A double-sided long-stator linear drive system

Abstract

This application relates to the field of electromagnetic propulsion technology, specifically disclosing a double-sided long stator linear drive system, including multiple subsystems and a main controller. Each subsystem includes an equal number of linear motor stator segments, six-phase switches, position detection devices, a common AC bus for the subsystem, and a subsystem control bus. The linear motor stator segments are connected to the common AC bus of the subsystem through corresponding six-phase switches, and then connected to the system common AC bus formed by the subsystem bus interfaces, which is connected to a six-phase converter composed of three-phase converters distributed in each subsystem. Each position detection device is connected to the system control bus through the subsystem control bus, and then to the main controller. The main controller controls the switching of each linear motor stator segment according to the installation order of the subsystems and the running position of the linear motor mover measured by the position detection devices. The subsystems can be randomly ordered and assembled without affecting the system operation, exhibiting good mobility.

Description

Technical Field

[0001] This application relates to the field of electromagnetic propulsion technology, and in particular to a double-sided long stator linear drive system. Background Technology

[0002] Electromagnetic booster technology is an emerging linear propulsion technology suitable for launching large payloads over short distances, with broad application prospects in military, civilian, and industrial fields. Electromagnetic booster uses electromagnetic energy to propel a projectile outward; it is essentially a form of electromagnetic railgun. Traditionally, projectiles have been mechanical, using springs or rubber bands, or energy-based, such as bullets (utilizing the instantaneous burst of energy from gunpowder). Electromagnetic launch uses the electromagnetic thrust generated by the principle of electromagnetic action to accelerate the object. Because the electromagnetic driving force is proportional to the square of the current, sufficient current input can generate a sufficiently large thrust within the launching device, enabling the object to reach higher speeds.

[0003] The double-sided long-stator linear drive system is a type of linear motor system currently used to drive electromagnetic booster devices. Due to the high leakage flux and low power factor characteristics of long-stator linear motors, double-sided long-stator linear drive systems often employ a single converter to power multiple stator segments. This is achieved by assembling multiple stator segments into a long stator on both sides, and then sequentially controlling the power supply to each stator segment according to the position of the mover in the direction of travel, thus enabling the mover to accelerate linearly along the double-sided long stator. Since the linear distance between the assembled double-sided long stator segments can reach tens of meters, it needs to be decomposed into multiple subsystems for transportation. Furthermore, the segmented power supply mode for each stator segment requires high assembly precision between the stator segments to ensure the continuity of the magnetic field.

[0004] In non-motorized applications, the stator sections and converters are connected via a fixed topology, and the assembly process between the stator sections is highly consistent.

[0005] In applications requiring rapid maneuverability of the dual-side long stator linear drive system—that is, during system maneuvering, the stator segments need to be disassembled into subsystems for transportation, and during system operation, the stator segments need to be assembled into the linear drive system within a short time—the design of the dual-side long stator linear drive system is limited by the power supply voltage and will adopt a variable thrust operating mode. That is, high thrust is used when the mover is running at low speed, and medium to low thrust is used when the mover is running at high speed.

[0006] To achieve rapid maneuverability in a dual-side long stator linear drive system, the subsystems of the system need to be able to be randomly ordered and assembled. However, due to the poor consistency of the connection process between the subsystems in the existing dual-side long stator linear drive system, and the fact that the power supply model of the stator segment differs from the constant thrust mode, the current topology of the dual-side long stator linear drive system cannot meet the requirements for random subsystem switching and variable thrust power supply switching operation.

[0007] In response, some people in the art have proposed using a linear drive system with high symmetry and interchangeable stator segments. However, this drive system can only achieve interchangeable positions between stator segments, and additional transportation and assembly of the converter are required. It cannot achieve complete consistency in the structure of each subsystem, and there are large weight differences between the subsystems, which cannot meet the requirements for mobility.

[0008] As can be seen, existing dual-sided long stator linear drive systems suffer from high assembly precision requirements, leading to time-consuming assembly of the long stator sections. Furthermore, if the subsystem is split to completely separate the converter and motor, system assembly requires complex wiring. Therefore, existing dual-sided long stator linear drive systems exhibit poor mobility, high assembly requirements, and are prone to poor performance due to improper assembly.

[0009] Providing a dual-sided long stator linear drive system that allows for system mobility and random arrangement and assembly of subsystems without affecting system operation is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0010] The purpose of this application is to provide a dual-sided long stator linear drive system, whose subsystems can be randomly ordered and assembled without affecting the system operation, and which has high mobility.

[0011] To address the aforementioned technical problems, this application provides a dual-side long stator linear drive system, comprising: multiple subsystems and a main controller;

[0012] Each of the subsystems includes the same number of linear motor stator segments, a six-phase switch corresponding to the linear motor stator segment, a position detection device corresponding to the linear motor stator segment, a number of subsystem common AC buses corresponding to the number of switching steps of the linear motor stator segment, and a subsystem control bus.

[0013] In one of the subsystems, the stator segment of the linear motor is connected to the common AC bus of the corresponding subsystem via the corresponding six-phase switch, and the position detection device is connected to the control bus of the subsystem.

[0014] According to the installation order of the subsystems, each subsystem is connected to the others through a bus interface and a control line interface, so that the common AC bus of each subsystem is connected to a system common AC bus corresponding to the number of cutting steps of the stator segment of the linear motor. Each position detection device is connected to the main controller through a system control bus formed by the subsystem control bus.

[0015] Multiple three-phase converters are distributed in different subsystems; a common AC bus of a group of systems is connected to at least one six-phase converter consisting of two three-phase converters.

[0016] The main controller is used to generate a switching control sequence according to the installation order of each subsystem, determine the running position of the linear motor mover according to the signal fed back by the position detection device, and control the corresponding six-phase converter to control the power supply of the corresponding linear motor stator section according to the switching control sequence and the running position of the linear motor mover.

[0017] Optionally, the number of cutting steps for the stator segment of the linear motor is two-step.

[0018] Each of the subsystems includes an even number of pairs of linear motor stator segments and two sets of common AC buses for the subsystems. In each of the subsystems, adjacent pairs of linear motor stator segments are connected to different common AC buses for the subsystems.

[0019] The number of three-phase converters is at least four, to be connected to two sets of system common AC buses consisting of two sets of subsystem common AC buses in each of the subsystems.

[0020] Optionally, the number of cutting steps for the stator segment of the linear motor is three steps;

[0021] Each of the subsystems includes three multiples of the linear motor stator segments and three sets of common AC buses for the subsystems. In each of the subsystems, every three pairs of linear motor stator segments are connected to different common AC buses for the subsystems.

[0022] The number of three-phase converters is at least six, to be connected to three sets of system common AC buses consisting of three sets of common AC buses of each of the subsystems.

[0023] Optionally, the number of switching steps for the stator segment of the linear motor is determined based on the running speed of the linear motor mover and the switching speed of the six-phase converter and the six-phase switch controlled by the main controller.

[0024] Optionally, a set of the system's common AC bus is connected to at least two of the six-phase converters that serve as both primary and backup to each other.

[0025] Optionally, a pair of linear motor stator segments corresponds to two position detection devices, which are respectively installed at both ends of one side of the linear motor stator segment.

[0026] Optionally, the main controller controls the corresponding six-phase converter according to the switching control sequence and the running position of the linear motor mover to control the power supply of the corresponding linear motor stator segment, specifically including:

[0027] When the main controller receives the detection signal from the position detection device at the beginning of the linear motor stator, it determines that the linear motor mover has started to enter the linear motor stator. Then, it controls the six-phase switch corresponding to the linear motor stator to close and controls the six-phase converter corresponding to the linear motor stator to adjust the control parameters of the linear motor stator.

[0028] When the linear motor mover is completely on the linear motor stator, the main controller controls the given torque of the six-phase converter corresponding to the linear motor stator to be the torque corresponding to the linear motor stator.

[0029] When the main controller receives the detection signal from the position detection device at the end of the linear motor stator, it determines that the linear motor mover has begun to leave the linear motor stator. Then, it starts to control the corresponding six-phase converter to adjust the control parameters until it determines that the linear motor mover has completely detached from the linear motor stator. Finally, it controls the six-phase switch corresponding to the linear motor stator to disconnect.

[0030] Optionally, the main controller controls the corresponding six-phase converter according to the switching control sequence and the running position of the linear motor mover to control the power supply of the corresponding linear motor stator segment, specifically including:

[0031] When the main controller receives the detection signal from the position detection device at the beginning of the linear motor stator, it determines that the linear motor mover has started to enter the linear motor stator. Then, it controls the six-phase switch corresponding to the next linear motor stator to close and controls the six-phase converter corresponding to the linear motor stator to adjust the control parameters of the linear motor stator.

[0032] When the linear motor mover is completely on the linear motor stator, the main controller controls the given torque of the six-phase converter corresponding to the linear motor stator to be the torque corresponding to the linear motor stator.

[0033] When the main controller receives the detection signal from the position detection device at the end of the linear motor stator, it determines that the linear motor mover has begun to leave the linear motor stator. Then, it starts to control the corresponding six-phase converter to adjust the control parameters until it determines that the linear motor mover has completely detached from the linear motor stator. Finally, it controls the six-phase switch corresponding to the linear motor stator to disconnect.

[0034] Optionally, the position detection device is specifically a non-contact position detection device.

[0035] Optionally, the bus interface and the control line interface are integrated into the busbar connector.

[0036] The dual-sided long-stator linear drive system provided in this application includes multiple subsystems and a main controller. Each subsystem has a basically identical structure, including the same number of linear motor stator segments, six-phase switches, position detection devices, a common AC bus for the subsystems, and a subsystem control bus. The linear motor stator segments in each subsystem are connected to the corresponding common AC bus via the corresponding six-phase switches. These common AC buses are then connected to the corresponding six-phase converters via their respective bus interfaces. Each position detection device is connected to the main controller via the system control bus, which in turn connects to the main controller. The main controller controls the switching of each linear motor stator segment based on the installation sequence of the subsystems and the operating position of the linear motor mover measured by the position detection devices. This system is simple to assemble and has good mobility. By connecting multiple three-phase converters distributed in different subsystems to a six-phase converter via the corresponding common AC bus, system redundancy is achieved. This redundancy can handle torque fluctuations caused by subsystem repositioning, and this modular assembly method balances the quality differences between subsystems. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of a dual-sided long stator linear drive system provided in this application embodiment;

[0039] Figure 2 A schematic diagram of the switching sequence of a dual-sided long stator linear drive system provided in this application embodiment;

[0040] Figure 3A schematic diagram of the motion of a linear motor mover provided in an embodiment of this application;

[0041] Among them, 100 is a subsystem, 101 is the stator section of the linear motor, 102 is a six-phase switch, 103 is a position detection device, and 104 is a three-phase converter. Detailed Implementation

[0042] The core of this application is to provide a dual-sided long stator linear drive system, whose subsystems can be randomly ordered and assembled without affecting the system operation, and which has high mobility.

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] Example 1

[0045] Figure 1 This is a schematic diagram of a double-sided long stator linear drive system provided in an embodiment of this application.

[0046] like Figure 1 As shown, the dual-sided long stator linear drive system provided in this application embodiment includes: multiple subsystems 100 and a main controller;

[0047] Each subsystem 100 includes the same number of linear motor stator segments 101, a six-phase switch 102 corresponding to the linear motor stator segment 101, a position detection device 103 corresponding to the linear motor stator segment 101, a number of subsystem common AC buses corresponding to the number of switching steps of the linear motor stator segment 101, and a subsystem control bus.

[0048] In a subsystem 100, the stator segment 101 of the linear motor is connected to the common AC bus of the corresponding subsystem through the corresponding six-phase switch 102, and the position detection device 103 is connected to the subsystem control bus.

[0049] According to the installation sequence of the subsystems 100, each subsystem 100 is connected to the other through a bus interface and a control line interface, so that the common AC bus of each subsystem is connected to the number of common AC buses of the system corresponding to the number of cutting steps of the stator section 101 of the linear motor. Each position detection device 103 is connected to the main controller through the system control bus formed by the subsystem control bus.

[0050] Multiple three-phase converters 104 are distributed in different subsystems 100; a common AC bus of a group of systems is connected to at least one six-phase converter consisting of two three-phase converters 104.

[0051] The main controller is used to generate the switching control sequence according to the installation and arrangement order of each subsystem 100, determine the running position of the linear motor mover according to the signal fed back by the position detection device 103, and control the corresponding six-phase converter according to the switching control sequence and the running position of the linear motor mover to control the power-on and power-off of the corresponding linear motor stator section 101.

[0052] It should be noted that, for ease of viewing, Figure 1 Only one subsystem 100 is given in the figure. Please refer to the figure for the labels of other subsystems 100. Figure 1 The document describes a system comprising four subsystems 100, each subsystem 100 containing two pairs of linear motor stator segments 101. Figure 1 The diagram shows only one side of the linear motor stator segment 101, two six-phase switches 102 (each six-phase switch 102 controls a pair of linear motor stator segments 101 placed side by side), and a three-phase converter 104, representing a double-sided long stator linear drive system. However, this does not mean that the double-sided long stator linear drive system provided in this application is limited to this scheme. In this application embodiment, the two linear motor stator segments 101 placed side by side are referred to as a pair of linear motor stator segments 101.

[0053] In practical applications, particularly in motorized environments, each subsystem 100 is often transported separately by different vehicles and rapidly assembled at the point of use. To facilitate bulk transport, it is best to maintain consistent quality across all subsystems 100. Therefore, in the dual-sided long stator linear drive system provided in this embodiment, each subsystem 100 includes the same number of linear motor stator segments 101, six-phase switches 102, position detection devices 103, a common AC bus, and a control bus. To further ensure consistent quality, each subsystem 100 can include a three-phase converter 104. During assembly, only the common AC bus and control bus need to be connected between subsystems 100, greatly facilitating the on-site assembly of the dual-sided long stator linear drive system.

[0054] In one subsystem 100, the input terminal of the six-phase switch 102 is connected to the subsystem's common AC bus, and the output terminal of the six-phase switch 102 is connected to the input terminal of the corresponding linear motor stator segment 101. The output terminal of the position detection device 103 is connected to the subsystem's control bus.

[0055] Since the double-sided long stator linear drive system provided in this application uses a six-phase converter to drive each linear motor stator segment 101, in order to increase system redundancy and meet the requirements even during fluctuations, and in order to balance the quality, a six-phase converter is composed of two three-phase converters 104 located in two subsystems 100. Therefore, during installation, it is necessary to determine how to assemble the six-phase converter according to the arrangement order of each subsystem 100 and the number of switching steps of the linear motor stator segment 101, and to make corresponding wiring of the bus interface.

[0056] The control line interfaces between each subsystem 100 can be directly connected to connect the signals of each position detection device 103 to the main controller via the system control bus. Different position detection devices 103 can be distinguished by setting different signal identifiers. Alternatively, each control line interface can be connected to the main controller separately. The position detection device 103 is used to detect the position of the linear motor mover relative to the linear motor stator segment 101. The installation location is determined according to the selected model; it can be installed at one or several locations near the linear motor stator, such as at both ends of each pair of linear motor stator segments 101. The position detection device 103 can be a non-contact position detection device.

[0057] To facilitate connection, cables that can be plugged into other subsystems 100 can be installed at the inlet and outlet of the common AC bus at both ends of subsystem 100 and at the inlet and outlet of the subsystem control bus. Alternatively, the bus interface and control line interface can be integrated into the bus connector so that the subsystems 100 can be connected sequentially through cables or bus connectors.

[0058] The stator of the double-sided long stator linear drive system consists of two rows of linear motor stator segments 101 placed side by side. During drive, each pair of linear motor stator segments 101 is sequentially energized and de-energized in the direction of travel of the linear motor mover. Since switching the linear motor stator segments 101 takes time, and the linear motor mover operates at a very high speed, it is insufficient to use only one converter to sequentially control the switching of each linear motor stator segment 101. Two or more converters are needed to alternately control the switching of the linear motor stator segments 101. The number of switching steps for the linear motor stator segments 101 refers to the number of cycles in which a set of alternating control of the linear motor stator segments 101 is performed. For example, a two-step switching method uses two converters to alternately control the switching of the linear motor stator segments 101; a three-step switching method uses three converters to alternately control the switching of the linear motor stator segments 101, and so on.

[0059] Therefore, in the double-sided long stator linear drive system provided in this application embodiment, the number of switching steps of the linear motor stator segment 101 is determined according to the running speed of the linear motor mover and the switching speed of the six-phase converter and the six-phase switch 102 controlled by the main controller.

[0060] The double-sided long stator linear drive system provided in this application embodiment allows for easy interchange of the installation positions of each of the 100 subsystems, enabling rapid installation, good mobility, and relatively uniform mass distribution, facilitating transportation.

[0061] Example 2

[0062] Based on the above embodiments, this application further describes a two-step cutting method for the stator segment 101 of the linear motor.

[0063] In the double-sided long stator linear drive system provided in this application embodiment, the number of cutting steps for the linear motor stator segment 101 is two-step.

[0064] Each subsystem 100 includes an even number of pairs of linear motor stator segments 101 and two sets of common AC buses for the subsystems. In each subsystem 100, adjacent pairs of linear motor stator segments 101 are connected to different common AC buses for the subsystems.

[0065] The number of three-phase converters 104 is at least four, to be connected to two sets of system common AC buses consisting of two sets of subsystem common AC buses in each subsystem 100.

[0066] Figure 1 This is an implementation scheme for a two-step cutting double-sided long stator linear drive system.

[0067] exist Figure 1 Based on the double-sided long stator linear drive system shown, each subsystem 100 may include four, six or more even-numbered pairs of linear motor stator segments 101, and two six-phase converters composed of four three-phase converters 104 can be switched on and off in turn.

[0068] exist Figure 1 Based on the double-sided long stator linear drive system shown, more subsystems 100 can be set up. For the fifth and subsequent subsystems 100, the three-phase converter 104 does not need to be included; only the linear motor stator section 101, six-phase switch 102, position detection device 103, subsystem common AC bus, and subsystem control bus are required. Alternatively, for redundancy or quality balancing, subsequent subsystems 100 may also include the three-phase converter 104. During on-site installation, whether to connect it to the double-sided long stator linear drive system is selected according to actual needs.

[0069] Due to the limited volume of the transport vehicle, the total length of the linear motor stator segment 101 in each subsystem 100 is fixed. More linear motor stator segments 101 mean each segment is shorter. Understandably, if the design speed of the linear motor mover is high, fewer linear motor stator segments 101 are used in each subsystem 100. If the design speed of the linear motor mover is not very high, but the system power factor requirement is higher, more linear motor stator segments 101 are used. However, when each subsystem 100 has more linear motor stator segments 101, such as four or even six segments, it places a significant challenge on the switching speed of the six-phase current converter. In this case, the number of six-phase converters can be increased, i.e., the number of three-phase converters 104 in the entire double-sided long stator linear drive system can be increased.

[0070] Example 3

[0071] Based on the above embodiments, this application further describes a three-step cutting method for the stator segment 101 of the linear motor.

[0072] In the double-sided long stator linear drive system provided in this application embodiment, the number of cutting steps for the linear motor stator segment 101 is three steps;

[0073] Each subsystem 100 includes a multiple of three pairs of linear motor stator segments 101 and three sets of subsystem common AC buses. In each subsystem 100, every three pairs of linear motor stator segments 101 are connected to different subsystem common AC buses.

[0074] The number of three-phase converters 104 is at least six, to be connected to a three-system common AC bus consisting of three sets of subsystem common AC buses in each subsystem 100.

[0075] When each subsystem 100 contains three pairs of linear motor stator segments 101 and multiples of three pairs of linear motor stator segments 101, a three-step switching process can be used to switch the linear motor stator segments 101. In this case, the entire double-sided long stator linear drive system needs to contain at least six three-phase current transformers to be assembled into three six-phase current transformers to achieve the three-step switching.

[0076] As described in Embodiment 2 of this application, more segments of the linear motor stator segment 101 can increase the power factor, but may lead to untimely switching of the converter. Therefore, while increasing the number of segments of the linear motor stator segment 101 in each subsystem 100, the number of six-phase converters is increased in a timely manner, that is, the number of three-phase converters 104 in the entire double-sided long stator linear drive system is increased.

[0077] Example 4

[0078] As described in the above embodiments of this application, in a double-sided long stator linear drive system, each subsystem 100 may include a three-phase converter 104, or only some subsystems 100 may include three-phase converters 104 to meet system switching requirements. Alternatively, the three-phase converters 104 in additional subsystems 100 may be configured as redundant or not connected to the double-sided long stator linear drive system design. Based on this, to increase system redundancy and ensure reliable operation, in the double-sided long stator linear drive system provided in this application embodiment, a set of system common AC buses is connected to at least two mutually redundant six-phase converters.

[0079] In practical implementation, a converter switch can be set between each three-phase converter 104 and the corresponding subsystem common AC bus to enable each three-phase converter 104 to be connected to the system or to perform main / standby switching.

[0080] Example 5

[0081] Figure 2 A schematic diagram of the switching sequence of a dual-sided long stator linear drive system provided in this application embodiment; Figure 3 This is a schematic diagram of the motion of a linear motor mover provided in an embodiment of this application.

[0082] Based on the above embodiments, in the dual-sided long stator linear drive system provided in this application embodiment, the main controller controls the corresponding six-phase converter according to the switching control sequence and the running position of the linear motor mover to control the power-on and power-off of the corresponding linear motor stator segment 101, which may specifically include:

[0083] When the main controller receives the detection signal from the position detection device 103 at the beginning of the linear motor stator, it determines that the linear motor mover has started to enter the linear motor stator. Then, it controls the six-phase switch 102 corresponding to the linear motor stator to close and controls the six-phase converter corresponding to the linear motor stator to adjust the control parameters of the linear motor stator.

[0084] When the linear motor mover is fully on the linear motor stator, the main controller controls the given torque of the six-phase converter corresponding to the linear motor stator to be the torque corresponding to the linear motor stator.

[0085] When the main controller receives the detection signal from the position detection device 103 at the end of the linear motor stator, it determines that the linear motor mover has begun to leave the linear motor stator. Then, it starts to control the corresponding six-phase converter to adjust the control parameters until it determines that the linear motor mover has completely left the linear motor stator. Then, it controls the six-phase switch 102 corresponding to the linear motor stator to open.

[0086] In specific implementation, such as Figure 2As shown, the double-sided long stator linear drive system includes four subsystems 100, each subsystem 100 containing two pairs of linear motor stator segments 101. Figure 2 Taking only one side of the linear motor stator segment 101, two six-phase switches 102 (each six-phase switch 102 controls a pair of linear motor stator segments 101 placed side by side), and a three-phase converter 104 as an example, the subsystems 100 are numbered A, B, C, and D respectively. Figure 3 As shown, the switches on each subsystem 100 are numbered Xk1 and Xk2, the motor stators are Xm1 and Xm2 (X represents A, B, C, and D), the first set of six-phase converters is numbered E1, and the second set of six-phase converters is numbered E2. Figure 2 and Figure 3 Taking the direction shown as an example, when the linear motor mover moves to the left, the right end of each linear motor stator segment 101 is the beginning and the left end is the end; when the linear motor mover moves to the right, the left end of each linear motor stator segment 101 is the beginning and the right end is the end.

[0087] Taking the linear motor mover moving to the right as an example, the main controller controls the six-phase converter and the six-phase switch 102 in the order of (E1\Ak1), (E2\Ak2), (E1\Bk1), (E2\Bk2), (E1\Ck1), (E2\Ck2), (E1\Dk1), (E2\Dk2) to realize the switching of the stator segment 101 of the linear motor (the switching order is Am1, Am2, Bm1, Bm2, Cm1, Cm2, Dm1, Dm2) and establish a traveling wave magnetic field.

[0088] When the linear motor mover is located above the stator segment 101 of the Xm2th linear motor, the second six-phase converter E2 supplies power to the stator segment 101 of the Xm2th linear motor, with a given torque of TXm2.

[0089] When the linear motor mover begins to leave the Xm2th linear motor stator segment 101, the head end of the linear motor mover triggers the position detection device 103 at the end of the Xm2th linear motor stator segment 101. The position detection device 103 transmits the position information to the main controller. The main controller controls the second set of six-phase converters E2 to adjust the controller parameters according to the change in the contact area between the linear motor mover and the Xm2th linear motor stator segment 101.

[0090] When the linear motor mover enters the (X+1)m1th linear motor stator segment 101 after passing through an unknown width gap, the head end of the linear motor mover will trigger the position detection device 103 at the head end of the (X+1)m1th linear motor stator segment 101. The position detection device 103 at the head end of the (X+1)m1th linear motor stator segment 101 transmits the position information to the main controller. The main controller controls the (X+1)k1th six-phase switch 102 to close through the first set of six-phase converters E1. The first set of six-phase converters E1 starts to supply power to the (X+1)m1th linear motor stator segment 101. According to the torque control of TXm2, the main controller adjusts the controller parameters of the first set of six-phase converters E1 according to the change in the contact area between the linear motor mover and the (X+1)m1th linear motor stator segment 101.

[0091] When the linear motor mover is completely disengaged from the Xm2th linear motor stator segment 101, the end of the linear motor mover will trigger the position detection device 103 at the end of the Xm2th linear motor stator segment 101. The main controller controls the Xk2th six-phase switch 102 to open, and the Xm2th linear motor stator segment 101 performs a power-off operation.

[0092] When the end of the linear motor mover triggers the position detection device 103 at the beginning of the (X+1)m1th segment of the linear motor stator segment 101, the linear motor mover is driven to run according to the torque T(X+1)m1 of the (X+1)m1th segment.

[0093] Example 6

[0094] In practical applications, since the opening and closing of the six-phase switch 102 requires time, in order to ensure smooth operation of the linear motor mover, in the double-sided long stator linear drive system provided in this application embodiment, the main controller controls the corresponding six-phase converter according to the switching control sequence and the running position of the linear motor mover to control the power supply and de-energization of the corresponding linear motor stator segment 101, specifically including:

[0095] When the main controller receives the detection signal from the position detection device 103 at the beginning of the linear motor stator, it determines that the linear motor mover has started to enter the linear motor stator. Then, it controls the six-phase switch 102 corresponding to the next linear motor stator to close and controls the six-phase converter corresponding to the linear motor stator to adjust the control parameters of the linear motor stator.

[0096] When the linear motor mover is fully on the linear motor stator, the main controller controls the given torque of the six-phase converter corresponding to the linear motor stator to be the torque corresponding to the linear motor stator.

[0097] When the main controller receives the detection signal from the position detection device 103 at the end of the linear motor stator, it determines that the linear motor mover has begun to leave the linear motor stator. Then, it starts to control the corresponding six-phase converter to adjust the control parameters until it determines that the linear motor mover has completely left the linear motor stator. Then, it controls the six-phase switch 102 corresponding to the linear motor stator to open.

[0098] In specific implementation, the control scheme for the six-phase converter is the same as in Embodiment 5 of this application. The difference lies in that, in the direction of travel of the linear motor mover, the six-phase switch 102 corresponding to the linear motor stator segment 101 that the linear motor mover is about to reach is closed in advance, and the six-phase switch 102 is opened when the linear motor mover leaves the linear motor stator segment 101 as in Embodiment 5 of this application. The advance control of closing the six-phase switch 102 means closing the six-phase switch 102 corresponding to the linear motor stator segment 101 before the front end of the linear motor mover touches the position detection device 103 at the beginning of the corresponding linear motor stator segment 101. For example, as mentioned above, when it is determined that the linear motor mover begins to enter a certain linear motor stator segment 101, the six-phase switch 102 corresponding to the next linear motor stator segment 101 is closed. Figure 3 For example, when the linear motor mover begins to enter the (X+1)m1th segment of the linear motor stator segment 101 after passing through an unknown width gap, the (X+1)m2th six-phase switch 102 corresponding to the (X+1)m2th segment of the linear motor stator segment 101 can be controlled to close.

[0099] In practical applications, the closing time of the six-phase switch 102 can be adjusted according to requirements. It can be set to close the six-phase switch 102 corresponding to the next linear motor stator segment 101 when the linear motor mover is completely above a certain linear motor stator segment 101; or it can be set to close the six-phase switch 102 corresponding to the next linear motor stator segment 101 when the head end of the linear motor moves to the position detection device 103 at the end of a certain linear motor stator segment 101, and so on.

[0100] In this embodiment, the six-phase switch 102 corresponding to the stator section 101 of the linear motor is closed in advance to avoid the closing time affecting the control effect.

[0101] The foregoing has provided a detailed description of a dual-sided long stator linear drive system provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0102] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A double-sided long stator linear drive system, characterized in that, include: Multiple subsystems and a central controller; Each of the subsystems includes the same number of linear motor stator segments, a six-phase switch corresponding to the linear motor stator segment, a position detection device corresponding to the linear motor stator segment, a number of subsystem common AC buses corresponding to the number of switching steps of the linear motor stator segment, and a subsystem control bus. In one of the subsystems, the stator segment of the linear motor is connected to the common AC bus of the corresponding subsystem via the corresponding six-phase switch, and the position detection device is connected to the control bus of the subsystem. According to the installation order of the subsystems, each subsystem is connected to the others through a bus interface and a control line interface, so that the common AC bus of each subsystem is connected to a system common AC bus corresponding to the number of cutting steps of the stator segment of the linear motor. Each position detection device is connected to the main controller through a system control bus formed by the subsystem control bus. Multiple three-phase converters are distributed in different subsystems; a common AC bus of a group of systems is connected to at least one six-phase converter consisting of two three-phase converters. The main controller is used to generate a switching control sequence according to the installation order of each subsystem, determine the running position of the linear motor mover according to the signal fed back by the position detection device, and control the corresponding six-phase converter to control the power supply of the corresponding linear motor stator section according to the switching control sequence and the running position of the linear motor mover.

2. The double-sided long stator linear drive system according to claim 1, characterized in that, The cutting steps of the stator segment of the linear motor are two-step. Each of the subsystems includes an even number of pairs of linear motor stator segments and two sets of common AC buses for the subsystems. In each of the subsystems, adjacent pairs of linear motor stator segments are connected to different common AC buses for the subsystems. The number of three-phase converters is at least four, to be connected to two sets of system common AC buses consisting of two sets of subsystem common AC buses in each of the subsystems.

3. The double-sided long stator linear drive system according to claim 1, characterized in that, The cutting steps of the linear motor stator segment are three-step. Each of the subsystems includes three multiples of the linear motor stator segments and three sets of common AC buses for the subsystems. In each of the subsystems, every three pairs of linear motor stator segments are connected to different common AC buses for the subsystems. The number of three-phase converters is at least six, to be connected to three sets of system common AC buses consisting of three sets of common AC buses of each of the subsystems.

4. The double-sided long stator linear drive system according to claim 1, characterized in that, The number of switching steps for the stator segment of the linear motor is determined based on the running speed of the linear motor mover and the switching speed of the six-phase converter and the six-phase switch controlled by the main controller.

5. The double-sided long stator linear drive system according to claim 1, characterized in that, Each set of the system's common AC bus is connected to at least two of the six-phase converters that serve as both primary and backup to each other.

6. The double-sided long stator linear drive system according to claim 1, characterized in that, Each pair of linear motor stator segments corresponds to two position detection devices, which are respectively installed at both ends of one side of the linear motor stator segment.

7. The double-sided long stator linear drive system according to claim 6, characterized in that, The main controller controls the corresponding six-phase converter to control the power supply of the corresponding linear motor stator segment according to the switching control sequence and the running position of the linear motor mover. Specifically, this includes: When the main controller receives the detection signal from the position detection device at the beginning of the linear motor stator, it determines that the linear motor mover has started to enter the linear motor stator. Then, it controls the six-phase switch corresponding to the linear motor stator to close and controls the six-phase converter corresponding to the linear motor stator to adjust the control parameters of the linear motor stator. When the linear motor mover is completely on the linear motor stator, the main controller controls the given torque of the six-phase converter corresponding to the linear motor stator to be the torque corresponding to the linear motor stator. When the main controller receives the detection signal from the position detection device at the end of the linear motor stator, it determines that the linear motor mover has begun to leave the linear motor stator. Then, it starts to control the corresponding six-phase converter to adjust the control parameters until it determines that the linear motor mover has completely detached from the linear motor stator. Finally, it controls the six-phase switch corresponding to the linear motor stator to disconnect.

8. The double-sided long stator linear drive system according to claim 6, characterized in that, The main controller controls the corresponding six-phase converter to control the power supply of the corresponding linear motor stator segment according to the switching control sequence and the running position of the linear motor mover. Specifically, this includes: When the main controller receives the detection signal from the position detection device at the beginning of the linear motor stator, it determines that the linear motor mover has started to enter the linear motor stator. Then, it controls the six-phase switch corresponding to the next linear motor stator to close and controls the six-phase converter corresponding to the linear motor stator to adjust the control parameters of the linear motor stator. When the linear motor mover is completely on the linear motor stator, the main controller controls the given torque of the six-phase converter corresponding to the linear motor stator to be the torque corresponding to the linear motor stator. When the main controller receives the detection signal from the position detection device at the end of the linear motor stator, it determines that the linear motor mover has begun to leave the linear motor stator. Then, it starts to control the corresponding six-phase converter to adjust the control parameters until it determines that the linear motor mover has completely detached from the linear motor stator. Finally, it controls the six-phase switch corresponding to the linear motor stator to disconnect.

9. The double-sided long stator linear drive system according to claim 1, characterized in that, The position detection device is specifically a non-contact position detection device.

10. The double-sided long stator linear drive system according to claim 1, characterized in that, The busbar interface and the control line interface are integrated into the busbar connector.

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