A method, system and crown for controlling the stable rotation of a rotary electromagnet
By controlling the rotating electromagnet to apply current in different directions at different stages, the problem of sudden speed changes in moving parts in the crane steering device was solved, achieving smooth steering, reducing noise and heat generation, and extending the equipment's lifespan.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 成川科技(苏州)有限公司
- Filing Date
- 2023-08-17
- Publication Date
- 2026-06-02
Smart Images
Figure CN117068940B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of electromagnet rotation control technology, and in particular to a method, system, and overhead crane for controlling the stable direction of a rotating electromagnet. Background Technology
[0002] Existing overhead crane steering mechanisms often include a rotating electromagnet, a rod, a moving component, and a linear guide. The rotating electromagnet drives the rod to rotate, and the moving component is located on the linear guide. The rotation of the rod causes the moving component to move linearly along the guide. During the rotation of the rod driven by the rotating electromagnet, it is necessary to ensure the stability of the moving component's motion. The motion of the moving component includes three phases: acceleration, constant speed, and deceleration.
[0003] Typically, during the deceleration phase, a buffer device is installed on the frame to prevent the rotating electromagnet from causing the moving part to collide with the end point of the machine. This buffer device may include multiple buffer springs. When the moving part reaches its end point, it will collide with the buffer device, and the installation of the buffer device will also cause the moving part's speed to decrease sharply, which does not meet the smooth steering requirements of the overhead crane steering system. Summary of the Invention
[0004] Therefore, the technical problem to be solved by the present invention is to overcome the technical defects of the prior art, such as the inability of the overhead crane to turn smoothly and the easy sudden change of speed.
[0005] To solve the above-mentioned technical problems, the present invention provides a method for controlling the stable steering of a rotating electromagnet, based on a steering device, the steering device comprising a rotating electromagnet, a rod, a moving component, and a guide component arranged sequentially, wherein the rotating electromagnet drives the rod to rotate, the moving component is mounted on the guide component, and the rotation of the rod causes the moving component to move linearly along the guide component, characterized in that the method includes:
[0006] During the acceleration and constant speed phases of the moving part, a current in a first direction is applied to the rotating electromagnet, causing the moving part to move along a first linear direction.
[0007] During the deceleration phase of the moving part, a current in a second direction is applied to the rotating electromagnet to continuously counteract the kinetic energy of the moving part until the moving part comes to rest at the endpoint, wherein the current in the second direction is opposite to the current in the first direction.
[0008] As a preferred embodiment, the force f1(r) on the moving part during the acceleration phase is given by: f1(r) = cos[arctan(|ar| / b)]*M1 / √[b] 2 +(ar) 2 M1 is the torque exerted by the rotating electromagnet on the moving part during the acceleration phase;
[0009] The force f2(r) on the moving part during the uniform motion phase is given by: f2(r) = cos[arctan(|ar| / b)] * M2 / √[b] 2 +(ar) 2 M2 is the torque exerted by the rotating electromagnet on the moving part during the uniform speed phase;
[0010] The force f3(r) on the moving part during the deceleration phase is given by: f3(r) = cos[arctan(|ar| / b)] * M3 / √[b] 2 +(ar) 2 M3 is the torque exerted by the rotating electromagnet on the moving part during the deceleration phase;
[0011] Where m is the mass of the moving part, a is the distance from the midpoint of the guide to the end point of the moving part, b is the distance from the rotating electromagnet to the midpoint of the guide, and r is the distance between the moving part and the starting point of the movement.
[0012] As a preferred option, it is obtained from the law of conservation of energy:
[0013] Where n is 1, 2, or 3;
[0014] The relationship between the velocity and displacement of the moving part is as follows:
[0015] Depend on By separating the variables and integrating again, we can obtain the relationship between displacement and time:
[0016] Where t1 is the time of the acceleration phase, t2 is the time of the constant speed phase, and t3 is the time of the deceleration phase.
[0017] Will Substituting into the above equation, we get
[0018] As a preferred option, preset values are assigned to t1, t2, M1, and M2 respectively;
[0019] Based on the law of conservation of energy, the velocity at the end of the deceleration phase is 0, and the M3 and t3 of the deceleration phase are calculated.
[0020] Based on M1, M2, and M3, the currents I1, I2, and I3 of the rotating electromagnet are obtained; where I1 is the current applied to the rotating electromagnet during the acceleration phase, I2 is the current applied to the electromagnet during the constant speed phase, and I3 is the current applied to the electromagnet during the deceleration phase.
[0021] By applying I1, I2, and I3 sequentially to the electromagnet, the acceleration, uniform speed, and deceleration of the steering device can be achieved.
[0022] Preferably, the rod body is provided with an elongated limiting groove, and the moving part is provided with a limiting protrusion, which is located within the limiting groove.
[0023] Preferably, the limiting protrusion is provided with a roller.
[0024] Preferably, a guide rail is provided between the moving part and the guide part.
[0025] Preferably, the system also includes a first position sensor and a second position sensor, wherein the first position sensor is located at the beginning of the uniform speed phase and the second position sensor is located at the end of the uniform speed phase.
[0026] Preferably, the rotating electromagnet is equipped with an angle sensor.
[0027] This invention discloses a system for stabilizing steering by controlling a rotating electromagnet, and controls the operation of the steering device based on the above-described method for stabilizing steering by controlling a rotating electromagnet.
[0028] The technical solution of the present invention has the following advantages compared with the prior art:
[0029] This invention uses a simple control method to precisely control the magnitude and direction of the electromagnet current. By using electromagnetic braking, it reduces the kinetic energy carried by the steering component when it reaches the position while meeting the steering speed requirements. This greatly reduces noise during steering, alleviates the heat generation problem of the electromagnet during use, and improves the service life of the mechanism components and the electromagnet. Attached Figure Description
[0030] Figure 1 This is a schematic diagram of the steering device of the present invention. Figure 1 ;
[0031] Figure 2 This is a schematic diagram of the steering device of the present invention. Figure 2 Among them, the direction of motion of the moving part is the same as Figure 1 on the contrary;
[0032] Figure 3 This is a schematic diagram of the steering mechanism's angles;
[0033] Figure 4 This is a schematic diagram of the electromagnet's torque.
[0034] Explanation of reference numerals in the accompanying drawings: 10, rotating electromagnet; 20, rod; 30, moving part; 40, guide part. Detailed Implementation
[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.
[0036] Reference Figures 1-4 As shown, this invention discloses a method for controlling the stable steering of a rotating electromagnet. Based on a steering device, the steering device includes a rotating electromagnet 10, a rod 20, a moving component 30, and a guide component 40 arranged sequentially. The rotating electromagnet 10 drives the rod 20 to rotate. The moving component 30 is mounted on the guide component 40. The rotation of the rod 20 causes the moving component 30 to move linearly along the guide component 40. The method includes:
[0037] During the acceleration and constant speed phases of the moving part 30, a current in a first direction is applied to the rotating electromagnet 10, causing the moving part 30 to move along a first linear direction.
[0038] During the deceleration phase of the moving part 30, a current in a second direction is applied to the rotating electromagnet 10 to continuously counteract the kinetic energy of the moving part 30 until the moving part 30 comes to rest at the endpoint, wherein the current in the second direction is opposite to that in the first direction.
[0039] The working principle of this invention is as follows: This invention uses a simple control method to precisely control the magnitude and direction of the electromagnet current. By using electromagnetic braking, it reduces the kinetic energy carried by the steering component when it reaches the position while meeting the steering speed requirements. This greatly reduces the noise during steering, alleviates the heat generation problem of the electromagnet during use, and improves the service life of the mechanism components and the electromagnet.
[0040] Reference Figure 3 As shown, the force f(r)1 on the moving part during the acceleration phase is f(r)1 = cos[arctan(|ar| / b)]*M1 / √[b] 2 +(ar) 2 M1 is the torque exerted by the rotating electromagnet on the moving part during the acceleration phase;
[0041] The force on the moving part during the uniform motion phase is f(r)2=cos[arctan(|ar| / b)]*M2 / √[b 2 +(ar) 2 M2 is the torque exerted by the rotating electromagnet on the moving part during the uniform speed phase;
[0042] The force on the moving part during the deceleration phase is f(r)3=cos[arctan(|ar| / b)]*M3 / √[b 2 +(ar) 2 M3 is the torque exerted by the rotating electromagnet on the moving part during the deceleration phase;
[0043] Where m is the mass of the moving part, a is the distance from the midpoint of the guide to the end point of the moving part, b is the distance from the rotating electromagnet to the midpoint of the guide, and r is the distance between the moving part and the starting point of the movement.
[0044] Furthermore, this can be derived from the law of conservation of energy:
[0045] Where n is 1, 2, or 3;
[0046] The relationship between the velocity and displacement of the moving part is as follows:
[0047] Depend on By separating the variables and integrating again, we can obtain the relationship between displacement and time:
[0048] Where t1 is the time of the acceleration phase, t2 is the time of the constant speed phase, and t3 is the time of the deceleration phase.
[0049] Will Substituting into the above equation, we get
[0050] Specifically, preset values are assigned to t1, t2, M1, and M2 respectively;
[0051] Based on the law of conservation of energy, the velocity at the end of the deceleration phase is 0, and the M3 and t3 of the deceleration phase are calculated.
[0052] Based on M1, M2, and M3, the currents I1, I2, and I3 of the rotating electromagnet are obtained; where I1 is the current applied to the rotating electromagnet during the acceleration phase, I2 is the current applied to the electromagnet during the constant speed phase, and I3 is the current applied to the electromagnet during the deceleration phase.
[0053] By applying I1, I2, and I3 sequentially to the electromagnet, the acceleration, uniform speed, and deceleration of the steering device can be achieved.
[0054] Furthermore, the rod 20 is provided with an elongated limiting groove, and the moving part 30 is provided with a limiting protrusion located within the limiting groove. Due to the limiting groove and the limiting protrusion, when the rotating electromagnet 10 drives the rod 20 to rotate, the moving part 30 can move linearly along the guide member 40 under the action of the rotating electromagnet 10, as the rod 20 has the elongated limiting groove and the moving part 30 has the limiting protrusion located within the limiting groove.
[0055] A roller is provided on the limiting protrusion. Because the limiting protrusion has a roller, the roller can reduce the friction between the limiting protrusion and the limiting groove.
[0056] A guide rail is provided between the moving part 30 and the guide part 40, so that the moving part 30 can move linearly along the guide part 40.
[0057] In another embodiment, the present invention further includes a first position sensor and a second position sensor, wherein the first position sensor is located at the starting point of the uniform speed phase and the second position sensor is located at the ending point of the uniform speed phase. By setting the first position sensor, the starting point of the uniform speed phase can be detected; by setting the second position sensor, the ending point of the uniform speed phase can be detected.
[0058] Furthermore, an angle sensor is provided on the rotating electromagnet 10. The angle sensor can detect the current angle of motion of the rotating electromagnet 10, thereby facilitating the control of the operation of the rotating electromagnet 10.
[0059] The technical solution of the present invention will be further described and explained below with reference to specific embodiments.
[0060] The control system of this invention consists of sensors, a PLC, and a driver. The sensors are located on both sides of the steering system, near the front. When the steering mechanism moves from A to B: First, based on the direction of movement, a starting current (slightly higher) is applied to the electromagnet. Before switching this current, it should be sufficient to start the electromagnet and give it a certain initial speed. Then, a smaller continuous current is switched. The function of this current is to maintain the direction of movement of the electromagnet and maintain a certain speed. When it touches the sensor on side B, the time from the start of movement to touching the sensor is monitored. The kinetic energy of the component is calculated based on the length of time. Based on this, a reverse deceleration current (relative to the direction of movement) is applied for a period of time to offset the kinetic energy generated by the previous movement (to prevent the component from hitting the hard limit at a large speed, reduce noise, and increase the service life of the component). Then, a positive (relative to the direction of movement) holding current is applied to the electromagnet so that the component smoothly contacts the hard limit and remains on side B.
[0061] Let the stroke of the steering wheel be 2a, and the distance between the steering electromagnet and the track be b;
[0062] Let M1, M2, and M3 be the electromagnet torques corresponding to the starting current, continuous current, and deceleration current, respectively.
[0063] The forces acting on the steering mechanism (steering wheel) are F1, F2, and F3.
[0064] The forces acting on the steering mechanism (steering wheel) in the corresponding direction of motion are f(r)1, f(r)2, and f(r)3;
[0065] The distance traveled by the steering mechanism (steering wheel) is r;
[0066] During the motion, the angle between the connecting rod and the axis of the electromagnet perpendicular to the track is α;
[0067] Then: F=M / √[b 2 +(ar) 2 ]
[0068] f(x) = cosɑ*F
[0069] ɑ = arctan(|ar| / b)
[0070] From the above formula, we can obtain the relationship between the force f(r) acting on the steering mechanism (steering wheel) in the direction of motion and the distance r traveled by the steering mechanism (steering wheel):
[0071] f(r)=cos[arctan(|ar| / b)]*M / √[b 2 +(ar) 2 ]
[0072] The relationship between the force f(r) on the first three stages of the current steering mechanism and the travel distance r is as follows:
[0073] f(r)1=cos[arctan(|ar| / b)]*M1 / √[b 2 +(ar) 2 ]
[0074] f(r)2=cos[arctan(|ar| / b)]*M2 / √[b 2 +(ar) 2 ]
[0075] f(r)3=cos[arctan(|ar| / b)]*M3 / √[b 2 +(ar) 2 (The direction of M3 is opposite to that of M1 / M2)
[0076] Let the weight of the mechanism be m.
[0077] Obtained from the law of conservation of energy:
[0078] Where n is 1, 2, or 3;
[0079] The relationship between the velocity and displacement of the moving part is as follows:
[0080] Depend on By separating the variables and integrating again, we can obtain the relationship between displacement and time:
[0081] Where t1 is the time of the acceleration phase, t2 is the time of the constant speed phase, and t3 is the time of the deceleration phase.
[0082] Will Substituting into the above equation, we get
[0083] The electromagnet torques M1 and M2, along with their durations t1 and t2, are selected according to actual needs (the smaller the required turning time, the larger M and the larger t). The starting current and the speeds v1 and v2 after the continuous current duration are calculated using the above formulas (when calculating v1, v0 is substituted into 0 in the formula; when calculating v2, v0 is substituted into v1). Substituting v2 into v0 in the calculation of f(r)3, the relationship between speed v3 and time t3 and M3 is obtained. A suitable deceleration current and duration are selected to make v3 zero.
[0084] In a specific working condition, the speed requirement is clear (the turning action can be completed within 350ms), therefore a large starting current (2A) and a long duration (200ms) are used, with a holding current of 1.2A, a deceleration current of 3.0A, a reverse current of 100ms, and a holding current of 0.6A. This example uses a 24V power supply, and the power is 48W at 2A. Figure 4 It can be seen that the torque of the electromagnet is approximately 0.23 Nm to 0.25 Nm. In this experiment, the average value is taken, which is 0.24 Nm. When the current is 1.2 A, the power is 28.8 W and the torque is taken as 0.19 Nm. During the starting current time, the relationship between the force f on the mechanism and the movement distance L is: (friction is negligible).
[0085] cos{arctan[(40-L) / 60]}*0.24 / (40-L)=f(before reaching 0°)
[0086] cos{arctan[(L-40) / 60]}*0.24 / √[(L-40)^2+3600]=f(after reaching 0°)
[0087] During the time the current is maintained, the relationship between the magnitude of the force f on the mechanism and the distance L traveled is as follows:
[0088] cos{arctan[(L-40) / 60]}*0.19 / √[(L-40)^2+3600]=f
[0089] Since the electromagnet did not provide the torque required for 72W, the deceleration time in this experiment was approximated (measured at 100ms).
[0090] Under steady conditions, the process is as follows: use a 200ms start-up current (2A), use a 1.2A holding current to the deceleration sensor, use a 100ms deceleration current (3A) and then use a 0.6A holding current.
[0091] This invention applies a reverse current to the electromagnet to apply a reverse force to counteract the kinetic energy generated during the motion, thereby achieving smooth operation of the electromagnet steering mechanism.
[0092] In addition, the deceleration process can be adjusted based on sensor feedback data to offset errors generated during actual operation.
[0093] This invention discloses a system for stabilizing steering by controlling a rotating electromagnet 10, and controls the operation of the steering device based on the above-described method for stabilizing steering by controlling the rotating electromagnet 10.
[0094] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0095] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0096] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0098] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.
Claims
1. A method for controlling the stable steering of a rotating electromagnet, based on a steering device, the steering device comprising a rotating electromagnet, a rod, a moving component, and a guide component arranged sequentially, wherein the rotating electromagnet drives the rod to rotate, the mounting seat of the moving component is mounted on the guide component, and the rotation of the rod causes the moving component to move linearly along the guide component, characterized in that, The method includes: During the acceleration and constant speed phases of the moving part, a current in a first direction is applied to the rotating electromagnet, causing the moving part to move along a first linear direction. During the deceleration phase of the moving part, a current in a second direction is applied to the rotating electromagnet to continuously counteract the kinetic energy of the moving part until the moving part comes to rest at the endpoint, wherein the current in the second direction is opposite to the current in the first direction. Forces on moving parts during acceleration phase M1 is the torque exerted by the rotating electromagnet on the moving part during the acceleration phase; Forces on moving parts during uniform motion M2 is the torque exerted by the rotating electromagnet on the moving part during the uniform speed phase; Forces on moving parts during deceleration M3 is the torque exerted by the rotating electromagnet on the moving part during the deceleration phase; Where m is the mass of the moving part, a is the distance from the midpoint of the guide to the end point of the moving part, b is the distance from the rotating electromagnet to the midpoint of the guide, and r is the distance between the moving part and the starting point of the movement. Obtained from the law of conservation of energy: , where n is 1, 2, or 3; The relationship between the velocity and displacement of the moving part is as follows: ; Depend on By separating the variables and integrating again, we can obtain the relationship between displacement and time: Where t1 is the time of the acceleration phase, t2 is the time of the constant speed phase, and t3 is the time of the deceleration phase. Will Substituting into the above equation, we get ; Assign preset values to t1, t2, M1, and M2 respectively; Based on the law of conservation of energy, the velocity at the end of the deceleration phase is 0, and the M3 and t3 of the deceleration phase are calculated. Based on M1, M2, and M3, the currents I1, I2, and I3 of the rotating electromagnet are obtained; where I1 is the current applied to the rotating electromagnet during the acceleration phase, I2 is the current applied to the rotating electromagnet during the constant speed phase, and I3 is the current applied to the rotating electromagnet during the deceleration phase. By sequentially applying I1, I2, and I3 to the rotating electromagnet, the acceleration, uniform speed, and deceleration of the steering device can be achieved.
2. The method for controlling the stable direction of a rotating electromagnet according to claim 1, characterized in that, The rod body is provided with an elongated limiting groove, and the moving part is provided with a limiting protrusion, which is located inside the limiting groove.
3. The method for controlling the stable direction of a rotating electromagnet according to claim 2, characterized in that, The limiting protrusion is equipped with rollers.
4. The method for controlling the stable direction of a rotating electromagnet according to claim 1, characterized in that, A guide rail is provided between the moving part and the guide part.
5. The method for controlling the stable direction of a rotating electromagnet according to claim 1, characterized in that, It also includes a first position sensor and a second position sensor, the first position sensor being located at the beginning of the uniform speed phase and the second position sensor being located at the end of the uniform speed phase.
6. The method for controlling the stable direction of a rotating electromagnet according to claim 1, characterized in that, An angle sensor is installed on the rotating electromagnet.
7. A system for stabilizing direction by controlling a rotating electromagnet, characterized in that, The method for controlling the stable steering of a rotating electromagnet according to any one of claims 1-6 controls the operation of the steering device.