A method and device for determining an initial phase angle of a linear motor and an electronic device

Abstract

The application discloses a kind of initial phase angle determination method, device and electronic equipment of linear motor.The initial phase angle determination method includes: respectively into the first current and second current to the two-phase coil of mover, wherein the first current and the second current are direct current.After the mover relative to stator no longer moves, the real-time displacement data of the mover is obtained.The analysis value of the initial phase angle of linear motor is determined according to the pole distance of linear motor and the real-time displacement data.The present application scheme can avoid the impact of the determination process of the limit of mover, and improve the reliability of the initial phase angle determination method.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to motor control technology, and particularly to a method and device for determining an initial phase angle of a linear motor and an electronic device. BACKGROUND

[0002] With the deepening and popularization of industrial automation and intelligence, the demand for high-speed and high-precision motion tables is increasing. The driving motor of the motion table generally uses a three-phase linear motor. When the controller first drives the motion table, the initial phase angle of the magnetic field needs to be obtained to determine the electrical angle of the three-phase current of the driving motor. If the phase angle is inaccurate, it will affect the actual output of the motor, thereby affecting the control accuracy of the motion table.

[0003] In the existing method for determining the initial phase angle, the initial phase value of the motor is determined by measuring the mover acceleration under each current.

[0004] However, this method for determining the initial phase angle has a limit impact risk and low reliability. SUMMARY

[0005] The present application provides a method and device for determining an initial phase angle of a linear motor to avoid the occurrence of mover impact on the limit during the determination process, thereby improving the reliability of the initial phase angle determination method.

[0006] In a first aspect, the present application provides a method for determining an initial phase angle of a linear motor, which includes:

[0007] a first current and a second current are respectively input to two-phase coils of the mover, wherein the first current and the second current are both direct currents;

[0008] after the mover stops moving relative to the stator, real-time displacement data of the mover is obtained;

[0009] an analysis value of the initial phase angle of the linear motor is determined according to the pole distance of the linear motor and the real-time displacement data.

[0010] Optionally, the first current and the second current are equal, and both equal to a preset current.

[0011] Optionally, the values of the first current and the second current are set according to the friction coefficient and the mass of the mover.

[0012] Optionally, determining the analysis value of the initial phase angle of the linear motor according to the pole distance of the linear motor and the real-time displacement data includes:

[0013] The pole distance of the linear motor and the real-time displacement data are substituted into a first calculation formula to determine an analysis value of an initial phase angle of the linear motor, the first calculation formula being wherein P is the analysis value of the initial phase angle of the linear motor, τ is the pole distance, and x is the real-time displacement data.

[0014] Optionally, after the analysis value of the initial phase angle of the linear motor is determined according to the pole distance of the linear motor and the displacement data, the method further comprises:

[0015] establishing a simulation model of the linear motor;

[0016] setting an initial phase angle of the simulation model as the analysis value;

[0017] feeding the first current and the second current into two-phase coils of the simulation model, respectively;

[0018] after the model mover stops moving relative to the model stator, obtaining simulation displacement data of the model mover;

[0019] determining the accuracy of the analysis value according to the simulation displacement data.

[0020] Optionally, determining the accuracy of the analysis value according to the simulation displacement data comprises:

[0021] determining whether the simulation displacement data is equal to the real-time displacement data;

[0022] if the simulation displacement data is equal to the real-time displacement data, the analysis value is an accurate value.

[0023] Optionally, determining the accuracy of the analysis value according to the simulation displacement data comprises:

[0024] determining a checking value of the initial phase angle of the simulation model according to substituting the simulation displacement data and the pole distance into a second calculation formula, the second calculation formula being wherein P ′ is the checking value of the initial phase angle of the simulation model, τ is the pole distance, and x ′ is the simulation displacement data.

[0025] determining whether the checking value is equal to the analysis value;

[0026] if the checking value is equal to the analysis value, the analysis value is an accurate value.

[0027] In a second aspect, the embodiment of the present application further provides a device for determining an initial phase angle of a linear motor, which comprises a current feeding module, a position determining module and a determining module; the current feeding module is configured to feed a first current and a second current into two-phase coils of a mover respectively, wherein the first current and the second current are direct currents; the position determining module is configured to obtain real-time displacement data of the mover after the mover stops moving relative to a stator; and the determining module is configured to determine an analysis value of the initial phase angle of the linear motor according to a pole distance of the linear motor and the real-time displacement data.

[0028] Optionally, the device for determining the initial phase angle of the linear motor further comprises a simulation verification module, which is configured to establish a simulation model of the linear motor; then set the initial phase angle of the simulation model as the analysis value; further feed the first current and the second current into the two-phase coils of the simulation model respectively; obtain simulation displacement data of a model mover after the model mover stops moving relative to a model stator; and finally determine the accuracy of the analysis value according to the simulation displacement data.

[0029] In a third aspect, the embodiment of the present application further provides an electronic device, which comprises at least one processor and a memory connected with the at least one processor in communication; wherein,

[0030] The memory stores a computer program which can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the method for determining the initial phase angle of the linear motor according to any of the first aspect.

[0031] The method, device and electronic device for determining the initial phase angle of the linear motor provided by the embodiment of the present application, when determining the initial phase angle, feed a first current and a second current into two-phase coils of a mover respectively, wherein the first current and the second current are direct currents. After the mover stops moving relative to a stator, real-time displacement data of the mover is obtained. An analysis value of the initial phase angle of the linear motor is determined according to a pole distance of the linear motor and the real-time displacement data, which realizes the determination of the initial phase angle of the linear motor. The determination method is that the direct current fed into the coils is a constant value, and it is not necessary to adjust the current value multiple times to observe the acceleration of the mover, which avoids the occurrence of the collision of the mover with the limit during the determination process, and improves the reliability. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A flowchart of the method for determining the initial phase angle of the linear motor is provided for the embodiment of the present application;

[0033] Figure 2 A structure diagram of the linear motor is provided for the embodiment of the present application;

[0034] Figure 3 A flowchart of another initial phase angle determination method of a linear motor according to an embodiment of the present application is shown in FIG. 6.

[0035] Figure 4 A flowchart of another initial phase angle determination method of a linear motor according to an embodiment of the present application is shown in FIG. 6.

[0036] Figure 5 A schematic diagram of the displacement change of a mover after passing DC current through a two-phase coil according to an embodiment of the present application is shown in FIG. 7.

[0037] Figure 6 A schematic diagram of an initial phase angle determination device of a linear motor according to an embodiment of the present application is shown in FIG. 8.

[0038] Figure 7 A schematic diagram of another initial phase angle determination device of a linear motor according to an embodiment of the present application is shown in FIG. 9.

[0039] Figure 8 A schematic diagram of an electronic device according to an embodiment of the present application is shown in FIG. 10. DETAILED DESCRIPTION

[0040] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely illustrative of the present application and not in limitation thereof. It should also be noted that, for the purpose of description, only the parts related to the present application are shown in the accompanying drawings rather than all the parts.

[0041] To solve the problems in the background art, an initial phase angle determination method of a linear motor is provided according to an embodiment of the present application. The initial phase angle determination method can be used to determine the initial phase angle of the magnetic field of a three-phase linear motor. Figure 1 A flowchart of an initial phase angle determination method of a linear motor according to an embodiment of the present application is shown in FIG. 5. Figure 1 The initial phase angle determination method includes the following steps.

[0042] S101, passing a first current and a second current into the two-phase coils of the mover, respectively.

[0043] The first current and the second current are both DC.

[0044] Specifically, Figure 2 A schematic diagram of a linear motor according to an embodiment of the present application is shown in FIG. 4. Figure 1 and Figure 2, the linear motor includes a stator 202 and a mover 201, the stator 202 includes a plurality of permanent magnets 204 (S and N represent two magnetic poles of the permanent magnets), the mover 201 includes a, b and c three-phase coils 203 and a position sensor 205. In the process of normal operation, the three-phase coils 203 are respectively connected to three-phase alternating current. The current expressions of the a, b and c three-phase coils 203 are respectively: and wherein, I a , I b and I c correspond to the currents in the coil a, the coil b and the coil c respectively, is the effective value of the current in the coil, x is the displacement of the mover relative to the origin of the motor, is the initial electric angle, τ is the pole distance, The expressions of the magnetic field strengths of the a, b and c three-phase coils 203 in the magnetic field provided by the stator permanent magnets 204 are respectively: and wherein, B a , B b and B c correspond to the magnetic field strengths of the coil a, the coil b and the coil c respectively, is the effective value of the coil magnetic field strength, P is the initial phase angle of the magnetic field of the linear motor, The alternating currents flowing in the three-phase coils make the mover receive the Lorentz force in the magnetic field provided by the permanent magnets. The expression of the sum of the Lorentz forces received by the three-phase coils in the magnetic field is In the expression of the sum of the Lorentz forces, P represents the initial phase angle of the magnetic field, represents the initial electric angle. Only when the initial electric angle is the same as the initial phase angle, the linear motor can be used with the maximum efficiency, and the output of the linear motor is the largest.

[0045] The first current and the second current are respectively input into two of the phase coils 203 of the mover, and the first current and the second current are direct currents. Exemplarily, the values of the first current and the second current can be set according to the friction coefficient and the mass of the mover. Exemplarily, the first current I1 and the second current I2 are respectively input into the a-phase coil and the b-phase coil, and the current in the c-phase coil is I3=-(I1+I2). At this time, the expression of the sum of the Lorentz forces received by the mover of the linear motor is: If I1=M*I and I2=N*I, and N is a positive number, then the expression of the sum of the Lorentz forces received by the mover of the linear motor can be simplified as The value of k is related to M and N.

[0046] S102. After the mover stops moving relative to the stator, acquire the real-time displacement data of the mover.

[0047] Specifically, acquiring real-time displacement data of the mover can be achieved using a position sensor mounted on the mover. Displacement data refers to the vector distance of any point on the mover relative to the motor origin, including both distance and direction. For example, the position sensor can be a linear encoder, achieving nanometer-level displacement sensing accuracy.

[0048] S103. Determine the initial phase angle of the linear motor based on the magnetic pole distance and real-time displacement data.

[0049] Specifically, after the first and second currents are respectively applied to the two-phase coils of the mover, the sum of the Lorentz forces acting on the mover of the linear motor presents a sinusoidal curve related to the displacement. Since there is generally damping and friction between the mover and stator, the mover with DC current flowing through the two-phase coils will eventually oscillate, converge, and come to rest at a position where the sum of the Lorentz forces acting on the mover is close to zero. Therefore, at the rest position, we can obtain... because but Therefore, it can be determined that Based on the magnetic pole distance τ and real-time displacement data x of the linear motor, the analytical value of the initial phase angle of the linear motor can be determined.

[0050] The method for determining the initial phase angle of a linear motor provided in this embodiment involves supplying a first current and a second current, both of which are direct current (DC), to the two-phase coils of the mover. After the mover stops moving relative to the stator, real-time displacement data of the mover is acquired. Based on the magnetic pole distance and the real-time displacement data, the initial phase angle of the linear motor is determined, thus realizing the determination of the initial phase angle. This method uses a constant DC current supplied to the coils, eliminating the need for repeated current adjustments to observe the mover's acceleration, avoiding the possibility of the mover hitting the limit switch during the determination process, and improving reliability.

[0051] Figure 3 A flowchart illustrating another method for determining the initial phase angle of a linear motor according to an embodiment of the present invention is shown below. Figure 3 The methods for determining the initial phase angle include:

[0052] S301, preset currents are applied to the two phase coils of the rotor.

[0053] Specifically, the direct current flowing in the two-phase coils is equal, and each is equal to the preset current. The direct current flowing in the two-phase coils is equal, which can simplify the calculation of the analysis value of the initial phase angle. Exemplarily, the preset current is respectively input into the a-phase coil and the b-phase coil, because in the case of I1=I2=tI, the sum of the Lorentz forces borne by the mover of the linear motor is expressed as which can be simplified as The simplification step is more concise. The output of the motor presents a sine curve related to the position. Since the motor generally has damping and friction, the final motor will oscillate and converge to a position, at which the actual output of the motor is close to 0. Therefore, the accurate value of P P ′ can be directly obtained, and is no longer related to the relative relationship between the currents passing through the two-phase coils. The calculation and simplification process are greatly simplified.

[0054] The preset current can be positively related to the friction coefficient and the mass of the mover, wherein the mass refers to the total mass of the mover, which can be the sum of the mass of the mover itself and the mass of the stator load. The preset current is positively related to the friction coefficient and the mass of the mover, respectively, which can appropriately control the moving speed of the mover, so as to prevent the mover from colliding with the limit and causing safety problems, thereby improving the safety and reliability of the initial phase angle determination method.

[0055] S302, after the mover stops moving relative to the stator, real-time displacement data of the mover is obtained.

[0056] The content of step S302 is the same as that of the aforementioned step S102, which will not be described herein again.

[0057] S303, the magnetic pole distance of the linear motor and the real-time displacement data are substituted into a first calculation formula to determine the analysis value of the initial phase angle of the linear motor.

[0058] The first calculation formula refers to a calculation formula for calculating the initial phase angle according to the magnetic pole distance and the real-time displacement data, and can be determined according to the relative relationship between the current values of the two-phase coils.

[0059] Exemplarily, the preset current is respectively input into the two-phase coils in step S301, and the sum of the Lorentz forces can be obtained by calculating and simplifying the sum of the Lorentz forces Since , the first calculation formula can be determined. In this step, the pole distance τ of the linear motor and the real-time displacement data x obtained in step S302 are substituted into the first calculation formula to determine the analysis value of the initial phase angle P of the linear motor. Exemplarily, if the real-time displacement data x is -6 mm and the pole distance τ is 24 mm, the analysis value of the initial phase angle is equal to

[0060] In the method for determining the initial phase angle of the linear motor provided in this embodiment, the current values flowing into the two-phase coils are equal and both equal to the preset current, and the calculation and simplification process in obtaining the first calculation formula by simplifying the expression of the sum of the Lorentz forces is greatly simplified, thereby reducing the calculation workload in the preliminary preparation work. The value of the preset current is positively correlated with the friction coefficient and the mass of the mover, so that the moving speed of the mover is appropriate and safety problems caused by collision against the limit are avoided, and the safety and reliability of the method for determining the initial phase angle are improved.

[0061] Figure 4 For another method for determining the initial phase angle of the linear motor provided in this embodiment, a flowchart is shown in Figure 4 , the method for determining the initial phase angle of the linear motor comprises the following steps.

[0062] S401, a first current and a second current are respectively input into the two-phase coils of the mover.

[0063] S402, after the mover stops moving relative to the stator, real-time displacement data of the mover is obtained.

[0064] S403, the analysis value of the initial phase angle of the linear motor is determined according to the pole distance of the linear motor and the real-time displacement data.

[0065] The steps S401, S402 and S403 correspond to the steps S101, S102 and S103 respectively, and the contents are the same, which will not be repeated here.

[0066] S404, a simulation model of the linear motor is established.

[0067] Specifically, the simulation model with the same basic parameters is established on the simulation software according to the basic parameters of the linear motor, wherein the basic parameters can include all basic parameters related to the design of the linear motor body, such as construction data, size data and material data, and exemplarily, the basic data can include motor basic parameters such as pole material, pole distance, coil material, coil turns, size of each component of the stator, size of each component of the mover, friction coefficient and load weight. The simulation software can be any one of software capable of simulating and analyzing the electric field and magnetic field of the motor, such as ANSYS finite element analysis software, COMSOL multi-physical field simulation software and Motor-CAD software.

[0068] S405, set the initial phase angle of the simulation model as the analysis value.

[0069] Specifically, the initial phase angle in the simulation model of the linear motor is set as the analysis value equal to the initial phase angle determined in step S403.

[0070] S406, respectively pass the first current and the second current to the two-phase coils of the simulation model.

[0071] Specifically, the first current and the second current are respectively passed to the two-phase coils of the simulation model of the linear motor, and the two-phase coils correspond to the two-phase coils in step S401. For example, the first current is passed to the a-phase coil of the mover in the simulation model, and the second current is passed to the b-phase coil of the mover in the simulation model.

[0072] S407, after the model mover stops moving relative to the model stator, the simulation displacement data of the model mover is obtained.

[0073] Specifically, Figure 5 A schematic diagram of the change of the displacement of the mover after the two-phase coils are passed through the direct current is provided for the embodiment of the application, which is combined with Figure 4 and Figure 5 After the first current and the second current are respectively passed to the two-phase coils of the simulation model, the mover of the simulation model will oscillate and move, and the sum of the Lorentz forces acting on the mover presents a sinusoidal curve related to the displacement. Because the damping and friction force are set between the mover and the stator in the simulation model, the mover with the two-phase coils passing through the direct current in the simulation model will oscillate and converge and be stationary at a position. The simulation displacement data of the simulation model at rest can be obtained by measuring or directly reading on the simulation software.

[0074] S408, according to the simulation displacement data, determine the accuracy of the analysis value.

[0075] Specifically, the simulation displacement data refers to the displacement data of the mover of the simulation model at rest after the initial phase angle of the simulation model is set as the analysis value and the first current and the second current are respectively passed to the two-phase coils of the simulation model. The simulation displacement data can reflect the relative relationship between the analysis value and the actual value of the initial phase angle. The accuracy includes accurate and inaccurate.

[0076] For example, according to the simulation displacement data, one way to determine the accuracy of the analysis value is to determine whether the simulation displacement data is equal to the real-time displacement data. If the simulation displacement data is equal to the real-time displacement data, the analysis value is the accurate value. For example, if the simulation displacement data is equal to -6mm, which is equal to the real-time displacement data obtained by the displacement sensor in step S402, the analysis value is the accurate value.

[0077] Another way to determine the accuracy of the analysis value according to the simulation displacement data is to determine the checking value of the initial phase angle of the simulation model according to the simulation displacement data and the pole distance substituted into the second calculation formula, the second calculation formula is wherein, P ′ is the checking value of the initial phase angle of the simulation model, τ is the pole distance, and x ′ is the simulation displacement data. It is determined whether the checking value is equal to the analysis value. If the checking value is equal to the analysis value, the analysis value is the accurate value. For example, if the simulation displacement data is equal to-6mm and the pole distance is 24mm, the checking value of the initial phase angle of the simulation model is If the checking value is equal to the analysis value determined in step S403, the analysis value is the accurate value.

[0078] The initial phase angle determination method of the linear motor provided in the embodiment determines the analysis value of the initial phase angle, and then obtains the simulation displacement data under the condition that the initial phase angle is the analysis value by using the simulation analysis method, determines whether the analysis value is accurate according to the simulation displacement data, realizes the checking of the analysis value of the initial phase angle, and further improves the reliability of the initial phase angle determination method.

[0079] The embodiment of the application further provides an initial phase angle determination device of a linear motor. Figure 6 The initial phase angle determination device of the linear motor provided in the embodiment is a component schematic diagram, which is referred to as Figure 6 The initial phase angle determination device 600 of the linear motor comprises a current input module 601, a position determination module 602 and a determination module 603. The current input module 601 is used for inputting a first current and a second current into two-phase coils of a rotor respectively, wherein the first current and the second current are both direct currents. The position determination module 602 is used for obtaining real-time displacement data of the rotor after the rotor stops moving relative to a stator. The determination module 603 is used for determining an analysis value of the initial phase angle of the linear motor according to a pole distance of the linear motor and the real-time displacement data.

[0080] Optionally, Figure 7 The initial phase angle determination device of the linear motor provided in the embodiment is a component schematic diagram, which is referred to as Figure 7 On the basis of the foregoing embodiment, the initial phase angle determination device 600 of the linear motor further comprises a simulation verification module 604. The simulation verification module 604 is used for establishing a simulation model of the linear motor, then setting the initial phase angle of the simulation model as the analysis value, further inputting the first current and the second current into two-phase coils of the simulation model, obtaining simulation displacement data of a model rotor after the model rotor stops moving relative to a model stator, and finally determining the accuracy of the analysis value according to the simulation displacement data.

[0081] The embodiment of the present application further provides an electronic device. Figure 8 The embodiment of the present application provides a composition schematic diagram of an electronic device. Figure 8 The electronic device 800 comprises at least one processor 801 (five processors are exemplarily shown) and a memory 802 connected with the at least one processor 801, wherein the memory 802 stores a computer program executable by the at least one processor 801, and the computer program is executed by the at least one processor 801 to enable the at least one processor 801 to execute any initial phase angle determination method of the linear motor in the embodiment of the present application.

[0082] The embodiment of the present application further provides a computer readable storage medium. The computer readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the initial phase angle determination method of the linear motor in any embodiment of the present application.

[0083] The initial phase angle determination method, device, equipment and storage medium of the linear motor provided by the present application, in the process of determining the initial phase angle, the first current and the second current are respectively input into the two-phase coil of the mover, wherein the first current and the second current are both direct current. After the mover stops moving relative to the stator, the real-time displacement data of the mover is obtained. The analysis value of the initial phase angle of the linear motor is determined according to the magnetic pole distance of the linear motor and the real-time displacement data, which realizes the determination of the initial phase angle of the linear motor. The determination method is that the direct current input into the coil is a constant value, and the current value does not need to be adjusted multiple times to observe the acceleration of the mover, which avoids the occurrence of the collision of the mover with the limit during the determination process, and improves the reliability.

[0084] The various embodiments of the apparatus and technology described above in this document can be implemented in digital electronic circuitry, integrated circuitry, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0085] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package and partially on a remote machine or entirely on a remote machine or server.

[0086] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0087] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0088] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0089] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0090] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the technical solutions of the present disclosure are achieved, and the present disclosure is not limited herein.

[0091] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of determining an initial phase angle of a linear motor, characterized by, The initial phase angle determination method comprises: a first current and a second current are respectively input to two-phase coils of a mover, wherein the first current and the second current are both direct currents; after the mover stops moving relative to a stator, real-time displacement data of the mover is acquired; According to the pole distance of the linear motor and the real-time displacement data, an analysis value of an initial phase angle of the linear motor is determined, specifically comprising: substituting the pole distance of the linear motor and the real-time displacement data into a first calculation formula to determine the analysis value of the initial phase angle of the linear motor, the first calculation formula being wherein P is the analysis value of the initial phase angle of the linear motor, τ is the pole distance, and x is the real-time displacement data.

2. The method of determining an initial phase angle of a linear motor according to claim 1, wherein, the first current and the second current are equal and both equal to a preset current.

3. The method of claim 1, wherein values of the first current and the second current are set according to a friction coefficient and a mass of the mover.

4. The method of claim 1-3, wherein After determining the analysis value of the initial phase angle of the linear motor according to the pole distance of the linear motor and the displacement data, the method further comprises: a simulation model of the linear motor is established; the initial phase angle of the simulation model is set as the analysis value; the first current and the second current are respectively input to two-phase coils of the simulation model; after a model mover stops moving relative to a model stator, simulation displacement data of the model mover is acquired; the accuracy of the analysis value is determined according to the simulation displacement data.

5. The method of claim 4, wherein Determining the accuracy of the analysis value according to the simulation displacement data comprises: determining whether the simulation displacement data is equal to the real-time displacement data; if the simulation displacement data is equal to the real-time displacement data, the analysis value is an accurate value.

6. The method for determining the initial phase angle of a linear motor according to claim 4, characterized in that, Determining the accuracy of the analysis value according to the simulation displacement data comprises: According to substituting the simulation displacement data and the pole distance into a second calculation formula, a check value of an initial phase angle of the simulation model is determined, the second calculation formula is Wherein, P ′ is the check value of the initial phase angle of the simulation model, τ is the pole distance, x ′ is the simulation displacement data; determining whether the check value is equal to the analysis value; if the check value is equal to the analysis value, the analysis value is an accurate value.

7. An initial phase angle determining device for a linear motor, characterized by comprises: a current input module for inputting a first current and a second current to two-phase coils of a mover, wherein the first current and the second current are both direct currents; a position determination module for acquiring real-time displacement data of the mover after the mover stops moving relative to a stator; The determining module is configured to determine an analysis value of an initial phase angle of the linear motor according to a pole distance of the linear motor and the real-time displacement data, specifically configured to substitute the pole distance of the linear motor and the real-time displacement data into a first calculation formula to determine the analysis value of the initial phase angle of the linear motor, the first calculation formula is wherein P is the analysis value of the initial phase angle of the linear motor, τ is the pole distance, and x is the real-time displacement data.

8. The initial phase angle determination device for a linear motor according to claim 7, characterized in that, further comprising: a simulation verification module for establishing a simulation model of the linear motor, and then setting the initial phase angle of the simulation model as the analysis value; further inputting the first current and the second current to two-phase coils of the simulation model, acquiring simulation displacement data of a model mover after the model mover stops moving relative to a model stator, and finally determining the accuracy of the analysis value according to the simulation displacement data.

9. An electronic device, comprising: comprises: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the initial phase angle determination method of the linear motor according to any one of claims 1-6.

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