Control method and related equipment of multi-motor direct drive transmission system

Abstract

The present invention belongs to the field of multi-motor drive transmission control and provides a control method and related equipment for a multi-motor direct-drive transmission system. The control method includes the following steps: real-time detection of the real-time position of the mover unit in the feedback section; real-time determination of whether the mover unit has entered the area at the junction of the feedback section and the transition section; if so, using a preset algorithm to calculate the electrical angle of the mover unit's movement in the transition section and determining the real-time position of the mover unit based on the electrical angle; setting a coordinated control mode for each stator winding within the transition section based on the real-time position of the mover unit; real-time determination of whether the mover unit has entered the area at the junction of the transition section and the feedback section; if so, real-time feedback of the real-time position of the mover unit via a displacement sensor in the feedback section. Compared with related technologies, the control method and related equipment for a multi-motor direct-drive transmission system of the present invention have good control effects, low costs, and low installation requirements.

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 for a multi-motor direct-drive transmission system. Background Art

[0002] The multi-motor direct-drive transmission system is used in unmanned production lines, assembly line transfers, etc. The existing multi-motor direct-drive transmission system consists of a stator unit and multiple mover units that move relative to the stator unit; the stator unit includes a stator body and multiple stator windings installed on the stator body and arranged in sequence along the extension direction of the stator body, and each mover unit consists of a mover that slides relative to the stator body and a magnet fixed to the mover.

[0003] In current multi-motor direct drive transmission systems, the stator body of the stator unit is divided into straight segments, circular segments, or a combination of straight and circular segments. Displacement sensors (encoder arrays) are arranged within different segments to identify the position of each mover. For example, a multi-motor direct drive transmission system arranges displacement sensors (encoder arrays) in straight and circular segments to identify the position of each mover unit, thereby achieving precise control of each mover unit.

[0004] However, in the prior art multi-motor direct-drive transmission system, the displacement sensor needs to be installed at any stator winding position corresponding to the stator body, which is complicated to install. However, when used, the position of the mover unit does not need to be precisely controlled in all sections. Some workstations corresponding to the stator unit do not need to position the mover unit, and only simple transition is performed. Therefore, there is no need for a displacement sensor for precise control, which makes the control method of the multi-motor direct-drive transmission system expensive.

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

[0006] The control method and related equipment of the multi-motor direct-drive transmission system provided in the embodiments of the present invention are intended to solve the problems of high cost and high installation requirements in the prior art.

[0007] In a first aspect, an embodiment of the present invention provides a control method for a multi-motor direct-drive transmission system, wherein the multi-motor direct-drive transmission system includes a stator unit and multiple mover units that move relative to the stator unit; the stator unit includes a stator body, a track mounted on the stator body, and multiple stator windings mounted on the stator body and arranged in sequence along the extension direction of the stator body, each mover unit includes a mover that is slidably connected to the track and can move relative to the stator body, and a magnet fixed to the mover; the stator body includes alternating feedback sections and transition sections and multiple displacement sensors mounted on the feedback sections, each displacement sensor being arranged corresponding to one of the stator windings; the control method includes the following steps:

[0008] Step S1, detecting the real-time position of the moving unit in the feedback section in real time;

[0009] Step S2: determining in real time whether the mover unit has entered the area where the feedback section and the transition section intersect; if so, calculating the electrical angle of the mover unit's movement in the transition section using a preset algorithm, and determining the real-time position of the mover unit based on the electrical angle; and setting a coordinated control mode for each stator winding within the transition section based on the real-time position of the mover unit;

[0010] Step S3: determining in real time whether the mover unit has entered the area where the transition section and the feedback section intersect; if so, providing real-time feedback of the real-time position of the mover unit via the displacement sensor of the feedback section.

[0011] More preferably, in step S2:

[0012] When the feedback from the last stator winding in the feedback section reaches a first specific value along the movement direction of the mover unit, it is determined that the mover unit has entered the boundary area between the feedback section and the transition section.

[0013] More preferably, in step S2, using a preset algorithm to calculate the electrical angle of the moving unit in the transition section specifically includes the following sub-steps:

[0014] Calculating, using a preset non-sensing algorithm, the back electromotive force generated by the stator winding when the mover unit enters the transition section and moves in the transition section;

[0015] The real-time electrical angle is calculated based on the back electromotive force using a preset electrical angle extraction algorithm.

[0016] More preferably, the sensorless algorithm is any one of a sliding mode algorithm, a model reference adaptive algorithm, a state observer algorithm, a Kalman filter algorithm, and a Lumberg observation algorithm.

[0017] More preferably, the electrical angle extraction algorithm is any one of a phase-locked loop algorithm and a direct calculation method.

[0018] More preferably, in step S2, the collaborative control mode is any one of master-slave control and master-slave control mode switching.

[0019] More preferably, in step S3:

[0020] When, along the movement direction of the mover unit, the feedback of the first stator winding adjacent to the last stator winding in the transition section in the feedback section reaches a second specific value, it is determined that the mover unit has entered the area where the transition section and the feedback section intersect.

[0021] Preferably, each of the displacement sensors is a group of encoder arrays.

[0022] In the second aspect, an embodiment of the present invention also provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform in real time the steps in the control method of the multi-motor direct-drive transmission system in the above embodiment.

[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 the computer program is executed by a processor to perform in real time the steps in the control method of the multi-motor direct-drive transmission system in the above embodiment.

[0024] Compared with the related art, the control method and related equipment of the multi-motor direct-drive transmission system of the present invention are achieved by setting the stator body into feedback sections and transition sections that alternate with each other, and installing multiple displacement sensors in the feedback section. Each displacement sensor corresponds to a stator winding setting. By real-time judgment of whether the mover unit is moving in the feedback section or the transition section, precise position feedback and control are performed through the displacement sensor in the feedback section, and in the transition section, the corresponding stator winding is caused to generate back electromotive force through the mover unit to calculate the electrical angle, so as to judge the real-time position of the mover unit, thereby achieving an overall control effect. Since the installation of the displacement sensor is omitted in the transition section, the control method and related equipment effectively reduce the installation and use of the displacement sensor, reduce the installation requirements, and reduce the cost. 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. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0026] Figure 1 This is a flowchart of a control method for a multi-motor direct-drive transmission system according to an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of a partial three-dimensional structure of a multi-motor direct-drive transmission system according to an embodiment of the present invention;

[0028] Figure 3 Schematic diagram of an embodiment of a control method for a multi-motor direct-drive transmission system according to an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] 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.

[0031] Please combine Figure 1-2 As shown, an embodiment of the present invention provides a control method for a multi-motor direct drive transmission system, which is used to perform position control on the multi-motor direct drive transmission system 100. Figure 2 As shown, the multi-motor direct drive transmission system 100 includes a stator unit 1 , a plurality of mover units 2 moving relative to the stator unit 1 , a driver 3 connected to each of the stator units 1 , and a controller 4 connected to all of the drivers 3 .

[0032] The stator unit 1 includes a stator body 11, a rail 12 mounted on the stator body 11, and a plurality of stator windings 13 (or winding coils) mounted on the stator body 11 and arranged sequentially along the extension direction of the stator body 11. The stator body 11 includes alternating feedback segments (unnumbered) and transition segments (unnumbered), and a plurality of displacement sensors (unnumbered) mounted on the feedback segments, each displacement sensor being provided for a corresponding stator winding 13.

[0033] In this embodiment, each of the displacement sensors is a set of encoder arrays.

[0034] The stator body 11 may have multiple feedback sections and transition sections, which are arranged alternately.

[0035] Each mover unit 2 includes a mover 21 that is slidably connected to the track 12 and can move relative to the stator body 11, and a magnet 22 fixed to the mover 21. By energizing the stator winding 13, an electromagnetic field is generated between the magnet 22 and the stator winding 13, thereby driving the magnet 22 to move, and in turn, the mover 21.

[0036] The control method comprises the following steps:

[0037] Step S1 : detecting in real time the real-time position of the mover unit 2 in the feedback section.

[0038] When the mover unit 2 moves within the feedback section, precise position control is performed through the corresponding displacement sensor.

[0039] Step S2: determining in real time whether the mover unit 2 enters the area where the feedback section and the transition section intersect.

[0040] If not, it is determined that the mover unit 2 is still moving within the feedback section. The displacement sensor corresponding to each stator winding 13 in the feedback section performs real-time and accurate position detection and feedback to the controller 4. The controller 4 generates control information based on the feedback information according to a preset control strategy and transmits it to the driver 3. The driver 3 generates a driving force in the corresponding stator winding 13 and drives the mover unit 2 to continue moving. The system then continues to determine in real time whether the mover unit 2 has entered the area at the junction of the feedback section and the transition section.

[0041] If so, a preset algorithm is used to calculate the electrical angle of the motion of the mover unit 2 in the transition section, and the electrical angle is used to determine the real-time position of the mover unit 2. The coordinated control mode of each stator winding 13 within the transition section is set according to the real-time position of the mover unit 2 to achieve the motion and position estimation of the mover unit 2 within the transition section.

[0042] The collaborative control mode is any one of master-slave control and master-slave control mode switching. In this embodiment, the collaborative control mode is preferably master-slave control mode switching.

[0043] On an actual production line, the transition section generally corresponds to a workstation interval where position feedback requirements are not high or no position feedback is required, while the feedback section corresponds to a workstation interval where the feedback position needs to be precisely controlled.

[0044] When the mover unit 2 enters the transition section and moves, the mover unit 2 still retains the initial speed during the previous movement. The initial speed drives the magnet 22 on the mover unit 2 to move above the corresponding stator winding 13, and the stator winding 13 induces a back electromotive force.

[0045] Specifically, the method for judging whether the mover unit 2 enters the area where the feedback section and the transition section intersect is as follows: along the movement direction of the mover unit 2, when the feedback of the last stator winding 13 in the feedback section reaches a first specific value a, it is judged that the mover unit 2 enters the area where the feedback section and the transition section intersect (that is, the mover unit 2 enters the transition section), and then the mover unit 2 will move within the area of the transition section.

[0046] The method of calculating the electrical angle of the moving element 2 in the transition section using a preset algorithm specifically includes the following sub-steps:

[0047] Step S21 : using a preset non-sensing algorithm to calculate the back electromotive force generated by the stator winding 13 when the mover unit 2 enters the transition section and moves in the transition section.

[0048] The sensorless algorithm is any one of a sliding mode algorithm, a model reference adaptive algorithm, a state observer algorithm, a Kalman filter algorithm, and a Lumberg observation algorithm. In this embodiment, the sensorless algorithm is preferably a sliding mode algorithm.

[0049] Step S22: Calculate the real-time electrical angle according to the back electromotive force using a preset electrical angle extraction algorithm.

[0050] The real-time electrical angle can be used to determine the real-time position of the mover unit 2 .

[0051] The coordinated control mode of each stator winding 13 within the transition section is set according to the real-time position of the mover unit 2 to achieve the movement and position estimation of the mover unit 2 within the transition section.

[0052] The electrical angle extraction algorithm is any one of a phase-locked loop algorithm and a direct calculation method. In this embodiment, the electrical angle extraction algorithm is preferably a phase-locked loop algorithm.

[0053] Step S3: Determine in real time whether the mover unit 2 has entered the area at the junction of the transition section and the feedback section. If so, provide real-time feedback of the mover unit's position via the displacement sensor in the feedback section. If not, proceed to steps S21 and S22, and continue to determine in real time whether the mover unit 2 has entered the area at the junction of the transition section and the feedback section.

[0054] Specifically, in this step, along the direction of motion of the mover unit 2, when the feedback from the first stator winding 13 adjacent to the last stator winding 13 in the transition section within the feedback section reaches a second specific value b, the mover unit 2 is determined to have entered the region bordering the transition section and the feedback section (i.e., the mover unit 2 has entered the feedback section). Thereafter, the mover unit 2 moves within the feedback section, and during movement within the feedback section, the mover unit 2 moves according to the previously preset precise control strategy. The precise control strategy of using a displacement sensor to provide real-time feedback of the specific position during movement within the feedback section is conventional technology and will not be further described here.

[0055] It should be noted that the first specific value and the second specific value can be set according to actual needs, and their form and size are not limited here. This is easy for ordinary technicians in this field to think of and understand.

[0056] Please combine Figure 3 As shown, the present invention provides a specific embodiment for further explanation:

[0057] Taking the stator body 11 as an example, which is shaped like a circular track, it is composed of two straight segments and two circular segments. The straight segments serve as the feedback segments described in the present invention, i.e., they are equipped with position sensors; the circular segments serve as the transition segments described in the present invention, i.e., they are not equipped with position sensors. Each straight segment consists of 1 to n closely arranged linear stator windings, and each circular segment consists of 1 to m closely arranged circular stator windings.

[0058] When the mover unit moves in the forward direction, when it is detected that the position feedback of the nth stator of the first straight line segment connected to the first arc segment reaches a first specific value a, it is determined that the mover unit enters the first arc segment area.

[0059] When the mover unit just enters the first arc segment, it still retains the initial speed of the previous movement. The initial speed drives the magnetic steel on the mover unit to move above the corresponding stator winding, and the stator winding induces a back electromotive force.

[0060] The controller uses a preset algorithm (such as a sliding mode algorithm) to estimate the back electromotive force and uses a preset algorithm (such as a phase-locked loop algorithm) to calculate real-time electrical angle information. The real-time electrical angle information can be used to determine the real-time position of the actuator unit.

[0061] Based on the real-time estimated position of the mover unit, coordinated control is performed between different stator units in the first arc segment area, such as master-slave control mode switching, so as to calculate the specific real-time position of the mover unit in the first arc segment area.

[0062] Similarly, when the position feedback of the first stator winding of the second straight segment intersecting (adjacent to) the end of the first arc segment is detected to be a second specific value b, the mover unit is determined to have entered the control area of the second straight segment. The mover unit is then controlled according to the precise position control within the second straight segment.

[0063] Compared with the related art, the control method of the multi-motor direct-drive transmission system of the present invention is achieved by setting the stator body into feedback sections and transition sections that alternate with each other, and installing multiple displacement sensors in the feedback section, each of which corresponds to a stator winding setting. By real-time judgment of whether the mover unit is moving in the feedback section or the transition section, precise position feedback and control are performed through the displacement sensor in the feedback section, and in the transition section, the corresponding stator winding is caused to generate back electromotive force through the mover unit to calculate the electrical angle, so as to judge the real-time position of the mover unit, thereby achieving an overall control effect. Since the installation of the displacement sensor is omitted in the transition section, the control method and related equipment effectively reduce the installation and use of the displacement sensor, reduce installation requirements, and reduce costs.

[0064] The embodiment of the present invention also provides a computer device, see Figure 4 FIG. 4 is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. The computer device 400 includes a processor 401 , a memory 402 , and a computer program stored in the memory 402 and executable on the processor 401 .

[0065] The computer device 400 is equivalent to the controller in the multi-motor direct drive transmission system of the above embodiment of the present invention.

[0066] The processor 401 calls the computer program stored in the memory 402 and executes the computer program to implement the steps of the control method of the multi-motor direct-drive transmission system in the above embodiment.

[0067] The computer device 400 provided in the embodiment of the present invention can implement the steps in the control method of the multi-motor direct-drive transmission 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.

[0068] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. The computer program is executed by a processor to implement the various processes and steps in the control method of the multi-motor direct-drive transmission system provided by the embodiment of the present invention, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0069] 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).

[0070] 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.

[0071] 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.

[0072] 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 multi-motor direct-drive transmission system, the multi-motor direct-drive transmission system comprising a stator unit and a plurality of mover units movable relative to the stator unit; the stator unit comprising a stator body, a track mounted on the stator body, and a plurality of stator windings mounted on the stator body and arranged in sequence along an extension direction of the stator body, each mover unit comprising a mover slidably connected to the track and movable relative to the stator body, and a magnet fixed to the mover; characterized in that: The stator body includes feedback sections and transition sections that alternate with each other, and a plurality of displacement sensors installed on the feedback sections, each displacement sensor being arranged corresponding to one stator winding. The control method includes the following steps: Step S1, detecting the real-time position of the moving unit in the feedback section in real time; Step S2: determining in real time whether the mover unit has entered the area where the feedback section and the transition section intersect; if so, calculating the electrical angle of the mover unit's movement in the transition section using a preset algorithm, and determining the real-time position of the mover unit based on the electrical angle; and setting a coordinated control mode for each stator winding within the transition section based on the real-time position of the mover unit; Step S3: determining in real time whether the mover unit has entered the area where the transition section and the feedback section intersect; if so, providing real-time feedback of the real-time position of the mover unit via the displacement sensor of the feedback section.

2. The control method of the multi-motor direct drive transmission system according to claim 1, characterized in that: In step S2: When the feedback from the last stator winding in the feedback section reaches a first specific value along the movement direction of the mover unit, it is determined that the mover unit has entered the boundary area between the feedback section and the transition section.

3. The control method of the multi-motor direct drive transmission system according to claim 1, characterized in that: In step S2, using a preset algorithm to calculate the electrical angle of the moving element in the transition section specifically includes the following sub-steps: Calculating, using a preset non-sensing algorithm, the back electromotive force generated by the stator winding when the mover unit enters the transition section and moves in the transition section; The real-time electrical angle is calculated based on the back electromotive force using a preset electrical angle extraction algorithm.

4. The control method of the multi-motor direct drive transmission system according to claim 3, characterized in that: The sensorless algorithm is any one of a sliding mode algorithm, a model reference adaptive algorithm, a state observer algorithm, a Kalman filter algorithm, and a Romberg observation algorithm.

5. The control method of the multi-motor direct drive transmission system according to claim 3, characterized in that: The electrical angle extraction algorithm is any one of a phase-locked loop algorithm and a direct calculation method.

6. The control method of the multi-motor direct drive transmission system according to claim 1, characterized in that: In step S2, the collaborative control mode is any one of master-slave control and master-slave control mode switching.

7. The control method of the multi-motor direct drive transmission system according to claim 1, characterized in that: In step S3: When, along the movement direction of the mover unit, the feedback of the first stator winding adjacent to the last stator winding in the transition section in the feedback section reaches a second specific value, it is determined that the mover unit has entered the area where the transition section and the feedback section intersect.

8. The control method of the multi-motor direct drive transmission system according to claim 1, characterized in that: Each of the displacement sensors is a set of encoder arrays.

9. 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 executes the computer program to implement the steps of the control method of the multi-motor direct-drive transmission system according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the control method of the multi-motor direct-drive transmission system according to any one of claims 1 to 8.

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