Method for controlling movement of a magnetic drive system and related device

Abstract

The method provided by the embodiment of the application and the related device of the control method of the moving assembly of the magnetic drive system obtain the initial speed and the initial acceleration of the moving assembly according to the initial speed information of the target object from the initial position into the moving assembly. Then, the estimated speed data is calculated according to the preset maximum acceleration, the preset acceleration time and the initial acceleration. Next, the initial speed is compared with the estimated speed data, and the initial acceleration is compared with the preset acceleration value. The number of target segments and the acceleration change curve of each target segment are generated according to the comparison result. Finally, the acceleration of the moving assembly is controlled based on the acceleration change curve in the target segments in sequence, so that the moving assembly transports the target object from the initial position to the target position. Thus, the moving assembly of the magnetic drive system can transport the target object from the initial position to the target position more accurately, and the smoothness of the moving assembly in the transportation process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, and particularly relates to a control method of a moving assembly of a magnetic drive system and related equipment. BACKGROUND

[0002] The magnetic drive conveying system is a logistics conveying system based on magnetic drive technology, which utilizes magnetic drive and suspension principles to realize fast, smooth and contactless transportation of goods. In the magnetic drive conveying system, precise stopping of the moving assembly from the starting position to the target position of the target goods can improve the conveying efficiency of the magnetic drive conveying system.

[0003] In the related art, the stopping control of the moving assembly in the magnetic drive conveying system usually adopts uniform deceleration from the starting position until the speed is reduced to zero at the target position. This stopping control method requires a larger acceleration to be set for deceleration when the initial speed at the starting position is larger, so that the moving process of the target goods appears to be stuck, and the position of the final stop of the moving assembly exceeds the target position. SUMMARY

[0004] The control method of the moving assembly of the magnetic drive system and the related equipment provided by the embodiments of the present application can improve the accuracy of the moving assembly of the magnetic drive system in transporting the target goods to the target position.

[0005] To achieve the above-mentioned purpose, the first aspect of the embodiments of the present application proposes a control method of a moving assembly of a magnetic drive system, which comprises:

[0006] According to the initial speed information of the target goods entering the moving assembly from the initial position, the initial speed and the initial acceleration of the moving assembly are obtained;

[0007] According to the preset maximum acceleration, the preset acceleration time and the initial acceleration, the estimated speed data is calculated;

[0008] The initial speed is compared with the estimated speed data, and the initial acceleration is compared with the preset acceleration value, and the number of target segments and the acceleration change curve of each target segment are generated according to the comparison result;

[0009] In the target segments, the acceleration of the moving assembly is controlled based on the acceleration change curve to make the moving assembly transport the target goods from the initial position to the target position.

[0010] In some embodiments, the estimated speed data includes: maximum estimated speed, intermediate estimated speed and difference estimated speed; the estimated speed data is calculated according to the preset maximum acceleration, the preset acceleration time and the initial acceleration, which comprises:

[0011] a maximum estimated speed is calculated based on a product of a preset maximum acceleration and a preset acceleration time, and an intermediate estimated speed is calculated based on a middle value of the maximum estimated speed;

[0012] a difference between the preset maximum acceleration and the initial acceleration is obtained, and the difference is divided by a preset acceleration rate to obtain an acceleration estimated transformation time;

[0013] an estimated acceleration is calculated based on the acceleration estimated transformation time and the preset acceleration rate;

[0014] a difference between the preset maximum acceleration and the estimated acceleration is added to the intermediate estimated speed to obtain a difference estimated speed.

[0015] In some embodiments, the generating the number of target segments and the acceleration change curve of each target segment based on the comparison result comprises:

[0016] if the initial speed is greater than the maximum estimated speed and an absolute value of the initial acceleration is less than or equal to the preset acceleration value, a first target segment, a second target segment and a third target segment are generated;

[0017] the initial acceleration is uniformly increased to the preset maximum acceleration at the preset acceleration rate in the first target segment, the preset maximum acceleration is maintained in the second target segment, and the preset maximum acceleration is uniformly decreased to a preset value at the preset acceleration rate in the third target segment.

[0018] In some embodiments, the generating the number of target segments and the acceleration change curve of each target segment based on the comparison result further comprises:

[0019] if the initial speed is less than or equal to the maximum estimated speed and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, a fourth target segment and a fifth target segment are generated;

[0020] the initial acceleration is uniformly increased to a first intermediate acceleration at the preset acceleration rate in the fourth target segment, and the first intermediate acceleration is uniformly decreased to a preset value at the preset acceleration rate in the fifth target segment.

[0021] In some embodiments, the generating the number of target segments and the acceleration change curve of each target segment based on the comparison result further comprises:

[0022] if the initial speed is greater than the intermediate estimated speed and the difference estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, a sixth target segment, a seventh target segment and an eighth target segment are generated;

[0023] the initial acceleration is uniformly increased to the preset maximum acceleration at the preset acceleration rate in the sixth target segment, the preset maximum acceleration is maintained in the seventh target segment, and the preset maximum acceleration is uniformly decelerated to a preset value at the preset acceleration rate in the eighth target segment.

[0024] In some embodiments, the generating the number of target segments and the acceleration change curve of each target segment according to the comparison result further comprises:

[0025] if the initial speed is greater than the intermediate estimated speed, the initial speed is less than the difference estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, a ninth target segment and a tenth target segment are generated;

[0026] the initial acceleration is uniformly increased to a second intermediate acceleration at the preset acceleration rate in the ninth target segment, and the second intermediate acceleration is uniformly decelerated to a preset value at the preset acceleration rate in the tenth target segment.

[0027] In some embodiments, the generating the number of target segments and the acceleration change curve of each target segment according to the comparison result further comprises:

[0028] if the initial speed is less than the intermediate estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, an eleventh target segment is generated;

[0029] the initial acceleration is uniformly decelerated to a preset value at the preset acceleration rate in the eleventh target segment.

[0030] To achieve the above object, a second aspect of the embodiment of the present application proposes a control device of a moving assembly of a magnetic drive system, the device comprising:

[0031] an acquisition module configured to obtain the initial speed and the initial acceleration of the moving assembly according to the initial speed information of a target object entering the moving assembly from an initial position;

[0032] a calculation module configured to calculate estimated speed data according to a preset maximum acceleration, a preset acceleration time and the initial acceleration;

[0033] a judging module, configured to compare the initial speed with the estimated speed data, and compare the initial acceleration with a preset acceleration value, and generate a number of target segments and an acceleration change curve of each of the target segments according to a comparison result;

[0034] a control module, configured to control acceleration of the moving assembly in the target segments based on the acceleration change curve, so that the moving assembly transports the target object from the initial position to a target position.

[0035] To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the control method of the moving assembly of the magnetic drive system when executing the computer program.

[0036] To achieve the above object, a fourth aspect of the embodiments of the present application provides a storage medium, which is a computer readable storage medium, the storage medium stores a computer program, and the computer program implements the control method of the moving assembly of the magnetic drive system when executed by a processor.

[0037] The control method of the moving assembly of the magnetic drive system and the related device provided by the embodiments of the present application, the method obtains the initial speed and the initial acceleration of the moving assembly according to the initial speed information of the target object entering the moving assembly from the initial position; then calculates the estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration; next compares the initial speed with the estimated speed data, and compares the initial acceleration with the preset acceleration value, and generates the number of target segments and the acceleration change curve of each of the target segments according to the comparison result; finally controls the acceleration of the moving assembly in the target segments based on the acceleration change curve, so that the moving assembly transports the target object from the initial position to the target position. Thus, the speed size of the initial speed and the initial acceleration is determined by using the estimated speed data and the preset acceleration value, the acceleration of the moving assembly is controlled in segments according to the speed size, and then the moving assembly of the magnetic drive system transports the target object from the initial position to the target position more accurately, and the smoothness of the moving assembly in the transportation process is improved.

[0038] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the structure particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1is a structural schematic diagram of a magnetic drive system provided by an embodiment of the present application.

[0040] Figure 2 is a flowchart of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0041] Figure 3 is Figure 2 is a flowchart of step S202 in

[0042] Figure 4 is Figure 2 is a flowchart of step S203 in

[0043] Figure 5 is a first acceleration curve schematic diagram of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0044] Figure 6 is Figure 2 is another flowchart of step S203 in

[0045] Figure 7 is a second acceleration curve schematic diagram of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0046] Figure 8 is Figure 2 is another flowchart of step S203 in

[0047] Figure 9 is a third acceleration curve schematic diagram of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0048] Figure 10 is a fourth acceleration curve schematic diagram of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0049] Figure 11 is a fifth acceleration curve schematic diagram of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0050] Figure 12 is Figure 2 is another flowchart of step S203 in

[0051] Figure 13 is a sixth acceleration curve schematic diagram of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0052] Figure 14 is a seventh acceleration curve schematic diagram of a control method of a moving assembly of a magnetic drive system provided by another embodiment of the present application.

[0053] Figure 15 is Figure 2 is another flowchart of step S203 in

[0054] Figure 16 is an eighth acceleration curve diagram of a control method of a moving assembly of a magnetic drive system according to another embodiment of the present application.

[0055] Figure 17 is a control flow diagram of a control method of a moving assembly of a magnetic drive system according to another embodiment of the present application.

[0056] Figure 18 is another control flow diagram of a control method of a moving assembly of a magnetic drive system according to another embodiment of the present application.

[0057] Figure 19 is a structure diagram of a control device of a moving assembly of a magnetic drive system according to another embodiment of the present application.

[0058] Figure 20 is a hardware structure diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0060] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a manner different from the module division in the device or the order in the flowchart.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing the embodiments of the present application only and not intended to limit the present application.

[0062] The magnetic drive conveying system is a logistics conveying system based on magnetic drive technology, which uses magnetic force driving and suspension principle to realize the rapid, stable and non-contact transportation of goods. In such a magnetic drive conveying system, the precise stop of the moving assembly from the starting position to the target position of the target goods can improve the conveying efficiency of the magnetic drive conveying system.

[0063] In the related art, the stop control of the moving assembly in the magnetic drive conveying system usually starts from the starting position and uniformly decelerates until the speed is reduced to zero at the target position. When the initial speed at the starting position is large, a large acceleration needs to be set for deceleration, which causes the movement process of the target object to be interrupted and the final stop position of the moving assembly to exceed the target position.

[0064] Therefore, the embodiments of the present application provide a control method of a magnetic drive system moving assembly and related equipment to improve the accuracy of transporting the target object to the target position by the magnetic drive system moving assembly. The control method of the magnetic drive system moving assembly mainly obtains the initial speed and the initial acceleration of the moving assembly according to the initial speed information of the target object entering the moving assembly from the initial position. Then, the estimated speed data is calculated according to the preset maximum acceleration, the preset acceleration time and the initial acceleration. Next, the initial speed is compared with the estimated speed data, and the initial acceleration is compared with the preset acceleration value. The number of target segments and the acceleration change curve of each target segment are generated according to the comparison result. Finally, the acceleration of the moving assembly is controlled based on the acceleration change curve in the target segment to transport the target object from the initial position to the target position. Thus, the speed size of the initial speed and the initial acceleration is determined by using the estimated speed data and the preset acceleration value, and the acceleration of the moving assembly is controlled in segments according to the speed size, so that the target object is more accurately transported from the initial position to the target position by the magnetic drive system moving assembly, and the smoothness of the moving assembly in the transportation process is improved.

[0065] The embodiments of the present application provide a control method of a magnetic drive system moving assembly and related equipment. The embodiments are specifically described as follows. First, a magnetic drive system to which the control method of the magnetic drive system moving assembly in the embodiments of the present application is applied is described.

[0066] Reference is made to Figure 1 is a structural schematic diagram of a magnetic drive system provided by the embodiments of the present application.

[0067] The magnetic drive system 100 comprises a moving assembly 110, a target object 120, a controller 130, a first transfer line segment, and a second transfer line segment. The target object 120 carrying initial speed information enters the moving assembly 110 from a starting position, and the moving assembly 110 is used to transport the target object 120 from the starting position between the transfer line segment group (the first transfer line segment and the second transfer line segment) to the target position between the transfer line segment group. The controller 130 is in communication connection with the moving assembly 110, and is used to control the motion data of the moving assembly 110 in the transportation process. The initial speed information refers to the speed and acceleration of the target object 120 when it enters the moving assembly 110. The motion data includes but is not limited to acceleration data, speed data, and motion time data. In addition, it can be understood that the target object 120 and the moving assembly 110 are relatively stationary after the target object 120 enters the moving assembly 110, and the target object 120 is transported by the moving assembly 110, so the control of the moving assembly 110 and the control of the target object 120 are consistent.

[0068] The moving assembly 110 in the magnetic drive system 100 is specifically composed of a transfer segment. Its moving mode can be linear motion or circular motion, depending on the design and application requirements of the system.

[0069] The target object 120 in the magnetic drive system 100 can be a moving trolley, a tray, etc. The specific load size, weight, and shape of the target object 120 can affect the design and configuration of the system. For cargo transportation, the magnetic drive system can be used for high-speed logistics, automated warehousing and sorting, etc. For the industrial production field, the magnetic drive system can be used for precision machining, which can improve machining precision and production efficiency.

[0070] In addition, in order to better control the moving assembly 110 of the magnetic drive system 100, a position detection module is also arranged on the moving assembly 110. The position detection module includes an infrared sensor, a grating sensor, a magnetic grating sensor, etc., which is used to timely feedback the motion state (such as motion position, motion speed, etc.) of the moving assembly 110 to the controller 130, so that the controller 130 can adjust the motion state of the moving assembly 110 in real time.

[0071] The controller 130 can be a control device in the magnetic drive system, which is used to monitor and control the operation of the system. The controller is usually composed of hardware and software, including central processing unit (CPU), memory, input and output interface, etc. hardware part, and control algorithm, communication protocol, human-computer interface, etc. software part.

[0072] Based on the magnetic drive system, the control method of the moving assembly of the magnetic drive system in the embodiment of the application is further described. Referring to Figure 2An optional flowchart of the control method of the moving assembly of the magnetic drive system provided by the embodiments of the present application is shown in FIG. 2. Figure 2 The method in FIG. 2 can include, but is not limited to, steps S201 to S205. It should be understood that the order of steps S201 to S205 in the embodiments is not limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs. Figure 2 The order of steps S201 to S205 in the embodiments is not limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0073] Step S201: Obtain the initial speed and initial acceleration of the moving assembly according to the initial speed information of the target object entering the moving assembly from the initial position.

[0074] In some embodiments, when the target object enters the moving assembly from the initial position, the controller obtains the initial speed information of the target object through the position detection module. The initial speed information includes the initial speed and initial acceleration of the target object when entering the moving assembly. In addition, after the target object enters the moving assembly, the two are relatively stationary, and the target object is transported by the moving assembly, so the control of the moving assembly and the control of the target object are consistent. Therefore, the initial speed v s and initial acceleration a s of the moving assembly starting to transport the target object at the initial position can be obtained according to the initial speed and initial acceleration of the target object when entering the moving assembly.

[0075] Step S202: Calculate the estimated speed data according to the preset maximum acceleration, the preset acceleration time, and the initial acceleration.

[0076] In some embodiments, in order to make the moving assembly transport the target object from the initial position to the target position better, that is, to improve the stability during transportation and the accuracy of stopping at the target position, after confirming the initial speed v s and initial acceleration a s , the speed condition of the initial speed v s and initial acceleration a s needs to be judged, so that the controller can control the acceleration of the moving assembly more accurately according to the judgment condition. In addition, limited by the hardware parameters of the moving assembly of the magnetic drive system itself, the acceleration of the moving assembly cannot always increase, that is, the moving assembly has a maximum acceleration threshold which is set as the preset maximum acceleration a max . In addition, combined with the distance length of the transfer stage (i.e. from the initial position to the target position) of the moving assembly in the magnetic drive system, a preset acceleration time T s is set for reference and comparison.

[0077] In some embodiments, the preset maximum acceleration a maxAlternatively, a preset maximum acceleration 'a' can be set for reference and comparison based on the distance of the transition phase (i.e., from the starting position to the target position) of the moving component in the magnetic drive system, while also considering the hardware parameters of the moving component itself, which are limited by the magnetic drive system. max .

[0078] Next, in order to better determine the initial velocity v s and initial acceleration a s The speed situation will be determined using the initial velocity v. s Preset acceleration time T s And the preset maximum acceleration a max The estimated velocity data is calculated. This estimated velocity data includes: the maximum estimated velocity, the intermediate estimated velocity, and the difference estimated velocity. The calculation process for the estimated velocity data will be described in further detail below.

[0079] Reference Figure 3 The estimated velocity data is calculated based on the preset maximum acceleration, preset acceleration time, and initial acceleration, including the following steps S301 to S304.

[0080] Step S301: Calculate the maximum estimated speed based on the product of the preset maximum acceleration and the preset acceleration time, and obtain the intermediate estimated speed based on the median value of the maximum estimated speed.

[0081] In some embodiments, to better determine the initial velocity v s and initial acceleration a s The speed condition will first be determined based on the preset maximum acceleration a. max and preset acceleration time T s The product of these factors is used to calculate the maximum estimated velocity v. max =a max T s Maximum estimated speed v max Used to describe the movement of a component during a preset acceleration time T s Within, the maximum speed that can be increased. Next, based on the maximum estimated speed v... max The intermediate value is used to obtain the intermediate estimated speed v mid =(1 / 2)a max T s With the maximum estimated speed v max Similar in function, intermediate velocity v mid Used to describe the movement of a component during a preset acceleration time T s Inside, it can increase the maximum speed by half.

[0082] Step S302: Obtain the difference between the preset maximum acceleration and the initial acceleration, and divide the difference by the preset acceleration rate to obtain the acceleration estimation transformation time.

[0083] Step S303: According to the acceleration estimation transformation time and the preset acceleration rate, the estimated acceleration is calculated.

[0084] Step S304: The difference between the preset maximum acceleration and the estimated acceleration is added to the intermediate estimated speed to obtain the difference estimated speed.

[0085] In some embodiments, in order to better determine the initial speed v s and the initial acceleration a s , after obtaining the intermediate estimated speed v mid , first, the difference between the preset maximum acceleration a max and the initial acceleration a s is obtained, and the difference is divided by the preset acceleration rate jerk to obtain the acceleration estimation transformation time t est = (a max + a s ) / jerk, it should be noted that since the initial acceleration and the initial speed are opposite, the initial acceleration a s at this time is negative. The acceleration estimation transformation time t1 is used to describe the time required for the moving component to decrease / increase from the initial acceleration a s to the preset maximum acceleration a max . It can be understood that the preset acceleration rate jerk is a fixed value set according to the hardware parameters of the moving component of the magnetic drive system and the distance between the initial position and the target position, and is used to describe the acceleration change rate of the moving component per unit time (i.e., the degree of rapid change of the acceleration of the moving component).

[0086] Next, according to the acceleration estimation transformation time t1 and the preset acceleration rate jerk, the estimated acceleration is calculated, and the difference between the preset maximum acceleration and the estimated acceleration is added to the intermediate estimated speed to obtain the difference estimated speed v est = (a max - (1 / 2) jerkt est ) + v mid . The difference estimated speed v est is used to utilize the acceleration estimation transformation time t s required for the initial acceleration a max to change to the preset maximum acceleration a est , to describe a reference value related to the initial acceleration a max between the maximum estimated speed v mid and the intermediate estimated speed v s .

[0087] Step S203: comparing the initial speed with the estimated speed data, and comparing the initial acceleration with the preset acceleration value, and generating the number of target segments and the acceleration change curve of each target segment according to the comparison result.

[0088] In some embodiments, after obtaining the maximum estimated speed v max , the intermediate estimated speed v mid , and the difference estimated speed v est , in order to better control the acceleration of the moving assembly during the conveying process and improve the accuracy of the magnetic driving system in transporting the target object from the initial position to the target position, it is necessary to determine the speed condition of the initial speed v s and the initial acceleration a s . Therefore, in this embodiment, the initial speed v s is compared with the maximum estimated speed v max , the intermediate estimated speed v mid , and the difference estimated speed v est respectively, and the initial acceleration a s is compared with the preset acceleration value a v , so as to obtain the comparison result. The comparison result is used to represent the speed condition of the initial speed v s and the initial acceleration a s . It can be understood that, since the purpose of the embodiment of the present application is to transport the target object to the target position by the moving assembly, the motion speed and the motion acceleration when reaching the target position should be 0, i.e. the preset acceleration value a v can be set to 0; but considering that the hardware parameters of the moving assembly can be utilized to make the lower motion acceleration when reaching the target position stop in a very short time (i.e. a negligible length of time), so that the moving assembly can still be accurately landed in the target position, at this time, this lower motion acceleration which is not 0 can also be taken as the preset acceleration value a v . Next, according to the comparison result, the number of target segments and the acceleration change curve in each target segment for segmenting and controlling the acceleration of the moving assembly can be accurately generated, so as to control the acceleration of the moving assembly during the conveying process from the initial position to the target position according to the number of target segments and the acceleration change curve of each target segment, thereby improving the accuracy of the moving assembly in transporting the target object from the initial position to the target position, and improving the smoothness of the moving assembly during the conveying process. The generation process of the number of target segments and the acceleration change curve of each target segment will be further described below.

[0089] Referring to Figure 4According to the comparison result, the number of target segments and the acceleration change curve of each target segment are generated, including the following steps S401-S402.

[0090] Step S401: If the initial speed is greater than the maximum estimated speed, and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, the first target segment, the second target segment and the third target segment are generated.

[0091] Step S402: The initial acceleration is uniformly increased to the preset maximum acceleration at a preset acceleration rate in the first target segment, the preset maximum acceleration is maintained in the second target segment, and the preset maximum acceleration is uniformly decelerated to the preset value at a preset acceleration rate in the third target segment.

[0092] In some embodiments, if the comparison result indicates that the initial speed v s is greater than the maximum estimated speed v max , and the absolute value of the initial acceleration a s is less than or equal to the preset acceleration value a v , it means that the initial speed is too large and there is basically no initial acceleration. Therefore, in this case, in order to control the speed of the moving component as soon as possible and stop it accurately at the target position. Therefore, for this case, the running acceleration of the moving component is controlled in three stages to decelerate the running speed of the moving component. Referring to Figure 5 , which is the first acceleration curve diagram of the control method of the magnetic drive system moving component provided by the present application. In the first target segment, the acceleration of the moving component needs to be uniformly increased from the initial acceleration a s to the preset maximum acceleration a max at a preset acceleration rate jerk; then in the second target segment, the acceleration of the moving component is maintained at the preset maximum acceleration a max ; finally, in the third target segment, the acceleration of the moving component is uniformly reduced from the preset maximum acceleration a max to the preset value at a preset acceleration rate jerk.

[0093] It can be understood that the purpose of the present application is to control the moving component to transport the target object to the target position and stop, so for the moving component with the initial speed v s , it is mainly controlled to be in a condition of decelerating to stop at the target position (i.e. the motion speed and motion acceleration are both 0); based on this, the preset value is 0; at the same time, it can be understood that considering that the running speed and running acceleration are both vectors, i.e. there is a difference in the direction of motion, and in the present application, it is running in the ferry line segment (i.e. referring to Figure 1In this embodiment, the moving component runs in a straight line between the first and second ferry segments, so it has only two directions: from the starting position to the target position, and from the target position to the starting position. Therefore, in this embodiment, the direction from the starting position to the target position is used as the positive direction of the moving component's speed and acceleration. It is understood that other methods of setting the speed and acceleration directions do not affect the implementation of this embodiment.

[0094] In this case, due to the initial acceleration a s The absolute value is less than or equal to the preset acceleration value a v This can be ignored, therefore the maximum acceleration a can be preset. max The time lengths in the first and third target segments, calculated using the preset acceleration rate jerk, are: t1 = t3 = a max / jerk; Additionally, based on the initial velocity v s Initial acceleration a s The time length t1 of the first target segment is used to obtain the time length t2 of the second target segment = (v s -a max t1) / a max Therefore, the position curve of the first target segment under this velocity condition can be obtained as follows: The velocity curve for the first target segment is: And the acceleration curve of the first target segment, acc1 = -6jerkt1. Similarly, the position curve of the second target segment under this velocity condition is obtained as follows: The velocity curve for the second target segment is: vel2 = (-2a) max )t2+(v s -(a max t2) / 2), and the acceleration curve acc2=-2a for the second target segment. max And, given this velocity, the position curve of the third target segment is: The velocity curve for the third target segment is: And the acceleration curve of the third target segment acc3=6jerk*t3+(-2a) max Based on this, the position, speed, and acceleration curves of the moving component can be obtained under this speed condition, thereby improving the accuracy of the moving component in transporting the target item from the initial position to the target position, and improving the smoothness of the moving component during transportation.

[0095] Therefore, refer to Figure 6According to the comparison result, the number of target segments and the acceleration change curve of each target segment are generated, and the steps S601-S602 are further included.

[0096] Step S601: If the initial speed is less than or equal to the maximum estimated speed, and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, a fourth target segment and a fifth target segment are generated.

[0097] Step S602: The initial acceleration is uniformly increased to a first intermediate acceleration at a preset acceleration rate in the fourth target segment, and the first intermediate acceleration is uniformly decreased to a preset value at a preset acceleration rate in the fifth target segment.

[0098] In some embodiments, if the comparison result indicates that the initial speed v s is less than or equal to the maximum estimated speed v max , and the absolute value of the initial acceleration a s is less than or equal to the preset acceleration value a v , it means that the initial speed is not very large, and there is basically no initial acceleration. Therefore, in this case, in order to control the speed of the moving component as soon as possible, and to stop precisely at the target position. Therefore, for this case, the running acceleration of the moving component is controlled in two stages to decelerate the running speed of the moving component. Referring to Figure 7 is a second acceleration curve schematic diagram of the control method of the magnetic drive system moving component provided by the present application; in the fourth target segment, the acceleration of the moving component is first uniformly increased from the initial acceleration a s to a first intermediate acceleration at a preset acceleration rate jerk; then in the fifth target segment, the acceleration of the moving component is uniformly decreased from the preset first intermediate acceleration to a preset value at a preset acceleration rate jerk. The first intermediate acceleration can be calculated by the initial speed v s , the initial acceleration a s , and the preset acceleration rate jerk.

[0099] In this case, since the absolute value of the initial acceleration a s is less than or equal to the preset acceleration value a v , it can be ignored, and the time length in the fourth target segment and the fifth target segment can be calculated by the initial speed v s and the preset acceleration rate jerk, respectively. Therefore, the position curve of the fourth target segment under this speed condition can be obtained as: The speed curve of the fourth target segment is: and the acceleration curve acc4=-6jerkt4 of the fourth target segment. Similarly, the position curve of the fifth target segment under this speed condition is: The speed curve of the fifth target segment is: and the acceleration curve acc5 = 6jerk*t5 + (-2a max Based on this, the position, speed, and acceleration curve of the moving assembly can be controlled under this speed condition, thereby improving the accuracy of the moving assembly in transporting the target object from the initial position to the target position and improving the smoothness of the moving assembly during transportation.

[0100] Therefore, with reference to Figure 8 , the number of target segments and the acceleration change curve of each target segment are generated according to the comparison result, and further comprising steps S801 to S802.

[0101] Step S801: If the initial speed is greater than the intermediate estimated speed and the difference estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, the sixth target segment, the seventh target segment, and the eighth target segment are generated.

[0102] Step S802: The initial acceleration is uniformly increased to the preset maximum acceleration at a preset acceleration rate in the sixth target segment, the preset maximum acceleration is maintained in the seventh target segment, and the preset maximum acceleration is uniformly decelerated to the preset value at a preset acceleration rate in the eighth target segment.

[0103] In some embodiments, if the comparison result indicates that the initial speed v s is greater than the intermediate estimated speed v mid and the difference estimated speed v max , and the absolute value of the initial acceleration a s is greater than the preset acceleration value a v , it indicates that the initial speed v s is too large, and there is an initial acceleration a s . Therefore, in this case, in order to control the speed of the moving assembly as soon as possible, and to stop precisely at the target position. Therefore, for this case, the running acceleration of the moving assembly is controlled in three stages to decelerate the running speed of the moving assembly. With reference to Figure 9 , it is a third acceleration curve diagram of the control method of the magnetic drive system moving assembly provided by the present application; at this time, the initial acceleration a s is opposite to the direction of the initial speed v s , and in the sixth target segment, the acceleration of the moving assembly is first uniformly increased from the initial acceleration a s to the preset maximum acceleration a max at a preset acceleration rate jerk; then in the seventh target segment, the acceleration of the moving assembly is maintained at the preset maximum acceleration a maxFinally, in the eighth target segment, the acceleration of the moving component is changed from the preset maximum acceleration a. max The jet decreases at a preset acceleration rate until it reaches the preset value at a constant speed.

[0104] In this case, due to the existence of an initial acceleration a s Therefore, it can be determined by the initial acceleration a. s Preset maximum acceleration a max The time lengths in the sixth and eighth target segments, calculated using the preset acceleration rate jerk, are: t6 = (a max +a s ) / jerk, t8=a max / jerk; Additionally, based on the initial velocity v s Difference estimation speed v est And the preset maximum acceleration a max The time length t7 in the seventh target segment is obtained as (v s -v est ) / a max Therefore, the position curve of the sixth target segment under this velocity condition can be obtained as follows: The velocity curve for the sixth target segment is as follows: And the acceleration curve of the sixth target segment acc6=-6jerk*t6+2a s Similarly, under this velocity condition, the position curve of the seventh target segment is: The velocity curve for the seventh target segment is: vel7 = (-2a) max )t7+v s +t6(-1 / 2jerk*t6), and the acceleration curve acc7=-2a for the seventh target segment. max And, given this velocity, the position curve of the eighth target segment is: The velocity curve for the eighth target segment is as follows: And the acceleration curve of the eighth target segment acc8=6jerk*t8+(-2a) max Based on this, the position, speed, and acceleration curves of the moving component can be obtained under this speed condition, thereby improving the accuracy of the moving component in transporting the target item from the initial position to the target position, and improving the smoothness of the moving component during transportation.

[0105] Reference Figure 10 This is a schematic diagram of the third acceleration curve of the control method for the moving component of the magnetic drive system provided in the embodiments of this application. At this time, the initial acceleration a s With initial velocity vs The directions are opposite, and the initial acceleration a s Exceeding the preset maximum acceleration a max In order to ensure the safe operation of the moving component, it is necessary to reduce the moving acceleration of the moving component to the preset maximum acceleration 'a' as soon as possible. max Therefore, with Figure 9 The difference is that, in the sixth target segment, the acceleration of the moving component needs to be changed from the initial acceleration a. s The acceleration jerk decreases at a constant speed until it reaches the preset maximum acceleration a. max Furthermore, the acceleration control in the seventh and eighth target segments is the same as described above.

[0106] Reference Figure 11 This is a schematic diagram of the fourth acceleration curve of the control method for the moving component of the magnetic drive system provided in the embodiments of this application. At this time, the initial acceleration a s With initial velocity v s The directions are the same, meaning the moving component is in the acceleration phase. To decelerate the component as quickly as possible, its acceleration needs to be reduced to 0 as soon as possible, and then increased to the preset maximum acceleration 'a' in the opposite direction. max Therefore, with Figure 9 The difference is that, in the sixth target segment, the acceleration of the moving component needs to be changed from the initial acceleration a. s The acceleration is reduced to 0 at a preset acceleration rate jerk, and then increased to a preset maximum acceleration a at a preset acceleration rate jerk. max Furthermore, the acceleration control in the seventh and eighth target segments is the same as described above.

[0107] Reference Figure 12 The process includes generating the number of target segments and the acceleration change curve of each target segment based on the comparison results, and also includes the following steps S1201 to S1202.

[0108] Step S1201: If the initial velocity is greater than the intermediate estimated velocity, the initial velocity is less than the difference estimated velocity, and the absolute value of the initial acceleration is greater than the preset acceleration value, then the ninth target segment and the tenth target segment are generated.

[0109] Step S1202: In the ninth target segment, the initial acceleration is increased uniformly to the second intermediate acceleration at a preset acceleration rate, and in the tenth target segment, the second intermediate acceleration is decelerated uniformly to the preset value at a preset acceleration rate.

[0110] In some embodiments, if the comparison result represents the initial velocity v s Greater than the intermediate estimated speed v mid But the initial velocity v s Less than the difference estimated speed vmax , and the absolute value of the initial acceleration a s is greater than the preset acceleration value a v , at this time, it indicates that the initial speed v s is not very large, and the initial acceleration a s exists. Therefore, in this case, in order to control the speed of the moving assembly as soon as possible and make it stop at the target position accurately. Therefore, for this case, the running acceleration of the moving assembly is controlled in two stages to decelerate the running speed of the moving assembly. Referring to Figure 13 , it is the fifth acceleration curve diagram of the control method of the magnetic drive system moving assembly provided by the application; in the ninth target segment, first need to accelerate the moving assembly from the initial acceleration a s to the second intermediate acceleration at a preset acceleration rate jerk; then in the tenth target segment, the acceleration of the moving assembly is reduced from the preset second intermediate acceleration to the preset value at a preset acceleration rate jerk. The second intermediate acceleration can be calculated by the initial speed v s , the initial acceleration a s and the preset acceleration rate jerk.

[0111] In this case, because the initial acceleration a s exists, the length of time in the ninth target segment and the tenth target segment can be calculated by the initial acceleration a s , the initial speed v s and the preset acceleration rate jerk, respectively: Therefore, the position curve of the ninth target segment under this speed condition can be obtained as: The speed curve of the ninth target segment is: And the acceleration curve acc4=-6jerkt9+2a s of the ninth target segment. Similarly, the position curve of the tenth target segment under this speed condition can be obtained as: The speed curve of the tenth target segment is: And the acceleration curve acc 10 =6jerk*t 10 +(-2a max ) of the tenth target segment. Based on this, the position, speed and acceleration curves of the moving assembly under this speed condition can be obtained, thereby improving the accuracy of the moving assembly transporting the target object from the initial position to the target position, and improving the smoothness of the moving assembly during transportation.

[0112] Referring to Figure 14is the sixth acceleration curve schematic diagram of the control method of the moving assembly of the magnetic drive system provided in the embodiments of the present application, at this time the initial acceleration a s is in the same direction as the initial speed v s , that is, the moving assembly is in the acceleration stage, at this time in order to make the moving assembly slow down as soon as possible, it is necessary to reduce the moving acceleration of the moving assembly to 0 as soon as possible, and then increase to the preset maximum acceleration a max in the opposite direction, therefore, unlike Figure 13 , it is necessary to first reduce the acceleration of the moving assembly from the initial acceleration a s to 0 at a preset acceleration rate jerk, and then increase from 0 to the second intermediate acceleration at a preset acceleration rate jerk, in addition, the acceleration control in the tenth target segment is the same as above.

[0113] Therefore, referring to Figure 15 , the number of target segments and the acceleration change curve of each target segment are generated according to the comparison result, and further comprising the following steps S1501 to S1502.

[0114] Step S1501: if the initial speed is less than the intermediate estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, the eleventh target segment is generated.

[0115] Step S1502: in the eleventh target segment, the initial acceleration is uniformly reduced to the preset value at a preset acceleration rate.

[0116] In some embodiments, if the comparison result indicates that the initial speed v s is less than the intermediate estimated speed v mid , and the absolute value of the initial acceleration a s is greater than the preset acceleration value a v , at this time it indicates that the initial speed v s is relatively small, and there is an initial acceleration a s . Therefore, in this case, in order to control the speed of the moving assembly relatively smoothly and make it stop accurately at the target position. Therefore, for this case, the running acceleration of the moving assembly is controlled in stages to reduce the running speed of the moving assembly. Referring to Figure 16 is the seventh acceleration curve schematic diagram of the control method of the moving assembly of the magnetic drive system provided in the embodiments of the present application; in the eleventh target segment, the acceleration of the moving assembly first needs to be reduced from the initial acceleration a s to a preset value at a preset acceleration rate jerk.

[0117] In this case, because there is an initial acceleration a s , the initial acceleration a s , the initial speed vs and preset acceleration rate jerk respectively, the time length in the eleventh target segment is: 11 = a s / jerk. Thus, the position curve of the eleventh target segment under the speed condition can be obtained as: The speed curve of the eleventh target segment is: and the acceleration curve acc 11 = -6jerkt 11 + 2a s of the eleventh target segment. Based on this, the position, speed, and acceleration curves of the moving assembly can be obtained under the speed condition, thereby improving the accuracy of the moving assembly in transporting the target object from the initial position to the target position, and improving the smoothness of the moving assembly during the transportation process.

[0118] Step S204: In the target segments in turn, the acceleration of the moving assembly is controlled based on the acceleration change curve, so that the moving assembly transports the target object from the initial position to the target position.

[0119] In some embodiments, after obtaining the initial speed v s and the initial acceleration a s , the corresponding control target segments are obtained according to the speed state represented by the comparison result, and the acceleration change curve of each segment controls the transportation process of the moving assembly, so that the moving assembly accurately transports the target object from the initial position to the target position and stops, and improves the smoothness of the moving assembly during the transportation process.

[0120] In some embodiments, after determining the corresponding control target segments and the acceleration change curve of each segment, fine interpolation is performed according to the servo period, and the moving assembly is controlled to move according to the fine interpolation. It can be understood that the servo period refers to the sampling period of the feedback signal of the servo system, also known as the control period or sampling period. It refers to the time interval in which the controller periodically samples, processes, and responds to the input signal in the control system. The selection of the servo period has an important influence on the performance and stability of the servo system. A smaller servo period can achieve faster control response, but it will also increase the burden of system calculation and communication, which may lead to higher system noise and oscillation. A larger servo period can reduce the calculation load and communication burden, but it may lead to slower response speed of the control system, thereby affecting the stability and accuracy of the system. Fine interpolation is a technology that uses the interpolation function of the system to control the motion and generate trajectories more accurately for straight lines, circular arcs, and other trajectories in the machining process of numerical control machine tools. Fine interpolation technology aims to improve the machining accuracy and surface quality of machine tools, and reduce the machining error and shape deviation of workpieces. It controls the interpolation period in a more fine-grained manner, so that the machine tool more accurately follows the predetermined path and speed requirements during the machining process.

[0121] Reference Figure 17 This is a schematic diagram of the control flow of the control method for the moving component of the magnetic drive system provided in the embodiments of this application.

[0122] The process includes:

[0123] S170: Obtaining the initial velocity v s and initial acceleration a s Next, first determine the initial velocity v. s Is it equal to 0?

[0124] S171: If the initial velocity v s If the value is 0, then the control moving component is transported from the starting position to the target position in the form of the first motion state. The first motion state can be based on the distance from the starting position to the target position, running at a low and controllable speed, or it can be based on the distance from the starting position to the target position, first accelerating and then decelerating uniformly.

[0125] S172: If the initial velocity v s If the value is not equal to 0, then plan the movement of the component and determine the initial acceleration 'a'. s Is it equal to 0?

[0126] S1721: If the initial acceleration a s If the value is 0, then further judgment is needed on whether to accelerate or decelerate.

[0127] S17211: If it is necessary to accelerate or decelerate, the running acceleration of the moving component is controlled according to the first target segment, the second target segment and the third target segment mentioned above, and the motion curve (including position curve, velocity curve and acceleration curve) is determined. Then, fine interpolation is performed according to the servo cycle, and the moving component is controlled to move according to the fine interpolation.

[0128] S17212: If there is no need to accelerate or decelerate, the running acceleration of the moving component is controlled according to the fourth and fifth target segments mentioned above, and the motion curve (including position curve, velocity curve and acceleration curve) is determined. Then, fine interpolation is performed according to the servo cycle, and the moving component is controlled to move according to the fine interpolation.

[0129] S1722: If the initial acceleration a s If it is not equal to 0, then further determination is needed to determine if it is the initial acceleration a. s absolute value | a s Is the acceleration greater than the preset maximum acceleration a? max ;

[0130] S17221: If the initial acceleration a s absolute value | as |a|>a max , then the initial acceleration a s needs to be reduced to a max as soon as possible, the complete motion curve segment of the moving component is calculated, then the fine interpolation is performed according to the servo period, and the moving component is controlled to move according to the fine interpolation;

[0131] S17222: if the initial acceleration a s is greater than the preset maximum acceleration a s , then the initial acceleration a max is reduced to a s as soon as possible, the motion curve (including the position curve, the velocity curve and the acceleration curve) of the moving component is determined, then the fine interpolation is performed according to the servo period, and the moving component is controlled to move according to the fine interpolation.

[0132] Referring to Figure 18 , it is another control flow diagram of the control method of the magnetic drive system moving component provided in the application. The flow includes:

[0133] S180: after the initial velocity v s and the initial acceleration a s are obtained, it is firstly judged whether the initial velocity v s is equal to 0;

[0134] S181: if the initial velocity v s is equal to 0, then the moving component is controlled to move from the starting position to the target position in the form of the first motion state; the first motion state can be running at a low-speed controllable speed according to the distance from the starting position to the target position, or can be first accelerated uniformly and then decelerated uniformly according to the distance from the starting position to the target position;

[0135] S182: if the initial velocity v s is not equal to 0, it is judged whether the initial velocity v s is less than 0;

[0136] S1821: if the initial velocity v s is less than 0, the motion direction is negative at this time, if the initial acceleration a s <0 at this time, then the acceleration is increased to 0 as soon as possible;

[0137] S1822: if the initial velocity v s is greater than 0, the motion direction is positive at this time, if the initial acceleration a s >0 at this time, then the acceleration is decreased to 0 as soon as possible;

[0138] S183: if the initial velocity v s is not equal to 0, it is judged whether the initial acceleration as Is it equal to 0?

[0139] S1831: If the initial acceleration a s If the value is 0, then further judgment is needed on whether to accelerate or decelerate.

[0140] S18311: If it is necessary to accelerate or decelerate, the running acceleration of the moving component is controlled according to the first target segment, the second target segment and the third target segment mentioned above, and the motion curve (including position curve, velocity curve and acceleration curve) is determined. Then, fine interpolation is performed according to the servo cycle, and the moving component is controlled to move according to the fine interpolation.

[0141] S18312: If there is no need to accelerate or decelerate, the running acceleration of the moving component is controlled according to the fourth and fifth target segments mentioned above, and the motion curve (including position curve, velocity curve and acceleration curve) is determined. Then, fine interpolation is performed according to the servo cycle, and the moving component is controlled to move according to the fine interpolation.

[0142] S1832: If the initial acceleration a s If it is not equal to 0, then further determine the initial acceleration a. s absolute value | a s Is the acceleration greater than the preset maximum acceleration a? max ;

[0143] S18321: If the initial acceleration a s absolute value | a s | Greater than the preset maximum acceleration a max Then the initial acceleration a needs to be made s Reduce to a as soon as possible max And calculate the intermediate estimated velocity v corresponding to the maximum acceleration. mid ;

[0144] S18322: If the initial acceleration a s absolute value | a s |Not greater than the preset maximum acceleration a max Then with initial acceleration a s Determine the running curve of the moving component and calculate the intermediate estimated velocity v corresponding to the maximum acceleration. mid ;

[0145] S1833: Further judgment is based on the initial velocity v. s Is it greater than the intermediate estimated speed v? mid ;

[0146] S18331: If the initial velocity v s Not greater than the intermediate estimated speed v midIf the initial speed v is greater than the estimated speed v, the running acceleration of the moving assembly is controlled according to the eleventh target segment, and the motion curve (including the position curve, the speed curve and the acceleration curve) is determined, then the fine interpolation is performed according to the servo period, and the moving assembly is controlled to move according to the fine interpolation;

[0147] S18332: If the initial speed v s is greater than the intermediate estimated speed v mid , the difference estimated speed v est is calculated, and it is further judged whether the initial speed v s is greater than or equal to the difference estimated speed v est ;

[0148] S183321: If the initial speed v s is greater than or equal to the difference estimated speed v est , the running acceleration of the moving assembly is controlled according to the sixth target segment, the seventh target segment and the eighth target segment, and the motion curve (including the position curve, the speed curve and the acceleration curve) is determined, then the fine interpolation is performed according to the servo period, and the moving assembly is controlled to move according to the fine interpolation;

[0149] S183322: If the initial speed v s is less than or equal to the difference estimated speed v wst , the running acceleration of the moving assembly is controlled according to the ninth target segment and the tenth target segment, and the motion curve (including the position curve, the speed curve and the acceleration curve) is determined, then the fine interpolation is performed according to the servo period, and the moving assembly is controlled to move according to the fine interpolation.

[0150] The embodiment of the application provides a control method of a moving assembly of a magnetic drive system and related equipment, which improves the accuracy of the moving assembly of the magnetic drive system in transporting a target object to a target position. The initial speed and the initial acceleration of the moving assembly are obtained according to the initial speed information of the target object entering the moving assembly from an initial position. Then, the estimated speed data is calculated according to the preset maximum acceleration, the preset acceleration time and the initial acceleration. Next, the initial speed is compared with the estimated speed data, and the initial acceleration is compared with the preset acceleration value, and the number of target segments and the acceleration change curve of each target segment are generated according to the comparison result. Finally, the acceleration of the moving assembly is controlled based on the acceleration change curve in the target segments, so that the moving assembly transports the target object from the initial position to the target position. Thus, the speed size of the initial speed and the initial acceleration is determined by using the estimated speed data and the preset acceleration value, the acceleration of the moving assembly is controlled according to the speed size, and the moving assembly of the magnetic drive system transports the target object from the initial position to the target position more accurately, and the smoothness of the moving assembly in the transportation process is improved.

[0151] The embodiment of the present application further provides a control device of a magnetic drive system moving assembly, which can realize the control method of the magnetic drive system moving assembly. Figure 19 The device 1900 comprises:

[0152] The acquisition module 1910 is configured to obtain initial speed and initial acceleration of the moving assembly according to initial speed information of the target object entering the moving assembly from the initial position.

[0153] The calculation module 1920 is configured to calculate estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration.

[0154] The judgment generation module 1930 is configured to compare the initial speed with the estimated speed data, and compare the initial acceleration with the preset acceleration value, and generate the number of target segments and the acceleration change curve of each target segment according to a comparison result.

[0155] The control module 1940 is configured to control the acceleration of the moving assembly in the target segments based on the acceleration change curve, so as to transport the target object from the initial position to the target position.

[0156] The specific implementation of the control device of the magnetic drive system moving assembly is basically the same as the specific implementation of the control method of the magnetic drive system moving assembly, and will not be repeated here.

[0157] The embodiment of the present application further provides an electronic device, which comprises:

[0158] At least one memory;

[0159] At least one processor;

[0160] At least one program;

[0161] The program is stored in the memory, and the processor executes the at least one program to realize the control method of the magnetic drive system moving assembly provided by the present application. The electronic device can be any intelligent terminal, including mobile phones, tablet computers, personal digital assistants (PDA), vehicle-mounted computers, etc.

[0162] Please refer to Figure 20 , Figure 20 The hardware structure of the electronic device of another embodiment is illustrated, and the electronic device comprises:

[0163] The processor 2001 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0164] The memory 2002 can be implemented by a ROM (Read Only Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory). The memory 2002 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 2002 and are called and executed by the processor 2001 to implement the control method of the magnetic drive system moving assembly.

[0165] The input / output interface 2003 is configured to implement information input and output.

[0166] The communication interface 2004 is configured to implement the communication interaction between the device and other devices. The communication can be implemented by a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, etc.).

[0167] The bus 2005 is configured to transmit information between the components (for example, the processor 2001, the memory 2002, the input / output interface 2003, and the communication interface 2004) of the device.

[0168] The processor 2001, the memory 2002, the input / output interface 2003, and the communication interface 2004 are connected to each other by the bus 2005 to realize the communication connection between them in the device.

[0169] The embodiments of the present application further provide a storage medium, which is a computer readable storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, the control method of the magnetic drive system moving assembly is implemented.

[0170] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory disposed remotely with respect to the processor, which can be connected to the processor through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0171] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0172] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0173] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0174] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the functional modules / units in the system and the device can be implemented as software, firmware, hardware and their appropriate combinations.

[0175] The terms "first", "second", "third", "fourth" and the like used in the specification of the present application and the above-described drawings, if any, are used to distinguish similar objects, and do not necessarily have to be used to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0176] It should be understood that, in the application, "at least one" refers to one or more, and "multiple" refers to two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases of only A, only B, and A and B existing at the same time, wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can represent a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, and c can be single or multiple.

[0177] In several embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the above units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0178] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0179] In addition, the functional units in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0180] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program storage media.

[0181] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, and are not limited to the scope of the embodiments of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A control method of a magnetic drive system moving assembly, characterized by, The method comprises: obtaining initial speed and initial acceleration of the moving assembly according to initial speed information of the target object entering the moving assembly from an initial position; calculating estimated speed data according to preset maximum acceleration, preset acceleration time and the initial acceleration; comparing the initial speed with the estimated speed data and comparing the initial acceleration with a preset acceleration value, and generating the number of target segments and the acceleration change curve of each target segment according to the comparison result; controlling the acceleration of the moving assembly based on the acceleration change curve in the target segments in sequence, so that the moving assembly transports the target object from the initial position to a target position; the estimated speed data comprises maximum estimated speed, intermediate estimated speed and difference estimated speed; the calculating of the estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration comprises: calculating the maximum estimated speed based on the product of the preset maximum acceleration and the preset acceleration time, and obtaining the intermediate estimated speed based on the intermediate value of the maximum estimated speed; obtaining the difference between the preset maximum acceleration and the initial acceleration, and dividing the difference by a preset acceleration rate to obtain an acceleration estimation conversion time; calculating the estimated acceleration according to the acceleration estimation conversion time and the preset acceleration rate; adding the difference between the preset maximum acceleration and the estimated acceleration to the intermediate estimated speed to obtain the difference estimated speed; the generating of the number of target segments and the acceleration change curve of each target segment according to the comparison result comprises: if the initial speed is greater than the maximum estimated speed and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, a first target segment, a second target segment and a third target segment are generated; in the first target segment, the initial acceleration is uniformly increased to the preset maximum acceleration at the preset acceleration rate, in the second target segment, the preset maximum acceleration is maintained, and in the third target segment, the preset maximum acceleration is uniformly decreased to a preset value at the preset acceleration rate.

2. The control method of claim 1, wherein, the generating of the number of target segments and the acceleration change curve of each target segment according to the comparison result further comprises: if the initial speed is less than or equal to the maximum estimated speed and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, a fourth target segment and a fifth target segment are generated; in the fourth target segment, the initial acceleration is uniformly increased to a first intermediate acceleration at the preset acceleration rate, and in the fifth target segment, the first intermediate acceleration is uniformly decreased to a preset value at the preset acceleration rate.

3. The method of claim 1, wherein, the generating of the number of target segments and the acceleration change curve of each target segment according to the comparison result further comprises: if the initial speed is greater than the intermediate estimated speed and the difference estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, a sixth target segment, a seventh target segment and an eighth target segment are generated; The initial acceleration is uniformly increased to the preset maximum acceleration at the preset acceleration rate in the sixth target segment, the preset maximum acceleration is maintained in the seventh target segment, and the preset maximum acceleration is uniformly decelerated to a preset value at the preset acceleration rate in the eighth target segment.

4. The method of claim 1, wherein, The generating the number of target segments and the acceleration change curve of each target segment according to the comparison result further comprises: If the initial speed is greater than the intermediate estimated speed, the initial speed is less than the difference estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, a ninth target segment and a tenth target segment are generated; The initial acceleration is uniformly increased to a second intermediate acceleration at the preset acceleration rate in the ninth target segment, and the second intermediate acceleration is uniformly decelerated to a preset value at the preset acceleration rate in the tenth target segment.

5. The method of claim 1, wherein, The generating the number of target segments and the acceleration change curve of each target segment according to the comparison result further comprises: If the initial speed is less than the intermediate estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, an eleventh target segment is generated; The initial acceleration is uniformly decelerated to a preset value at the preset acceleration rate in the eleventh target segment.

6. A control device for a magnetic drive system moving assembly, characterized by, Comprise: The acquisition module is used for obtaining the initial speed and the initial acceleration of the moving assembly according to the initial speed information of the target object entering the moving assembly from the initial position; The calculation module is used for calculating the estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration; The judgment and generation module is used for comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value, generating the number of target segments and the acceleration change curve of each target segment according to the comparison result; The control module is used for controlling the acceleration of the moving assembly in the target segments based on the acceleration change curve, so as to transport the target object from the initial position to the target position by the moving assembly. The estimated speed data comprises a maximum estimated speed, an intermediate estimated speed and a difference estimated speed; the calculation of the estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration comprises: The maximum estimated speed is calculated based on the product of the preset maximum acceleration and the preset acceleration time, and the intermediate estimated speed is calculated based on the intermediate value of the maximum estimated speed; The difference between the preset maximum acceleration and the initial acceleration is obtained, and the difference is divided by the preset acceleration rate to obtain an acceleration estimation transformation time; The estimated acceleration is calculated according to the acceleration estimation transformation time and the preset acceleration rate; The difference between the preset maximum acceleration and the estimated acceleration is added to the intermediate estimated speed to obtain the difference estimated speed; The generating the number of target segments and the acceleration change curve of each target segment according to the comparison result comprises: If the initial speed is greater than the maximum estimated speed, and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, a first target segment, a second target segment and a third target segment are generated; In the first target segment, the initial acceleration is uniformly increased to the preset maximum acceleration at the preset acceleration rate, in the second target segment, the preset maximum acceleration is maintained, and in the third target segment, the preset maximum acceleration is uniformly decelerated to a preset value at the preset acceleration rate.

7. An electronic device, comprising: The computer program is executed by the processor to implement the control method of the moving assembly of the magnetic drive system according to any one of claims 1 to 5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the control method of the moving assembly of the magnetic drive system according to any one of claims 1 to 5.

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