A splicable moving magnet linear motor system and driving method thereof

Abstract

The present invention discloses a splicable moving magnet linear motor system and a driving method thereof, and relates to the field of linear motors. The technical solution thereof is as follows: a splicable moving magnet linear motor system, comprising a stator module and a mover monomer, wherein the mover monomer is at least one, the stator module is spliced ​​by a plurality of stator monomers, and the stator monomer is at least one of a linear stator monomer, an arc stator monomer, and a docking stator monomer, and further comprising a controller, a stator driver integrated in each stator monomer, and a position feedback unit arranged on the stator monomer for detecting the position information of the mover monomer; a driving method of a splicable moving magnet linear motor system, comprising the following steps: determining a motor splicing method, motor assembly, motor configuration, motor self-test, motor trial operation, and motor operation. The present invention realizes the free splicing of moving magnet linear motors, and freely controls each mover monomer on the spliced ​​linear motor.

Description

Technical Field

[0001] The present invention relates to the field of linear motors, and more specifically, to a splicable moving magnet linear motor system and a driving method thereof. Background Art

[0002] A linear motor is a transmission device that converts electrical energy directly into linear motion mechanical energy without any intermediate conversion mechanism. It can be regarded as a rotating motor cut radially and unfolded into a plane. Linear motors are also called linear motors, linear motors, linear motors, and push rod motors.

[0003] However, most existing linear motors can only perform single linear motion. When curved motion, connecting motion, or long-distance transmission motion is required, the overall physical structure and control system of the linear motor need to be redesigned, which increases the design and use costs, and the design cycle is long, which cannot meet the current high-efficiency production needs.

[0004] Therefore, a new solution needs to be proposed to solve this problem. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a splicable moving magnet linear motor system and a driving method thereof, so as to realize the free splicing of the moving magnet linear motor and freely control each moving unit on the spliced ​​linear motor.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: a splicable moving magnet linear motor system, including a stator module and a mover monomer, the mover monomer is at least one, the stator module is spliced ​​by a plurality of stator monomers, the stator monomer is at least one of a linear stator monomer, an arc stator monomer and a docking stator monomer, the stator monomer includes a stator body, a guide rail fixed on the stator body and an electromagnetic coil arranged in the stator body, the electromagnetic coil is used to provide an electromagnetic driving force to the mover monomer, the mover monomer includes a magnetic plate that can form an interaction force with the electromagnetic coil, wherein the mover monomer can move along the direction of motion with the help of at least one stator monomer activation, and also includes a controller, a stator driver integrated in each stator monomer and a position feedback unit arranged on the stator monomer for detecting the position information of the mover monomer, the controller and the position feedback unit are respectively electrically connected to the input end of the stator driver, and the output end of the stator driver is electrically connected to the electromagnetic coil.

[0007] In one embodiment, a connecting piece is provided between every two stator monomers for connecting and fixing the two.

[0008] In one embodiment, the stator driver comprises:

[0009] A drive processing module, used for controlling the electromagnetic coil to emit electromagnetic driving force;

[0010] RJ45IN port, used to connect and communicate with the controller;

[0011] The RJ45OUT port is used to connect and communicate with the RJ45IN port of the next stator driver to transmit the control signal of the controller to the next stator driver;

[0012] A control power module, used to input control power to the drive processing module, the control power module comprising a control power IN port and a control power OUT port; and

[0013] A power supply module, used to provide working power to the electromagnetic coil, the power supply module includes a power supply IN port, a power supply OUT port and a plurality of inverter ports, the electromagnetic coil includes a plurality of wiring terminals, and the plurality of wiring terminals are respectively connected to the plurality of inverter ports;

[0014] Wherein, the position feedback unit is communicatively connected with the drive processing module via an RS485 interface.

[0015] In one embodiment, the controller includes a main control processor, a control access port and a control port electrically connected to the main control processor respectively, the control port is connected to the RJ45IN port of any stator driver through a communication line, and the control access port can be connected to a user host computer or a configuration host computer.

[0016] In one embodiment, the position feedback unit includes a first feedback unit and a second feedback unit, the first feedback unit and the second feedback unit are distributed in parallel on the side wall of the stator unit, and the distance between the first feedback unit and the second feedback unit is greater than one times the magnetic pole pitch of the mover unit and less than the length of the magnetic plate of the mover unit, and the first feedback unit and the second feedback unit both include a magnetoresistive sensor, an operational amplifier, a digital-to-analog converter, a signal processing unit and an RS485 communication unit.

[0017] In one embodiment, a driving method of a splicable moving magnet linear motor system comprises the following steps:

[0018] S1. Determine the motor splicing method: plan and determine the splicing method of the linear motor according to the actual production workshop production line situation, and determine the number of stator monomers and mover monomers required;

[0019] S2. Motor assembly: according to the determined splicing method, several stator monomers are spliced ​​on the production line station, so that the guide rails on each stator monomer are connected to form a guide rail line, and then the connecting piece is fixed between each two adjacent stator monomers, and finally the mover monomer is installed on the guide rail line, and it can slide on the guide rail line;

[0020] S3, motor configuration: according to the use requirements, the control access port of the controller is connected to the configuration host computer through the control line, and the number, combination, connection sequence and motion parameters of the stator monomers and the mover monomers are sent to the controller through the configuration host computer and the motor configuration software. The controller obtains the configuration information of the configuration software to plan the motion curve of each mover monomer;

[0021] S4, motor self-test: After the motor is configured, the upper computer is configured to input a self-test instruction to the controller to perform a self-test on the various configuration parameters of the motor. If the self-test is normal, proceed to the next step. If the self-test is abnormal, repeat step S3;

[0022] S5, motor trial operation: after completing step S4, the motor is trial operated;

[0023] S6, motor operation: After the motor runs normally, the user host computer is connected to the control access port of the controller. The user host computer sends user instructions to the controller, and the controller controls the motor operation according to the instructions.

[0024] In one embodiment, the motor configuration in step S3 further includes the following configuration:

[0025] S31, controller configuration: bind the motor's servo ID, coordinate system and type to the controller;

[0026] S32, station teaching and configuration: bind the station ID, station position, error compensation of the station where the motor is located with the controller, and the controller teaches it;

[0027] S33, mover single body property configuration: bind the mover ID to the controller, and the controller configures the mover single body length, the carrier length set on the mover single body, and the minimum safety distance.

[0028] In one embodiment, the motion parameters in step S3 include a maximum running speed, a maximum running acceleration and a maximum running distance.

[0029] In one embodiment, the motor test run and motor run in step S5 and step S6 are both implemented by detecting the position of the motor mover monomer through a position feedback unit and processing and distributing the position information, wherein the position detection method of the motor mover monomer includes the following steps:

[0030] A. The mover monomer passes through the first feedback unit and the second feedback unit in sequence to generate a changing magnetic field signal, and the first position of the mover monomer when passing through the first feedback unit and the second position when passing through the second feedback unit are combined into an absolute value position. The absolute value position includes the following situations:

[0031] A1. When both the first position and the second position measure valid positions, the current position is equal to the sum of the second position and the second position offset;

[0032] A2. When there is no position feedback at the first position and there is position feedback at the second position, the current position is equal to the sum of the second position and the second position offset;

[0033] A3. When there is feedback at the first position and no feedback at the second position, the current position is equal to the sum of the first position and the offset of the first position;

[0034] B. The magnetoresistive sensor collects the magnetic field signal obtained in step A and converts the magnetic field signal into a sine-cosine voltage signal with a phase difference of 90°;

[0035] C. The sine and cosine voltage signals in step B are amplified by an operational amplifier and sent to a signal processing unit, which collects the amplified signals and performs filtering and position calculation on them;

[0036] D. The signal obtained in step C is sent to the given sub-driver via the RS485 communication unit.

[0037] In one embodiment, the first position offset and the second position offset in step A are obtained by the following steps:

[0038] E. Calculate the mean of the filtered signals generated when each mover unit slides, and then make a difference with the filtered signal of a single mover unit to obtain the offset correction angle, and calculate the sine angle value and cosine angle value after the offset correction, and define them as sina and cosa.

[0039] F. Calculate the current angle value by inverse tangent using the angle value after offset correction, and obtain the current increment value by differential operation, as shown in formulas (1) to (4):

[0040] (1)

[0041] (2)d a =a n -a n-1 :a n

[0042] (3)

[0043] (4)

[0044] where a n is the current angle calculation value, a n-1 is the previous angle value, and P is the displacement value calculated by integrating n.

[0045] In summary, the present invention has the following beneficial effects: through the setting of a controller, a plurality of stator monomers, a mover monomer and a stator driver, when in use, the required number of stator monomers, the types of stator monomers and the number of mover monomers are selected according to production requirements for free splicing, and each mover monomer on the spliced ​​linear motor is freely controlled, which has a good scope of application, and greatly shortens the design and construction cycle of the linear motor, reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic structural diagram of a splicable moving magnet linear motor system according to an embodiment of the present application;

[0047] Figure 2 A structural block diagram of a stator driver in a splicable moving magnet linear motor system according to an embodiment of the present application;

[0048] Figure 3 A structural block diagram of a controller in a splicable moving magnet linear motor system in an embodiment of the present application;

[0049] Figure 4 It is a flow chart of a driving method of a splicable moving magnet linear motor system;

[0050] Figure 5 A schematic diagram of a linear splicing state of a splicable moving magnet linear motor system according to an embodiment of the present application;

[0051] Figure 6 A schematic diagram of a ring-shaped splicing state of a splicable moving magnet linear motor system according to an embodiment of the present application;

[0052] Figure 7 A schematic diagram of a spliced ​​moving magnet linear motor system in a docking and splicing state according to an embodiment of the present application;

[0053] Figure 8 It is a structural schematic diagram of a position feedback unit in a splicable moving magnet linear motor system in an embodiment of the present application;

[0054] Fig. 9 This is a schematic diagram of the structure of the magnetic plate in the splicable moving magnet linear motor system of an embodiment of the present application.

[0055] In the figure: 1. User host computer or configuration host computer; 2. Bracket controller; 3. Communication line; 4. Stator unit; 5. Mover unit; 6. Magnetoresistive sensor; 7. Operational amplifier; 8. Digital-to-analog converter; 9. Signal processing unit; 10. RS485 communication unit; 11. Magnetic plate. DETAILED DESCRIPTION

[0056] 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.

[0057] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] like Figure 1 and Fig. 9As shown, the embodiment of the present application provides a splicable moving magnet linear motor system, including a stator module and a mover monomer 5, wherein the mover monomer 5 is at least one, the stator module is spliced ​​by a plurality of stator monomers 4, and the stator monomer 4 is at least one of a linear stator monomer 4, an arc stator monomer 4 and a docking stator monomer 4. The stator monomer 4 includes a stator body, a guide rail fixed on the stator body, and an electromagnetic coil arranged in the stator body, wherein the electromagnetic coil is used to provide an electromagnetic driving force to the mover monomer 5, and the mover monomer 5 includes a magnetic plate 11 that can form an interaction force with the electromagnetic coil, wherein the mover monomer 5 can move along the direction of motion with the activation of at least one stator monomer 4. The moving magnet linear motor also includes a controller 2, a stator driver integrated in each stator monomer 4, and a position feedback unit arranged on the stator monomer 4 for detecting the position information of the mover monomer 5, wherein the controller and the position feedback unit are electrically connected to the input end of the stator driver respectively, and the output end of the stator driver is electrically connected to the electromagnetic coil.

[0059] It should be noted that, during operation, two mover monomers 5 cannot appear on the same stator monomer 4 at the same time, so the distance between the two mover monomers 5 is the length of a single stator monomer 4 .

[0060] When working, the present invention can change the following splicing forms:

[0061] 1. Straight line splicing: multiple straight line stator monomers 4 are selected and spliced ​​along the straight line direction, so that the guide rails of the multiple straight line stator monomers 4 are on the same straight line. When working, the mover monomer 5 can reciprocate along the straight line direction. Its shape is as follows: Figure 5 As shown;

[0062] Second, annular splicing, two groups of linear stator monomers 4 are spliced ​​along the straight line direction on both sides of the production line body, and the two ends of the two groups of linear stator monomers 4 are connected through the arc-shaped stator monomers 4 to form a runway-like closed loop shape. When working, the moving monomer 5 can move along the annular path, and its shape is as follows Figure 6 As shown;

[0063] 3. Docking and splicing: two groups of linear stator monomers 4 are spliced ​​in a straight line direction on both sides of the production line body, and docking stators are respectively set at both ends of the two groups of linear stator monomers 4, wherein the docking stators are provided with docking movers that can slide in a direction perpendicular to the two groups of linear stator monomers 4, and the docking movers are provided with docking guide rails, and docking coils are integrated in the docking guide rails. The docking guide rails can be parallel and collinear with the guide rails of the two groups of linear stator monomers 4. When working, the mover monomers 5 on one group of linear stator monomers 4 can be transferred from the docking stator to the other group of linear stator monomers 4, and its shape is as follows: Figure 7 shown.

[0064] In the above method, through the setting of a controller, a plurality of stator monomers 4, a mover monomer 5 and a stator driver, when in use, the required number of stator monomers 4, the type of stator monomers 4 and the number of mover monomers 5 are selected according to production requirements for free splicing, and each mover monomer 5 on the spliced ​​linear motor is freely controlled. It has a good range of application, greatly shortens the design and construction cycle of the linear motor, and reduces production costs.

[0065] On the basis of the above, a connecting piece for connecting and fixing the two is arranged between every two stator monomers 4 .

[0066] Specifically, the connecting piece can be in the form of a snap lock, a snap-on slot, etc. During connection and installation, the required stator monomer 4 is first installed on the external production line station, and then each two adjacent mover monomers 5 are pulled and connected through the connecting piece to reduce the connection gap between the two.

[0067] On the basis of the above, if Figure 2 As shown, the stator driver comprises:

[0068] A drive processing module, used for controlling the electromagnetic coil to emit electromagnetic driving force;

[0069] RJ45IN port, electrically connected to the drive processing module, used to communicate with the controller;

[0070] The RJ45OUT port is electrically connected to the drive processing module and is used to connect and communicate with the RJ45IN port of the next stator driver to transmit the control signal of the controller to the next stator driver;

[0071] A control power module, electrically connected to the drive processing module, and used to input control power to the drive processing module, wherein the control power module includes a control power IN port and a control power OUT port; and

[0072] A power supply module is electrically connected to the drive processing module and is used to provide working power to the electromagnetic coil. The power supply module includes a power supply IN port, a power supply OUT port and a plurality of inverter ports. The electromagnetic coil includes a plurality of wiring terminals, and the plurality of wiring terminals are respectively connected to the plurality of inverter ports.

[0073] Among them, multiple stator drivers are communicatively connected in the form of a daisy chain, and the position feedback unit is communicatively connected to the drive processing module via an RS485 interface.

[0074] On the basis of the above, if Figure 3As shown, the controller includes a main control processor, a control access port and a control port electrically connected to the main control processor respectively, the control port is connected to the RJ45IN port of any stator driver through a communication line 3, and the control access port can be connected to a user host computer or a configuration host computer 1.

[0075] Specifically, the control access port includes a plurality of optional access ports, which may be RS45, RS232, RS422, etc., and the control port may be a plurality of RJ45 ports.

[0076] The above method can support more types of user-side host computers through the setting of multiple control access ports and control access ports, thereby increasing the scope of application.

[0077] On the basis of the above, if Figure 8 and Fig. 9 As shown, the position feedback unit includes a first feedback unit and a second feedback unit, the first feedback unit and the second feedback unit are arranged in parallel on the side wall of the stator monomer 4, and the spacing between the first feedback unit and the second feedback unit is greater than one times the magnetic pole pitch of the mover monomer 5 and less than the length of the magnetic plate 11 of the mover monomer 5, the magnetic pole pitch represents the spacing L1 between the N pole of the mover monomer 5 and the adjacent S pole, the magnetic plate 11 is composed of a plurality of N pole magnetic steels and S pole magnetic steels arranged at intervals, and the length of the magnetic plate 11 is L2. The first feedback unit and the second feedback unit both include a magnetoresistive sensor 6, an operational amplifier 7, a digital-to-analog converter 8, a signal processing unit 9 and an RS485 communication unit 10 electrically connected in sequence.

[0078] Among them, the magnetoresistive sensor 6 can be an MR sensor, a magnetic grating reading head or a Hall. In this application, an MR sensor is preferred. The MR sensor can generate a voltage signal of ±30mv. The operational amplifier 7 adopts a common power amplifier on the market, which can amplify the 30mv voltage signal by 30 times. The digital-to-analog converter 8 is an ADC digital-to-analog conversion module, and the signal processing unit 9 can adopt a DSP chip or FPGA.

[0079] The basic working principle of the position feedback unit is: through the position feedback information of the mover monomer 5, the stator monomer 4 that can generate the coupling force is judged, and the torque instruction is sent to the corresponding stator driver to generate parallel thrust, and all stator monomers 4 without coupling relationship are not energized.

[0080] like Figures 1 to 9 As shown, a driving method for a splicable moving magnet linear motor system comprises the following steps:

[0081] S1. Determine the motor splicing method: plan and determine the splicing method of the linear motor according to the actual production workshop production line situation, and determine the number of required stator monomers 4 and mover monomers 5;

[0082] S2, motor assembly: according to the determined splicing method, several stator monomers 4 are spliced ​​on the production line station, so that the guide rails on each stator monomer 4 are connected to form a guide rail line, and then the connecting piece is fixed between each two adjacent stator monomers 4, and finally the mover monomer 5 is installed on the guide rail line, and it can slide on the guide rail line;

[0083] S3, motor configuration: according to the use requirements, the control access port of the controller is connected to the configuration host computer through the control line, and the number, combination, connection sequence and motion parameters of the stator monomer 4 and the mover monomer 5 are sent to the controller through the configuration host computer and the motor configuration software. The controller obtains the configuration information of the configuration software to plan the motion curve of each mover monomer 5;

[0084] S4, motor self-test: After the motor is configured, the upper computer is configured to input a self-test instruction to the controller to perform a self-test on the various configuration parameters of the motor. If the self-test is normal, proceed to the next step. If the self-test is abnormal, repeat step S3;

[0085] S5, motor trial operation: after completing step S4, the motor is trial operated;

[0086] S6, motor operation: After the motor runs normally, the user host computer is connected to the control access port of the controller. The user host computer sends user instructions to the controller, and the controller controls the motor operation according to the instructions.

[0087] Based on the above, the motor configuration in step S3 also includes the following configuration:

[0088] S31, controller configuration: bind the motor's servo ID, coordinate system and type to the controller;

[0089] S32, station teaching and configuration: bind the station ID, station position, error compensation of the station where the motor is located with the controller, and the controller teaches it;

[0090] S33, configuration of properties of the mover unit 5: the mover ID is bound to the controller, and the controller configures the length of the mover unit 5, the length of the carrier set on the mover unit 5, and the minimum safety distance.

[0091] Based on the above, the motion parameters described in step S3 include maximum running speed, maximum running acceleration and maximum running distance.

[0092] On the basis of the above, the motor test run and motor run in step S5 and step S6 are both realized by detecting the position of the motor mover monomer 5 through the position feedback unit and processing and distributing the position information, wherein the position detection method of the motor mover monomer 5 includes the following steps:

[0093] A. The mover monomer 5 passes through the first feedback unit and the second feedback unit in sequence, generating a changing magnetic field signal, and synthesizing the first position of the mover monomer 5 when passing through the first feedback unit and the second position when passing through the second feedback unit into an absolute value position, which includes the following situations:

[0094] A1. When both the first position and the second position measure valid positions, the current position is equal to the sum of the second position and the second position offset;

[0095] A2. When there is no position feedback at the first position and there is position feedback at the second position, the current position is equal to the sum of the second position and the second position offset;

[0096] A3. When there is feedback at the first position and no feedback at the second position, the current position is equal to the sum of the first position and the offset of the first position;

[0097] B. The magnetoresistive sensor 6 collects the magnetic field signal obtained in step A and converts the magnetic field signal into a sine-cosine voltage signal with a phase difference of 90°;

[0098] C. The sine and cosine voltage signals in step B are amplified by the operational amplifier 7 and sent to the signal processing unit 9. The signal processing unit 9 collects the amplified signal and performs filtering and position calculation on it;

[0099] D. The signal obtained in step C is sent to the given sub-driver via the RS485 communication unit 10.

[0100] Based on the above, the first position offset and the second position offset described in step A are obtained by the following steps:

[0101] E. Calculate the mean of the signals generated and filtered when each mover monomer 5 slides, and make a difference with the filtered signal of a single mover monomer 5 to obtain the offset correction angle, and calculate the sine angle value and cosine angle value after the offset correction, and define them as sina and cosa.

[0102] F. Calculate the current angle value by inverse tangent using the angle value after offset correction, and obtain the current increment value by differential operation, as shown in formulas (1) to (4):

[0103] (1)

[0104] (2)d a=a n -a n-1 :a n

[0105] (3)

[0106] (4)

[0107] where a n is the current angle calculation value, a n-1 is the previous angle value, and P is the displacement value calculated by integrating n.

[0108] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A splicable moving magnet linear motor system, comprising a stator module and a mover unit, wherein at least one mover unit is provided, characterized in that: The stator module is formed by splicing a plurality of stator monomers, wherein the stator monomer is at least one of a linear stator monomer, an arc stator monomer and a docking stator monomer, wherein the stator monomer comprises a stator body, a guide rail fixed on the stator body and an electromagnetic coil arranged in the stator body, wherein the electromagnetic coil is used to provide an electromagnetic driving force to the mover monomer, wherein the mover monomer comprises a magnetic plate that can form an interaction force with the electromagnetic coil, wherein the mover monomer can move along the direction of motion by means of at least one stator monomer being activated, and further comprising a controller, a stator driver integrated in each stator monomer and a position feedback unit arranged on the stator monomer for detecting the position information of the mover monomer, wherein the controller and the position feedback unit are electrically connected to the input end of the stator driver respectively, and the output end of the stator driver is electrically connected to the electromagnetic coil; The stator driver comprises: A drive processing module, used for controlling the electromagnetic coil to emit electromagnetic driving force; RJ45IN port, used to connect and communicate with the controller; The RJ45OUT port is used to connect and communicate with the RJ45IN port of the next stator driver to transmit the control signal of the controller to the next stator driver; A control power module, used to input control power to the drive processing module, the control power module comprising a control power IN port and a control power OUT port; and A power supply module, used to provide working power to the electromagnetic coil, the power supply module includes a power supply IN port, a power supply OUT port and a plurality of inverter ports, the electromagnetic coil includes a plurality of wiring terminals, and the plurality of wiring terminals are respectively connected to the plurality of inverter ports; Wherein, the position feedback unit is connected to the drive processing module through an RS485 interface; The position feedback unit includes a first feedback unit and a second feedback unit, the first feedback unit and the second feedback unit are distributed in parallel on the side wall of the stator unit, and the distance between the first feedback unit and the second feedback unit is greater than one times the magnetic pole pitch of the mover unit and less than the length of the magnetic plate of the mover unit, and the first feedback unit and the second feedback unit both include a magnetoresistive sensor, an operational amplifier, a digital-to-analog converter, a signal processing unit and an RS485 communication unit.

2. The splicable moving magnet linear motor system according to claim 1, characterized in that: A connecting piece for connecting and fixing the two stator monomers is arranged between each two stator monomers.

3. The splicable moving magnet linear motor system according to claim 2, characterized in that: The controller includes a main control processor, a control access port and a control port electrically connected to the main control processor respectively, the control port is connected to the RJ45IN port of any stator driver through a communication line, and the control access port can be connected to a user host computer or a configuration host computer.

4. A driving method for a splicable moving magnet linear motor system according to any one of claims 1 to 3, characterized in that: The steps include: S1. Determine the motor splicing method: plan and determine the splicing method of the linear motor according to the actual production workshop production line situation, and determine the number of stator monomers and mover monomers required; S2. Motor assembly: according to the determined splicing method, several stator monomers are spliced ​​on the production line station, so that the guide rails on each stator monomer are connected to form a guide rail line, and then the connecting piece is fixed between each two adjacent stator monomers, and finally the mover monomer is installed on the guide rail line, and it can slide on the guide rail line; S3, motor configuration: according to the use requirements, the control access port of the controller is connected to the configuration host computer through the control line, and the number, combination, connection sequence and motion parameters of the stator monomers and the mover monomers are sent to the controller through the configuration host computer and the motor configuration software. The controller obtains the configuration information of the configuration software to plan the motion curve of each mover monomer; S4, motor self-test: After the motor is configured, the upper computer is configured to input a self-test instruction to the controller to perform a self-test on the various configuration parameters of the motor. If the self-test is normal, proceed to the next step. If the self-test is abnormal, repeat step S3; S5, motor trial operation: after completing step S4, the motor is trial operated; S6, motor operation: After the motor runs normally, the user host computer is connected to the control access port of the controller. The user host computer sends user instructions to the controller, and the controller controls the motor operation according to the instructions.

5. The driving method of the splicable moving magnet linear motor system according to claim 4, characterized in that: The motor configuration in step S3 also includes the following configuration: S31, controller configuration: bind the motor's servo ID, coordinate system and type to the controller; S32, station teaching and configuration: bind the station ID, station position, error compensation of the station where the motor is located with the controller, and the controller teaches it; S33, mover single body property configuration: bind the mover ID to the controller, and the controller configures the mover single body length, the carrier length set on the mover single body, and the minimum safety distance.

6. The driving method of the splicable moving magnet linear motor system according to claim 4, characterized in that: The motion parameters described in step S3 include maximum running speed, maximum running acceleration and maximum running distance.

7. The driving method of the splicable moving magnet linear motor system according to claim 4, characterized in that: The motor test run and motor run in step S5 and step S6 are both implemented by detecting the position of the motor mover monomer through the position feedback unit and processing and distributing the position information, wherein the position detection method of the motor mover monomer includes the following steps: The mover monomer passes through the first feedback unit and the second feedback unit in sequence, generating a changing magnetic field signal, and synthesizing the first position of the mover monomer when passing through the first feedback unit and the second position when passing through the second feedback unit into an absolute value position, which includes the following situations: A1. When both the first position and the second position measure valid positions, the current position is equal to the sum of the second position and the second position offset; A2. When there is no position feedback at the first position and there is position feedback at the second position, the current position is equal to the sum of the second position and the second position offset; A3. When there is feedback at the first position and no feedback at the second position, the current position is equal to the sum of the first position and the offset of the first position; B. The magnetoresistive sensor collects the magnetic field signal obtained in step A and converts the magnetic field signal into a sine-cosine voltage signal with a phase difference of 90°; C. The sine and cosine voltage signals in step B are amplified by an operational amplifier and sent to a signal processing unit, which collects the amplified signals and performs filtering and position calculation on them; D. The signal obtained in step C is sent to the given sub-driver via the RS485 communication unit.

8. The driving method of the splicable moving magnet linear motor system according to claim 7, characterized in that: The first position offset and the second position offset described in step A are obtained by the following steps: E. Calculate the mean of the filtered signals generated when each moving unit slides and make a difference with the filtered signal of a single moving unit to obtain the offset correction angle, and calculate the sine angle value and cosine angle value after offset correction, and define them as and ; F. Calculate the current angle value by using the inverse tangent of the angle value after offset correction, and obtain the current increment value by differential operation, as shown in formulas (1) to (4): (1) 、 (2) 、 (3) 、 (4) ， in Calculate the value for the current angle, is the previous angle value, and P is the displacement value calculated by integrating n.

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