Control method and related equipment of direct drive transmission system

Abstract

The present invention belongs to the field of transmission system control technology. The present invention provides a control method and related equipment for a direct-drive transmission system. The control method includes the following steps: S1, start the direct-drive transmission system to return to zero as a whole, so that all movers move in the same direction; S2, read the zero point signal of the first incremental position feedback device identified by the corresponding second incremental position feedback device through each driver; S3, determine whether any driver reads two zero point signals: if so, execute step S4; if not, return to step S1; S4, determine whether the corresponding mover has completed the return to zero according to the distance between the two zero point signals fed back by the driver, and further complete the return to zero of the direct-drive transmission system; S5, the controller obtains the position information of each mover based on the direct-drive transmission system after the return to zero and drives each mover to move. Compared with the related art, the present invention has good position feedback effect, high positioning accuracy and good drive control effect.

Description

[Technical field]

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

[0002] With the development of direct drive transmission system technology, the control method of direct drive transmission system is widely used in various direct drive motors.

[0003] The direct drive transmission system of the related technology is composed of multiple stators and multiple movers, and the stator drives the mover to move to form a linear drive effect. In the existing direct drive transmission system, most direct drive transmission systems use an absolute position feedback solution to achieve the feedback of the motion position. Among them, the feedback unit mostly uses: absolute grating scale or magnetic scale, linear Hall and inductive scale.

[0004] However, the related technologies and absolute grating scales or magnetic scales have high positioning accuracy, but the cost is relatively high; linear Hall and inductive scales have low cost, but the position detection accuracy is also low; in this case, it is difficult to balance the cost of the feedback unit and the positioning accuracy, resulting in poor position feedback effect and poor positioning accuracy.

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

[0006] The technical problem to be solved by the present invention is to provide a control method and related equipment for a direct drive transmission system with good position feedback effect, high positioning accuracy and effective cost reduction.

[0007] To solve the above technical problems, in a first aspect, the present invention provides a control method for a direct-drive transmission system, wherein the direct-drive transmission system comprises a plurality of stator sections connected in sequence to form an integral stator unit, a guide rail installed on the stator unit, a plurality of movers that are slidably connected to the guide rail and can move relative to the plurality of stator sections, a plurality of first incremental position feedback devices, a plurality of second incremental position feedback devices, a plurality of drivers and a controller, wherein each of the movers is equipped with a first incremental position feedback device, and each of the stators is equipped with a second incremental position feedback device; each of the first incremental position feedback devices is preset with a first zero point mark and a second zero point mark spaced apart from each other, and the distance between the first zero point mark and the second zero point mark is a preset value, and the plurality of drivers are respectively connected to the plurality of the second incremental position feedback devices, and are all connected to the controller, and the control method comprises the following steps:

[0008] S1, starting the direct drive transmission system to return to zero as a whole, so that all the movers move in the same direction;

[0009] S2, reading, through each of the drivers, a zero point signal of the first incremental position feedback device identified by the corresponding second incremental position feedback device;

[0010] S3, determining whether any of the drivers reads two zero-point signals: if so, executing step S4; if not, returning to step S1;

[0011] S4, judging that the corresponding mover has completed zero return according to the distance between the two zero point signals fed back by the driver, and further completing the zero return of the direct drive transmission system;

[0012] S5. The controller obtains the position information of each mover based on the direct drive transmission system after returning to zero and drives each mover to move.

[0013] Preferably, the step S4 specifically includes the following steps:

[0014] S41, when the distance between the two zero-point signals is a preset value, it is determined that the corresponding mover has completed zero return, and the position information fed back in real time by the second incremental position feedback device installed on the next stator corresponding to the mover that has completed zero return is determined as the accurate position information of the mover that has completed zero return;

[0015] S42, establishing a coordinate system of the direct-drive transmission system according to the accurate position information, and achieving zero return of the direct-drive transmission system.

[0016] Preferably, the first incremental position feedback device and the second incremental position feedback device are installed opposite to each other.

[0017] Preferably, the first incremental position feedback device is an incremental scale.

[0018] Preferably, the second incremental position feedback device is a reading head, and the reading head is arranged opposite to the incremental scale.

[0019] Preferably, the incremental scale is a grating or a magnetic grating.

[0020] Preferably, a plurality of the stators are arranged adjacent to each other.

[0021] Preferably, a first pulley and a second pulley are arranged opposite to each other under the mover, and the first pulley and the second pulley are respectively abutted against two sides of the guide rail to form a sliding connection.

[0022] 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 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 transmission system in the above embodiment are implemented.

[0023] 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 transmission system in the above embodiment are implemented.

[0024] Compared with the related art, the control method and related equipment of the direct-drive transmission system of the present invention are as follows: a first incremental position feedback device is installed on each mover, and a second incremental position feedback device is installed on each stator; each first incremental position feedback device is preset with a first zero mark and a second zero mark spaced apart from each other, and the distance between the first zero mark and the second zero mark is a preset value; a plurality of drivers are respectively connected to a plurality of second incremental position feedback devices, and are all connected to a controller; the direct-drive transmission system is started to return to zero as a whole, so that all movers move in the same direction; each driver reads the corresponding second incremental position feedback device identification The controller obtains the position information of each mover based on the direct-drive transmission system after returning to zero and drives each mover to move; based on the identified zero point, the second incremental position feedback device installed on each stator will feed back the position information of the corresponding mover in real time, and transmit the position information during operation to the direct-drive transmission system for driving control of the mover, so that the position feedback effect of the mover is good, the positioning accuracy is high, and the cost is reduced.

Brief Description of the Drawings

[0025] 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. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0026] Figure 1 It is a module diagram of the direct drive transmission system of the present invention;

[0027] Figure 2 A method flow chart of a control method of a direct drive transmission system of the present invention;

[0028] Figure 3 for Figure 2 A method flow chart of step S4;

[0029] Figure 4 It is a structural schematic diagram of the direct drive transmission system of the present invention;

[0030] Figure 5 For along Figure 4 The cross-section diagram of the AA line;

[0031] Figure 6 for Figure 4 Left view of;

[0032] Figure 7 A schematic diagram of determining a preset value of a control method for a direct drive transmission system of the present invention;

[0033] Figure 8 It is a module diagram of the computer device of the present invention. [Specific implementation method]

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-7 As shown, a control method for a direct-drive transmission system is provided, wherein the direct-drive transmission system 100 comprises a plurality of stator sections 1 which are sequentially connected to form an integral stator unit (not shown), a guide rail 3 installed on the stator unit, a plurality of movers 2 which are slidably connected with the guide rail 3 and can move relative to the plurality of stator sections 1, a plurality of first incremental position feedback devices 4, a plurality of second incremental position feedback devices 5, a plurality of drivers 6 and a controller 7, wherein one of the first incremental position feedback devices 4 is installed on each of the movers 2, and one of the second incremental position feedback devices 5 is installed on each of the stators 1; a first zero point mark and a second zero point mark which are spaced apart from each other are preset on each of the first incremental position feedback devices 4, and a distance between the first zero point mark and the second zero point mark is a preset value, and the plurality of drivers 6 are respectively connected to the plurality of the second incremental position feedback devices 5, and are all connected to the controller 7.

[0036] The multi-segment stator 1 includes two or more segments, which can be selected and set according to actual needs.

[0037] Specifically, by engraving the first zero point mark and the second zero point mark at the two ends of the first incremental position feedback device 4, the zero point identification requirements of the forward and reverse motion of the mover 2 can be met. When the first zero point mark and the second zero point mark on the first incremental position feedback device 4 move through the second incremental position feedback device 5, the second incremental position feedback device 5 will have a zero point level signal output, wherein the zero point level signal is the Z point signal output.

[0038] The first zero point mark and the second zero point mark may be scale lines, scale points, etc. Optionally, the first zero point mark and the second zero point mark may also be marking lines of other shapes, which may be selected according to actual conditions.

[0039] The preset value is set to △L, the zero point signals of the first zero point mark and the second zero point mark are Z respectively, and △L is the feedback distance between the two Zs.

[0040] The control method comprises the following steps:

[0041] S1. Start the direct drive transmission system 100 to return to zero as a whole, so that all the movers 2 move in the same direction.

[0042] Specifically, by performing overall zero return, dynamic selection of the zero point position can be easily completed.

[0043] The driver 6 controls all the movers 2 to move in the same positive or reverse direction, and the second incremental position feedback device 5 reads the information of the first incremental position feedback device 4 in real time and feeds the information back to the driver 6 .

[0044] S2. Reading the corresponding second incremental position feedback device 5 through each of the drivers 6 to identify the zero point signals of the plurality of first incremental position feedback devices 4 .

[0045] Specifically, the position information of the mover 2 can be obtained in real time, which is convenient for motion positioning. The second incremental position feedback device 5 reads the information of the first incremental position feedback device 4 in real time and forms feedback information, and the driver 6 reads the zero point signal fed back by the second incremental position feedback device 5.

[0046] S3, determine whether any of the drivers 6 reads the two zero-point signals: if so, execute step S4; if not, return to step S1.

[0047] S4. Determine whether the corresponding mover 2 has completed zero return according to the distance between the two zero point signals fed back by the driver 6, and further complete the zero return of the direct drive transmission system.

[0048] S5. The controller 7 obtains the position information of each of the movers 2 based on the direct drive transmission system after returning to zero and drives each of the movers 2 to move.

[0049] Among them, based on the identified zero point, the second incremental position feedback device 5 installed on each stator 1 will feedback the position information of the corresponding mover 2 in real time, and transmit the position information during operation to the drive control system for driving control of the mover 2. The position feedback effect of the mover 2 is good, the positioning accuracy is high, and the cost is effectively reduced.

[0050] Specifically, a first incremental position feedback device 4 is installed on each mover 2, and a second incremental position feedback device 5 is installed on each stator 1; each first incremental position feedback device 4 is preset with a first zero point mark and a second zero point mark spaced apart from each other, and the distance between the first zero point mark and the second zero point mark is a preset value, and multiple drivers 6 are respectively connected to multiple second incremental position feedback devices 5, and are all connected to a controller 7; by starting the direct drive transmission system 100 for overall zero return, all movers 2 move in the same direction; each driver 6 reads the zero point signal of the first incremental position feedback device 4 identified by the corresponding second incremental position feedback device 5; when any driver 6 reads two zero point signals, it is judged whether the corresponding mover 2 has completed the zero return according to whether the distance between the two zero point signals fed back by the driver 6 is a preset value, and further completes the zero return of the direct drive transmission system 100; the controller 7 obtains the position information of each mover based on the direct drive transmission system 100 after the zero return and drives each mover to move. The position information of the first incremental position feedback device 4 is read in real time by the second incremental position feedback device 5. When the second incremental position feedback device 5 identifies the two zero point signals of the first incremental position feedback device 4 and the feedback distance of the position between the two zero point signals is a certain set value, based on the identified zero point, the second incremental position feedback device 5 installed on each stator 1 will feed back the position information of the corresponding mover 2 in real time, and transmit the position information during operation to the drive control system for driving control of the mover 2. The position feedback effect of the mover 2 is good, the positioning accuracy is high, and the cost is effectively reduced.

[0051] In this implementation, step S4 specifically includes the following steps:

[0052] S41. When the distance between the two zero-point signals is a preset value, it is determined that the corresponding mover has completed returning to zero, and the position information fed back in real time by the second incremental position feedback device 5 installed on the next stator corresponding to the mover that has completed returning to zero is determined as the accurate position information of the mover that has completed returning to zero.

[0053] Specifically, the two zero-point signals are the positions passed by the second incremental position feedback device 5 corresponding to the first incremental position feedback device 4, and the zero-point signals of the two zero-point marks are read. When the feedback distance between the two zero-point signals is a preset value, it is determined that the return to zero of the mover 2 is completed and the return to zero effect of the mover 2 is good. At the same time, the feedback position of the second incremental position feedback device 5 of the next stator 1 can also be determined to be the accurate position of the mover 2.

[0054] Among them, the preset value can be 1mm, 10mm, 100mm, etc., and can be selected according to actual conditions.

[0055] S42, establishing a coordinate system of the direct-drive transmission system according to the accurate position information, and achieving zero return of the direct-drive transmission system.

[0056] Specifically, a global position coordinate system is established based on the position feedback information of the mover 2, and the position coordinates of the first incremental position feedback device 4 and the second incremental position feedback device 5 are formed through the global position coordinate system, so that the driver 6 can quickly and accurately read the zero point signal fed back by the second incremental position feedback device 5, which is used for the controller 7 to drive and control it, thereby completing the return to zero of the direct-drive transmission system.

[0057] In this embodiment, the first incremental position feedback device 4 and the second incremental position feedback device 5 are installed opposite to each other, so that the second incremental position feedback device 5 can read the position information of the first incremental position feedback device 4 in real time.

[0058] In this embodiment, the first incremental position feedback device 4 is an incremental scale 41. The measurement principle of the incremental scale 41 is to modulate light into moiré fringes through two relatively moving gratings, obtain the displacement change by counting and subdividing the moiré fringes, and determine the position by setting one or more reference points on the scale grating. Optionally, the incremental scale 41 is installed on the mover 2, and the feedback position accuracy of the incremental scale 41 is high.

[0059] In this embodiment, the second incremental position feedback device 5 is a reading head 51, and the reading head 51 is arranged opposite to the incremental scale 41, so that the reading head 51 can easily identify the information of the incremental scale 41 in real time, and the recognition and reading efficiency is good.

[0060] Optionally, the reader 51 is installed on the stator 1, so that when the first incremental position feedback device 4 of the mover 2 passes through the reader 51, the reader 51 can obtain information of the first incremental position feedback device 4 in real time, and the obtained position accuracy is high.

[0061] In this embodiment, the incremental scale 41 is a grating or a magnetic grating, which has low cost. The incremental scale 41 is not limited to a grating or a magnetic grating.

[0062] In this embodiment, the plurality of stators 1 are arranged adjacent to each other. The plurality of stators 1 are arranged closely to each other, so that the stators 1 have a good driving and controlling effect on the movers 2.

[0063] In this embodiment, a first pulley 8 and a second pulley 9 are disposed opposite to each other under the mover 2 , and the first pulley 8 and the second pulley 9 are respectively disposed on both sides of the guide rail 3 in contact with each other, so as to facilitate the slide of the mover 2 on the guide rail 3 .

[0064] Specifically, the mover 2 is provided with a magnetic steel 11 and a magnetic conductor 12, and the stator 1 is provided with a plurality of adjacent winding coils 10. The winding coils 10 and the read head 51 are installed on the stator 1. The winding coils 10 and the read head 51 are respectively connected to the driver 6 through cables. When the scale passes through the read head 51, the driver 6 can read the zero point signal fed back by the read head 51 quickly and accurately by using a fast zeroing method. Among them, one driver 6 is respectively connected to one winding coil 10 and one read head 51. One controller 7 is respectively connected to multiple drivers 6, and the same controller 7 controls multiple different drivers 6 to realize systematic direct drive motion.

[0065] Among them, the magnet 11 is first installed on the magnetizer 12, and the magnetizer 12 is installed on the mover 2, so that the magnetizer 12 and the magnet 11 are fixed together in the mover 2, which is convenient for the winding coil 10 to drive the magnet 11 to move, and the mover 2 and the stator 1 can achieve guided movement through the guide rail 3.

[0066] Specifically, by energizing the winding coil 10 and generating an electromagnetic field with the magnetic steel 11 , the magnetic steel 11 is driven to move, and the mover 2 is driven to move on the guide rail.

[0067] The embodiment of the present invention further provides a computer device 200, see Figure 8 As shown, the computer device 200 includes: a memory 202, a processor 201, and a computer program stored in the memory and executable on the processor. When the processor 201 executes the computer program, the steps in the control method of the direct-drive transmission system in the above embodiment are implemented.

[0068] The computer device 200 corresponds to the controller 7 in the direct drive transmission system 100 according to the embodiment of the present invention.

[0069] The processor 201 calls the computer program stored in the memory 202, and implements the steps in the control method of the direct drive transmission system in the above embodiment when executing the computer program.

[0070] 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 steps in the control method of the direct-drive transmission system in the above embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0071] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0072] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0073] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an 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, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0074] The above description is only an implementation mode of the present invention. It should be pointed out that, for ordinary technicians in this field, improvements can be made without departing from the creative concept of the present invention, but these all belong to the protection scope of the present invention.

Claims

1. A control method for a direct drive transmission system, characterized in that: The direct drive transmission system comprises a plurality of stators connected in sequence to form an integral stator unit, a guide rail installed on the stator unit, a plurality of movers that are slidably connected to the guide rail and can move relative to the plurality of stators, a plurality of first incremental position feedback devices, a plurality of second incremental position feedback devices, a plurality of drivers and a controller, wherein one of the first incremental position feedback devices is installed on each of the movers, and one of the second incremental position feedback devices is installed on each of the stators; a first zero point mark and a second zero point mark that are spaced apart from each other are preset on each of the first incremental position feedback devices, and the distance between the first zero point mark and the second zero point mark is a preset value; a plurality of the drivers are respectively connected to a plurality of the second incremental position feedback devices, and are all connected to the controller, and the control method comprises the following steps: S1, starting the direct drive transmission system to return to zero as a whole, so that all the movers move in the same direction; S2, reading, through each of the drivers, a zero point signal of the first incremental position feedback device identified by the corresponding second incremental position feedback device; S3, determining whether any of the drivers reads two zero-point signals: if so, executing step S4; if not, returning to step S1; S4, judging that the corresponding mover has completed zero return according to the distance between the two zero point signals fed back by the driver, and further completing the zero return of the direct drive transmission system; S5. The controller obtains the position information of each mover based on the direct drive transmission system after returning to zero and drives each mover to move.

2. The control method of the direct drive transmission system according to claim 1, characterized in that: The step S4 specifically comprises the following steps: S41, when the distance between the two zero-point signals is a preset value, it is determined that the corresponding mover has completed zero return, and the position information fed back in real time by the second incremental position feedback device installed on the next stator corresponding to the mover that has completed zero return is determined as the accurate position information of the mover that has completed zero return; S42, establishing a coordinate system of the direct-drive transmission system according to the accurate position information, and achieving zero return of the direct-drive transmission system.

3. The control method of the direct drive transmission system according to claim 1, characterized in that: The first incremental position feedback device and the second incremental position feedback device are installed opposite to each other.

4. The control method of the direct drive transmission system according to claim 1, characterized in that: The first incremental position feedback device is an incremental scale.

5. The control method of the direct drive transmission system according to claim 4, characterized in that: The second incremental position feedback device is a reading head, and the reading head is arranged opposite to the incremental scale.

6. The control method of the direct drive transmission system according to claim 4, characterized in that: The incremental scale is a grating or a magnetic grating.

7. The control method of the direct drive transmission system according to claim 1, characterized in that: A first pulley and a second pulley are arranged opposite to each other under the mover. The first pulley and the second pulley are respectively abutted against two sides of the guide rail to form a sliding connection.

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 the processor implements the steps in the control method of the direct drive transmission system as described in any one of claims 1 to 7 when executing the computer program.

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 transmission system according to any one of claims 1 to 7 are implemented.

Images