic steel of the mover is completely outside the driving range of the winding of the stator, the controller controls the driver corresponding to the stator to the slave axis mode.

3. The control method of the direct drive system according to claim 1, wherein: The plurality of stators include at least a first stator and a second stator disposed adjacent to each other, the drivers corresponding thereto being a first driver and a second driver respectively, the first stator having a first winding, the second stator having a second winding, the first winding and the second winding being disposed opposite the magnetic steel respectively, the mover moving in a single direction along the guide rail and successively approaching a position where the first stator and the second stator are opposite each other, the driving modes of the first driver and the second driver successively changing continuously as follows: When the mover moves to a position facing the first winding, the first driver is in the master axis mode, and the second driver is in the slave axis mode; When the mover moves to a position facing the first winding and the second winding, the first driver is in the spindle mode, and the second driver is in the spindle mode; When the mover moves to a position facing the second winding, the first driver is in the slave axis mode, and the second driver is in the master axis mode.

4. The control method of the direct drive system according to claim 3, characterized in that: The driving forces generated by the first driver and the second driver on the magnetic steel of the same mover are in the same direction.

5. The control method of the direct drive system according to claim 3, characterized in that: The drivers corresponding to the first stator and the second stator are connected to the same controller, and the controller uniformly controls the switching of the driving modes of the drivers.

6. The control method of the direct drive system according to claim 1, characterized in that: The controller calculates the absolute position information of the mover moving on the guide rail according to the position information.

7. The control method of the direct drive system according to claim 1, wherein: The first position feedback device is a read head, the second position feedback device is a scale, and the read head is arranged opposite to the scale.

8. A computer device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps in the control method of the direct drive system according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the control method of the direct drive system according to any one of claims 1 to 7 are implemented.

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