Method for motion control of a magnetic levitation conveyor system and related device

Abstract

The motion control method of the magnetic levitation conveying system and the related equipment provided by the embodiments of the present application obtain the maximum running speed of a mover, and the running speed and the running friction of the mover on at least one stator of the magnetic levitation conveying system; then determine that the running speed exceeds the maximum running speed, select the running speed and the corresponding reference thrust based on a preset mapping relationship; finally, determine the current maximum acceleration of the mover based on the reference thrust and the running friction, and control the running acceleration of the mover based on the maximum acceleration, so that the power consumption of the stator is reduced to within a target power consumption threshold, and the running power consumption is obtained according to the running acceleration. Thus, while reducing the running power consumption of the stator where the current mover is located, the energy consumption of the current stator and other stators is also better balanced, thereby improving the energy resource utilization rate and reducing the maintenance cost.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to motion control methods and related equipment for maglev transport systems. Background Technology

[0002] Maglev conveyor systems are a new type of conveyor line. They employ a modular design, allowing for flexible configuration to meet diverse needs. Characterized by high precision, high reliability, and low maintenance, they have broad application prospects in industrial automation. Maglev conveyor systems typically use electromagnetic force to levitate and propel the trolley, requiring a significant amount of electricity to generate sufficient magnetic field and propulsion. Therefore, it is necessary to implement energy consumption control measures to reduce energy costs.

[0003] In related technologies, energy consumption control in maglev transport systems typically involves real-time monitoring of the overall energy consumption of the system. When a certain energy consumption threshold is exceeded, the output thrust of the maglev transport system to the transport trolley is reduced to decrease energy consumption. However, this energy consumption control method ignores the inconsistent number of running trolleys on different stators at any given moment in the maglev transport system. This can easily lead to situations where the energy consumption difference between a stator and other stators is too large due to the excessive speed of a trolley on a particular stator. This results in an uneven distribution of energy consumption among the stators of the maglev transport system, leading to insufficient power supply to some stators, energy waste, and high maintenance costs in actual operation of the maglev transport system. Summary of the Invention

[0004] This application provides a motion control method and related equipment for a maglev transport system, which can balance the energy consumption of multiple stators in the maglev transport system when transporting the mover.

[0005] To achieve the above objectives, a first aspect of this application proposes a motion control method for a magnetic levitation transport system, the magnetic levitation transport system including at least one stator, the method comprising:

[0006] The maximum operating speed of the mover, as well as the operating speed and operating friction of the mover on at least one stator of the magnetic levitation transport system, are obtained.

[0007] If the operating speed is determined to exceed the maximum operating speed, a reference thrust corresponding to the operating speed is selected based on a preset mapping relationship;

[0008] The current maximum acceleration of the mover is determined based on the reference thrust and the operating friction, and the operating acceleration of the mover is controlled based on the maximum acceleration so that the operating power consumption of the stator is reduced to within the target power consumption threshold, wherein the operating power consumption is obtained based on the operating acceleration.

[0009] In some embodiments, determining the maximum acceleration of the mover during current operation based on the reference thrust and the running friction includes:

[0010] The mover mass is obtained, and the actual thrust is obtained based on the difference between the reference thrust and the running friction.

[0011] The maximum acceleration is determined based on the ratio of the actual thrust to the mass of the mover.

[0012] In some embodiments, the step of constructing the preset mapping relationship includes:

[0013] The reference speed and reference acceleration at multiple discrete time points when the reference mover is running on at least one stator of the magnetic levitation transport system are obtained, and a reference speed curve is obtained based on the reference speed and a reference acceleration curve is obtained based on the reference acceleration.

[0014] The reference thrust curve is obtained by multiplying the reference mass of the reference mover and the reference acceleration curve, and the reference power curve is obtained by multiplying the reference thrust curve and the reference velocity curve.

[0015] The preset mapping relationship is obtained based on the reference velocity curve and the reference thrust curve.

[0016] In some embodiments, selecting the reference thrust corresponding to the operating speed based on a preset mapping relationship includes:

[0017] The reference speed value is determined from the reference speed curve based on the operating speed, and the reference speed value is the one with the smallest difference from the operating speed.

[0018] The reference thrust corresponding to the reference velocity value is determined from the reference thrust curve based on the preset mapping relationship.

[0019] In some embodiments, the magnetic levitation transport system includes multiple stators, the mover is provided with a magnetic grating, and the stators are provided with multiple coils; the method further includes:

[0020] Based on the magnetic induction intensity of the magnetic grating and different coils, the coil closest to the magnetic grating is determined as the target coil, and the stator where the target coil is located is determined as the target stator;

[0021] The current stator power consumption of the target stator is determined based on the moving speed, running acceleration, and mass of the moving element.

[0022] Based on the comparison between the current stator power consumption and the preset power consumption threshold, the running acceleration of the mover is controlled so that the current stator power consumption is reduced to within the target power consumption threshold.

[0023] In some embodiments, the preset power consumption threshold includes a preset low power consumption threshold and a preset high power consumption threshold. The step of controlling the running acceleration of the mover based on the comparison result between the current stator power consumption and the preset power consumption threshold, so as to reduce the current stator power consumption to within the target power consumption threshold, includes:

[0024] If the current stator power consumption exceeds the preset high power consumption threshold, then reduce the running acceleration of the mover to within the preset acceleration threshold, so that the target stator energy consumption is reduced to within the target power consumption threshold;

[0025] If the current stator power consumption is lower than the preset low power consumption threshold, the running acceleration of the mover is reduced to the preset acceleration threshold so that the target stator energy consumption is maintained within the target power consumption threshold.

[0026] In some embodiments, the magnetic levitation transport system further includes a motor, the stator is provided with a plurality of reference coils, the reference mover is provided with a reference magnetic grating, and the method further includes:

[0027] Based on the reference magnetic grating of the reference mover, multiple target reference coils at multiple discrete time points during the operation of the reference mover are determined from the plurality of reference coils;

[0028] Obtain the rated thrust and rated current of the motor;

[0029] Based on the ratio of the reference thrust to the rated thrust at multiple discrete time points, and multiplied by the rated current, the coil current of the target reference coil at multiple discrete time points is obtained, and the coil current variation curve is obtained based on the coil current.

[0030] The configuration power supply of the magnetic levitation transport system is determined based on the coil current variation curve.

[0031] To achieve the above objectives, a second aspect of this application provides a motion control device for a magnetic levitation transport system, the device comprising:

[0032] The acquisition module is used to acquire the maximum operating speed of the mover, as well as the operating speed and operating friction of the mover on at least one stator of the magnetic levitation conveyor system;

[0033] The determination module is used to determine that the running speed exceeds the maximum running speed, and select a reference thrust corresponding to the running speed based on a preset mapping relationship;

[0034] The control module is used to determine the current maximum acceleration of the mover based on the reference thrust and the running friction force, and to control the running acceleration of the mover based on the maximum acceleration, so as to reduce the running power consumption of the stator to within the target power consumption threshold, wherein the running power consumption is obtained according to the running acceleration.

[0035] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the motion control method of the magnetic levitation transport system described in the first aspect.

[0036] To achieve the above objectives, a fourth aspect of the present application provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the motion control method for the magnetic levitation transport system described in the first aspect.

[0037] The motion control method and related equipment for a maglev transport system proposed in this application obtain the maximum operating speed of the mover, as well as the operating speed and friction force of the mover on at least one stator of the maglev transport system. Then, after determining that the operating speed exceeds the maximum operating speed, a reference thrust is selected based on a preset mapping relationship. Finally, the maximum acceleration of the mover is determined based on the reference thrust and friction force, and the moving acceleration is controlled based on the maximum acceleration to reduce the stator's power consumption to within a target power consumption threshold. The power consumption is obtained based on the running acceleration. This allows for real-time monitoring of the mover's operating speed, and for movesrs exceeding the maximum operating speed, the maximum acceleration is determined using a pre-generated preset mapping relationship to control the mover's acceleration below the maximum acceleration. Combined with the stator's power consumption obtained from the mover's acceleration, this method reduces the power consumption of the stator currently in which the mover is located while better balancing the energy consumption between the stator and other stators, thereby improving energy resource utilization and reducing maintenance costs.

[0038] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a magnetic levitation transport system provided in one embodiment of this application.

[0040] Figure 2This is a flowchart of a motion control method for a magnetic levitation transport system provided in another embodiment of this application.

[0041] Figure 3 This is a flowchart of the preset mapping relationship construction steps provided in another embodiment of this application.

[0042] Figure 4 This is a schematic diagram showing the time-varying reference power, reference acceleration, and reference velocity of a single reference mover provided in another embodiment of this application.

[0043] Figure 5 This is a schematic diagram showing the change of reference power and reference thrust of a single reference mover over time, provided in another embodiment of this application.

[0044] Figure 6 yes Figure 2 The flowchart for step S202 in the process.

[0045] Figure 7 yes Figure 2 The flowchart for step S203.

[0046] Figure 8 This is a schematic diagram showing the length correspondence between the mover and the coil, provided in another embodiment of this application.

[0047] Figure 9 This is yet another flowchart of the motion control method for a magnetic levitation transport system provided in another embodiment of this application.

[0048] Figure 10 yes Figure 9 The flowchart for step S903 in the process.

[0049] Figure 11 This is a flowchart of the power matching process for the motion control method of a magnetic levitation transport system provided in another embodiment of this application.

[0050] Figure 12 This is a simulation diagram of the current acquisition results provided in another embodiment of this application.

[0051] Figure 13 This is a simulation diagram of power matching results provided in another embodiment of this application.

[0052] Figure 14 This is a schematic diagram of the motion control device of a magnetic levitation transport system provided in another embodiment of this application.

[0053] Figure 15 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] It should be noted that although 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 may be performed in a different order than the module division in the device or the order in the flowchart.

[0056] 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 herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0057] Maglev conveyor systems are a new type of conveyor line. They employ a modular design, allowing for flexible configuration to meet diverse needs. Characterized by high precision, high reliability, and low maintenance, they have broad application prospects in industrial automation. Maglev conveyor systems typically use electromagnetic force to levitate and propel the trolley, requiring a significant amount of electricity to generate sufficient magnetic field and propulsion. Therefore, it is necessary to implement energy consumption control measures to reduce energy costs.

[0058] In related technologies, energy consumption control in maglev transport systems typically involves real-time monitoring of the overall energy consumption of the system. When a certain energy consumption threshold is exceeded, the output thrust of the maglev transport system to the transport trolley is reduced to decrease energy consumption. However, this energy consumption control method ignores the inconsistent number of running trolleys on different stators at any given moment in the maglev transport system. This can easily lead to situations where the energy consumption difference between a stator and other stators is too large due to the excessive speed of a trolley on a particular stator. This results in an uneven distribution of energy consumption among the stators of the maglev transport system, leading to insufficient power supply to some stators, energy waste, and high maintenance costs in actual operation of the maglev transport system.

[0059] Based on this, embodiments of this application provide a motion control method and related equipment for a maglev transport system, which can balance the energy consumption of multiple stators in the maglev transport system when transporting the mover. The motion control method for the maglev transport system mainly involves obtaining the maximum operating speed of the mover, as well as the operating speed and friction force of the mover on at least one stator of the maglev transport system; then, after determining that the operating speed exceeds the maximum operating speed, selecting the corresponding reference thrust based on a preset mapping relationship; finally, determining the current maximum acceleration of the mover based on the reference thrust and the friction force, and controlling the moving speed based on the maximum acceleration to reduce the stator's operating power consumption to within a target power consumption threshold, wherein the operating power consumption is obtained based on the operating acceleration. This allows for real-time monitoring of the mover's operating speed, and for movers whose operating speed exceeds the maximum operating speed, the maximum acceleration is determined using a pre-generated preset mapping relationship to control the mover's operating acceleration to be lower than the maximum acceleration. Combined with the stator's operating power consumption obtained based on the mover's operating acceleration, this reduces the operating power consumption of the stator currently in which the mover is located, while also better balancing the energy consumption between that stator and other stators, thereby improving energy resource utilization and reducing maintenance costs.

[0060] This application provides a motion control method and related equipment for a maglev transport system, which will be described in detail through the following embodiments. First, a maglev transport system to which the motion control method of the maglev transport system in this application is applied is described.

[0061] Reference Figure 1 This is a schematic diagram of the structure of a magnetic levitation transport system provided in an embodiment of this application.

[0062] The maglev transport system 100 includes multiple stators 110 and at least one mover 120, wherein each stator includes multiple coils 111. The mover 120 can transport items on the multiple stators 110 of the maglev transport system. It is understood that the stators 110 are the stationary parts of the maglev transport system, typically consisting of tracks or rails. A series of coils 111 are mounted on the stators 110, and these coils 111 are key components of the stators 110. The coils 111 are wound with wire, typically one or more turns, and are supplied with current through an external power source. The mover 120 is the moving part of the maglev transport system, typically a carrier or maglev train. The mover 120 is generally mounted on the bottom of the carrier or maglev train and has a set of magnets. When the carrier or maglev train moves, the magnets on the mover 120 interact with the coils 111 on the stators 110; this interaction is based on the principle of magnetic force. When current flows through the coil 111 of the stator 110, the magnetic field generated by the coil 111 interacts with the magnet on the mover 120, producing an attractive or repulsive force. By adjusting the magnitude and direction of the current in the coil 111 of the stator 110, the magnetic force between the mover 120 and the stator 110 can be adjusted, thereby achieving a levitation effect.

[0063] The mover 120 in the maglev conveyor system 100 can also be a moving trolley, pallet, etc. For cargo transportation, maglev conveyor systems can be used in high-speed logistics, automated warehousing, and sorting applications. In industrial production, maglev conveyor systems can be used for precision machining, improving processing accuracy and production efficiency.

[0064] In addition, to better control the mover 120 of the maglev transport system 100, a detection module is also provided on the mover 120. The detection module includes infrared sensors, grating sensors, magnetic grating sensors, etc., and is used to provide timely feedback on the motion state of the mover 120 (such as motion position, motion speed, etc.) to the controller of the maglev transport system, so that the controller can control and adjust the motion state of the mover 120 in real time.

[0065] A controller can refer to a control device in a maglev transport system, used to monitor and control the operation of the system. A controller typically consists of hardware and software, including hardware components such as a central processing unit (CPU), memory, and input / output interfaces, as well as software components such as control algorithms, communication protocols, and human-machine interfaces.

[0066] Maglev transport systems are advanced transportation systems that utilize magnetic forces to levitate and propel a carrier, enabling it to move through the air. It typically consists of the following components: a magnetic levitation track, the infrastructure of the system, made of magnetic materials. By arranging magnetic fields on the track, a magnetic force is generated that interacts with the carrier, achieving levitation and movement; the carrier, the platform for transporting goods in the maglev transport system. The carrier generally employs magnetic levitation technology, levitating and maintaining its position on the track through magnetic forces. The carrier can be designed according to the needs of the goods, and can take the form of a pallet, vehicle, etc.; a magnetic drive system, a key component of the maglev transport system, which adjusts the magnetic force by changing the shape and magnitude of the magnetic field, thereby controlling the carrier's speed and direction; and a control system, typically including sensors, computers, and actuators, which monitors and adjusts the carrier's position, speed, and direction in real time, controlling and detecting the carrier's movement. Maglev transport systems offer many advantages, such as high speed, low energy consumption, no pollution, and low noise. They are widely used in logistics, transportation, and industrial automation, improving transportation efficiency and reducing energy consumption.

[0067] Based on the magnetic levitation transport system, the motion control method of the magnetic levitation transport system in the embodiments of this application will be further described below. (Refer to...) Figure 2 This is an optional flowchart of the motion control method for the magnetic levitation transport system provided in the embodiments of this application. Figure 2 The method may include, but is not limited to, steps S201 to S203. It is also understood that this embodiment... Figure 2 The order of steps S201 to S203 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0068] Step S201: Obtain the maximum operating speed of the mover, as well as the operating speed and operating friction of the mover on at least one stator of the magnetic levitation transport system.

[0069] In some embodiments, when at least one mover in the maglev transport system starts operating, the running speed V and mover mass m of the mover on at least one stator can be detected in real time based on the detection module on the mover. Based on the obtained mover running speed V, it can be monitored in real time. When the mover running speed V is too high, the mover may encounter unsafe situations. Furthermore, when the mover running speed V is too high, the energy consumption required by the stator also increases, therefore, it is necessary to limit the mover running speed V. Therefore, in this embodiment, the maximum running speed of the mover for safe operation is also obtained. The maximum running speed can be obtained through parameters such as the type of mover and the mover mass m, or it can be set according to the energy consumption limit of the stator. In addition, the mover mass m includes the weight of the mover itself and the weight of the possible load cargo.

[0070] Furthermore, since the mover also experiences sliding friction with the stator during actual operation, a portion of the energy provided by the stator is used to overcome this sliding friction. Therefore, to more accurately control the mover's motion, the frictional force acting on the mover during operation needs to be considered. Based on the mover's mass *m*, the mover pressure *N* during operation can be obtained. It can be understood that the mover pressure *N* refers to the positive pressure perpendicular to the stator during operation. Based on this, combined with the mover pressure *N*, the frictional force *F* acting on the mover during operation can be further obtained. friction =μN, to facilitate subsequent control of the mover's operation, where μ is the coefficient of friction. It is understood that the coefficient of friction considered here is the kinetic friction coefficient, which depends on the surface material properties of the contact surfaces between the mover and stator.

[0071] Step S202: Determine that the operating speed exceeds the maximum operating speed, and select the reference thrust corresponding to the operating speed based on the preset mapping relationship.

[0072] In some embodiments, after obtaining the running speed V of the mover in real time, the operation control device of the magnetic levitation system will monitor it in real time. When it is determined that the running speed V of any mover exceeds the maximum running speed, it indicates that the operation of the mover is at risk of overspeeding and other safety hazards. At the same time, the energy consumption of the stator where the mover is located is also large. Therefore, in order to improve the safety of the mover's operation and to improve the energy consumption balance between the stators, it is necessary to control the movement of the mover.

[0073] Therefore, when the moving speed V exceeds the maximum operating speed, the magnetic levitation system's operation control device will select the reference thrust of the stator corresponding to the operating speed V based on a pre-built preset mapping relationship. This reference thrust can then be used to control the moving motion or acceleration of the moving vehicle, thereby improving both the safety of the moving vehicle and the energy balance between the stators. The specific steps for constructing the preset mapping relationship will be further described below.

[0074] Reference Figure 3 The steps for constructing the preset mapping relationship include the following steps S301 to S303.

[0075] Step S301: Obtain the reference speed and reference acceleration at multiple discrete time points when the reference mover is running on at least one stator of the magnetic levitation transport system, obtain the reference speed curve based on the reference speed, and obtain the reference acceleration curve based on the reference acceleration.

[0076] In some embodiments, before the maglev transport system officially begins transporting the moving parts, to improve the reliability of the motion control method, multiple reference moving parts are run on multiple stators of the maglev transport system. The operating data of these reference moving parts is monitored and recorded in real time, and the operating data of at least one reference moving part that meets both safe operation requirements and stator energy balance requirements is selected as reference data for a preset mapping relationship. In this embodiment, there are no restrictions on the settings of the safe operation requirements and stator energy balance requirements; that is, the parameter values ​​for the safe operation requirements and stator energy balance requirements can be set through analysis of historical data or according to user requirements.

[0077] In some embodiments, the reference speed v at multiple discrete time points when the reference mover is running on at least one stator of the magnetic levitation transport system is obtained by the detection module of the reference mover. r and running reference acceleration a r Next, the reference speed v is based on multiple discrete time points. r and running reference acceleration a r This allows us to obtain the reference velocity curve and the reference acceleration curve.

[0078] Step S302: Obtain the reference thrust curve based on the product of the reference mass and reference acceleration curve of the reference mover, and obtain the reference power curve based on the product of the reference thrust curve and the reference velocity curve.

[0079] In some embodiments, the reference mover mass m is obtained by the reference mover detection module. r Then, based on the reference mass m of the reference mover r The product of the reference acceleration curve and the reference thrust curve yields the reference thrust curve required by the stator when the reference mover is running on the current reference acceleration curve, where each reference thrust F in the reference thrust curve is... r The method of obtaining it is: F r =m r a r Furthermore, based on the product of the reference thrust curve and the reference velocity curve, the reference power curve required by the stator to be provided when the reference mover is running under the current reference acceleration and reference velocity curves is obtained. Each reference power in the reference power curve is obtained as follows: P r =F r v r =m r a r v r .

[0080] Step S303: Obtain the preset mapping relationship based on the reference velocity curve and the reference thrust curve.

[0081] In some embodiments, based on the obtained reference velocity curve, reference acceleration curve, reference thrust curve, and reference power curve, a preset mapping relationship based on the association of multiple discrete time points can be obtained. (Refer to...) Figure 4 and Figure 5 The diagram illustrates the time-varying reference power, reference acceleration, and reference velocity of a single reference mover, as well as the time-varying reference power and reference thrust of a single mover, provided in an embodiment of this application. Taking the operating data of a single reference mover and the stator thrust and power data provided for its operation as examples, the correspondence between the reference velocity and reference thrust at each discrete time point, satisfying both safe operation requirements and stator energy balance requirements, is clearly shown. Based on this preset mapping relationship, the mover's operating data can be controlled during actual mover operation to meet both safe operation requirements and stator energy balance requirements, thereby improving mover operation safety and stator energy balance. The following will further describe how to use this preset mapping relationship to select the reference thrust corresponding to the operating speed.

[0082] Reference Figure 6 The reference thrust corresponding to the running speed is selected based on a preset mapping relationship, including the following steps S601 to S602.

[0083] Step S601: Determine the reference speed with the smallest difference from the running speed from the reference speed curve as the reference speed value.

[0084] Step S602: Determine the reference thrust corresponding to the reference velocity value from the reference thrust curve based on the preset mapping relationship.

[0085] In some embodiments, when it is determined that the operating speed V of the mover in the magnetic levitation transport system exceeds the maximum operating speed, a reference speed v with the smallest difference from the operating speed V is determined in the reference speed curve according to a preset mapping relationship. r As a reference velocity value, the reference thrust F associated with the reference velocity value is then determined again in the reference thrust curve according to the preset mapping relationship. r .

[0086] Step S203: Determine the current maximum acceleration of the mover based on the reference thrust and running friction, and control the running acceleration of the mover based on the maximum acceleration so that the running power consumption of the stator is reduced to within the target power consumption threshold.

[0087] In some embodiments, since the stator's operating power consumption can be obtained directly or indirectly from the mover's operating acceleration, in order to reduce the stator's operating energy consumption and improve the energy balance between stators, a determined reference thrust F is used. r and running friction F frictionIt can be determined that the maximum acceleration 'a' of the mover currently meets the requirements for safe operation and stator energy consumption balance. max Then reduce the motion acceleration of the mover to the maximum acceleration a. max The following steps can reduce the stator's operating power consumption to within the target power consumption threshold, thereby effectively reducing the stator's operating energy consumption and improving energy balance among stators. In this embodiment, the setting of the target power consumption threshold is not limited; that is, the target power consumption threshold can be a power consumption data value set based on historical operating data of the maglev transport system to meet the stator's energy consumption balance requirements, or it can be a power consumption data value set according to user requirements. The steps for determining the maximum acceleration of the mover during current operation based on the reference thrust and operating friction will be further described below.

[0088] Reference Figure 7 The maximum acceleration of the mover in the current operation is determined based on the reference thrust and the running friction, including the following steps S701 to S702.

[0089] Step S701: Obtain the mover mass and calculate the actual thrust based on the difference between the reference thrust and the running friction.

[0090] Step S702: Determine the maximum acceleration based on the ratio of actual thrust to mover mass.

[0091] In some embodiments, when the reference thrust F is obtained r and running friction F friction Then, based on the mover mass m, the reference thrust F provided by the stator can be obtained. r Overcame the running friction F friction The actual thrust F used in operation afterwards true =F r -F friction Then, based on the actual thrust F... true The ratio of the mover mass m to the stator mass can determine the maximum acceleration a of the mover to meet the requirements of safe operation and stator energy balance. max =F true / m.

[0092] In some embodiments, the above-described operation control method only controls the mover whose operating speed V exceeds the maximum operating speed. To further reduce the energy consumption of multiple stators in the maglev transport system and to further improve the energy consumption balance among the stators, it is also necessary to detect the real-time energy consumption of each stator to control the mover's operating data accordingly. Furthermore, it is understood that since the length of each mover is fixed, and the length of each coil on the stator is also fixed, the number of coils passed by each mover at any given moment is also approximately fixed. (Refer to...) Figure 8 The diagram shown is a schematic representation of the length correspondence between the mover and the coil provided in an embodiment of this application. Figure 8 Taking a mover approximately three times the length of a coil as an example, the mover passes through three or four coils at any given moment. That is, when the mover passes through three coils of any stator at a given moment, these three coils provide the thrust and energy required for the mover's operation. If there are no other moving moves on the stator at this time, the energy consumption of the stator is the energy required for the movement of the mover provided by these three coils. It can be understood that if there are multiple moving moves on a stator, the energy required by the stator is the sum of the energy required for these multiple moving moves. Furthermore, the mover is equipped with a magnetic grating. Through the induction of the magnetic grating and the coils, the location of each mover on the stator can be located in real time, thus enabling more precise control of the mover. The following will further describe the steps for controlling the movement of the mover.

[0093] Reference Figure 9 The method also includes the following steps S901 to S903.

[0094] Step S901: Based on the magnetic induction intensity of the magnetic grating and different coils, determine the coil closest to the magnetic grating as the target coil, and determine the stator where the target coil is located as the target stator.

[0095] In some embodiments, the coil closest to the magnetic grating of the mover operating on the maglev transport system is determined as the target coil based on the magnetic induction intensity of different coils on multiple stators of the maglev transport system. Then, the stator containing the target coil can be designated as the target stator, facilitating control of the mover's operating data based on the energy consumption of the target stator. Furthermore, each mover can be numbered to better determine the operational matching relationship between different movers and various stators during operation.

[0096] In some embodiments, the mover is positioned by a magnetic grating, which is a device with a periodic magnetic structure. Each mover is equipped with a magnetic grating, and the position of the mover is determined by the coil of the magnetic levitation transport system induction of the magnetic grating. The position of the sensing area is manually set among some pre-defined variables (such as the periodicity of the magnetic grating, magnetic field strength, etc.). After the magnetic levitation transport system is powered on and initialized, the mover number and the movement path of the mover are determined. After the coil senses the magnetic grating, it feeds back this position to the system, determining the position of the mover within the coil.

[0097] Step S902: Determine the current stator power consumption of the target stator based on the moving speed, running acceleration and moving mass of the mover.

[0098] In some embodiments, after determining the target stator where the current mover is located, the current stator power consumption P of the target stator can be determined based on the current running speed V, running acceleration a, and mover mass m of the mover. now = maV, which facilitates the control of the mover's operating data based on the energy consumption of the target stator. It is understood that if the target stator has multiple operating movesrs, the current stator power consumption should include the power required to power the multiple movesrs.

[0099] Step S903: Based on the comparison between the current stator power consumption and the preset power consumption threshold, control the running acceleration of the mover so that the current stator power consumption is reduced to within the target power consumption threshold.

[0100] In some embodiments, after determining the current stator power consumption, to prevent the target stator's power consumption from being too high or too low, thus causing energy imbalance among stators, the power consumption of each stator is monitored in real time. Based on the comparison between the current stator power consumption and a preset power consumption threshold, the moving unit's acceleration is controlled to reduce the target stator's energy consumption to within the target power consumption threshold, thereby improving energy balance among stators. In this embodiment, the setting of the preset power consumption threshold is not limited; that is, the preset power consumption threshold can be a parameter value set through analysis of historical data or a parameter value set according to user needs.

[0101] In some embodiments, to further improve the energy balance among stators, it is necessary to control the mover in cases where the real-time power consumption of the stator is too high or too low. Therefore, the preset power consumption threshold includes a preset low power consumption threshold and a preset high power consumption threshold. The control steps for the mover based on the comparison results will be further described below.

[0102] Reference Figure 10 Based on the comparison between the target stator energy consumption and the preset power consumption threshold, the control of the mover's running acceleration includes the following steps S1001 to S1002.

[0103] Step S1001: If the current stator power consumption exceeds the preset high power consumption threshold, reduce the running acceleration of the mover to within the preset acceleration threshold so that the current stator energy consumption is reduced to within the target power consumption threshold.

[0104] Step S1002: If the current stator power consumption is lower than the preset low power consumption threshold, reduce the running acceleration of the mover to the preset acceleration threshold so that the current stator energy consumption is maintained within the target power consumption threshold.

[0105] In some embodiments, if the current stator power consumption exceeds a preset high power consumption threshold, it indicates that the real-time power consumption of the current target stator is too high. Therefore, it is necessary to reduce the running acceleration value of the mover operating on the target stator to within a preset acceleration threshold, thereby reducing the target stator energy consumption to within the target power consumption threshold and improving the energy balance between stators. If the current stator power consumption is lower than a preset low power consumption threshold, it indicates that the real-time power consumption of the current target stator is too low. The running acceleration of the mover operating on the target stator at this time with a running speed V exceeding the maximum running speed is increased to the preset acceleration threshold to quickly increase the mover's running speed and improve the energy balance between stators. In this embodiment, the setting of the preset acceleration threshold is not limited; that is, the preset acceleration threshold can be a parameter value set through analysis of historical data or a parameter value set according to user needs.

[0106] In some embodiments, the maglev transport system also includes a motor, which provides energy in real time to the coils on multiple stators to power the movement of the mover. However, since the real-time energy consumption of different coils on each stator is different, providing all coils with the same power supply would exacerbate energy waste and maintenance costs due to the uneven energy consumption between stators. Therefore, it is necessary to pre-configure different power supplies of different specifications for different coils. The configuration steps for the input power supply will be further described below.

[0107] Reference Figure 11 The method also includes the following steps S1101 to S1104.

[0108] Step S1101: Based on the reference magnetic grating of the reference mover, determine multiple target reference coils at multiple discrete time points during the operation of the reference mover from multiple reference coils.

[0109] Step S1102: Obtain the rated thrust and rated current of the motor.

[0110] Step S1103: Based on the ratio of the reference thrust to the rated thrust at multiple discrete time points, and multiplied by the rated current, the coil current of the target reference coil at multiple discrete time points is obtained, and the coil current change curve is obtained based on the coil current.

[0111] In some embodiments, to ensure the reliability of the operation control method of the maglev conveyor system, multiple stators are pre-set in the maglev conveyor system, each stator having multiple reference coils. Then, multiple reference movers are run on the maglev conveyor system, each reference mover having a reference magnetic grating. At each discrete time point, based on the reference magnetic grating of the reference mover, the coil closest to the magnetic grating of the reference mover is determined as the target coil, and multiple target reference coils matching the reference mover are determined based on multiple discrete time points. Next, the rated thrust F of the motor is obtained. 电机 and rated current I 电机 And to obtain the reference thrust F of the reference mover at multiple discrete time points. r Next, based on the reference thrust F r and rated thrust F 电机 The ratio, multiplied by the rated current I. 电机 This allows us to obtain the coil current I of the target reference coil at discrete time points. 线圈 =I 电机 F r / F 电机 By analyzing the coil current at multiple discrete time points, the coil current variation curve of the target reference coil can be obtained. After several cycles of the reference mover's operation, the current at each discrete time point of each coil can be recorded and summarized into a chart output. Figure 12 This is a simulation diagram of the current acquisition results provided in an embodiment of this application. It illustrates the current supplied to coils 1-5 and 6-9 by two power lines respectively. It can be seen that at a discrete time point of 4 seconds, the current output by power supply 1 is 150A, with power supply 1 providing 50A of current to coils 2, 3, and 4. The current output by power supply 2 is 224A, with power supply 2 providing 56A of current to coils 6, 7, 8, and 9. Based on this, a suitable power supply can be configured for each coil in the actual operation of the magnetic levitation transport system according to the coil current variation curve of each reference coil.

[0112] Step S1104: Determine the configuration power supply of the magnetic levitation transport system based on the coil current change curve.

[0113] In some embodiments, after determining the coil current variation curve of each reference coil, a power supply specification that meets the requirements of each reference coil can be selected based on the coil current and line power demand. This allows for the configuration of a suitable power supply for the actual coil line in the magnetic levitation transport system, thereby avoiding energy waste and increased maintenance costs due to energy imbalances between stators, and ultimately improving the reliability of the operation control method for the magnetic levitation transport system. (Refer to...) Figure 13This is a simulation diagram of the power matching results provided in the embodiments of this application. It illustrates the current situation of two power lines supplying current to coils 1-5 and 6-9 respectively, wherein power supply 1 is matched for stator 1 and stator 2 (including coils 1-4), and power supply 2 is matched for stator 3, stator 4, and stator 5 (including coils 5-10).

[0114] This application provides a motion control method and related equipment for a maglev transport system, which can improve the energy consumption balance of multiple stators in the maglev transport system when transporting the mover. The motion control method of the maglev transport system mainly involves obtaining the maximum operating speed of the mover, as well as the operating speed and friction force of the mover on at least one stator of the maglev transport system. When the operating speed exceeds the maximum operating speed, a reference speed value is determined from a reference operating speed curve based on a pre-built preset mapping relationship, and a reference thrust corresponding to the reference speed value is selected from a reference thrust curve. Then, based on the reference thrust and operating friction force, the maximum acceleration of the mover to meet the safe operation requirements and the stator's balanced energy consumption requirements is determined, and the mover's operating acceleration is controlled based on the maximum acceleration to reduce the stator's power consumption to within the target power consumption threshold. Simultaneously, the target stator where the mover is currently located is determined using the mover's magnetic grating, and the current stator power consumption of the target stator is calculated using the mover's operating data and monitored in real time. If the current stator power consumption is too high or too low, the mover's operating data is controlled to reduce the stator's power consumption to within the target power consumption threshold. Furthermore, the current on the coils of each stator is monitored in real time to adapt to a suitable power supply. This system enables real-time monitoring of the mover's operating speed and uses a pre-generated mapping relationship to determine the maximum acceleration of movers exceeding their maximum speed. This ensures that the mover's acceleration remains below the maximum, reducing the power consumption of the stator and better balancing the energy consumption of the current stator with other stators, thus improving the mover's operational safety. Furthermore, the system uses the mover's magnetic grating to determine the stator's location and monitors stator energy consumption in real-time, allowing for timely adjustments to the mover's operating data and further enhancing energy balance among stators. Simultaneously, power supply adaptation is performed on each coil to reduce energy waste and maintenance costs, thereby improving energy resource utilization, energy balance among stators, mover operational safety, and reducing the energy and maintenance costs of the maglev transport system.

[0115] This application also provides a motion control device for a maglev transport system, which can realize the motion control method of the maglev transport system described above. (Refer to...) Figure 14 The device 1400 includes:

[0116] The acquisition module 1410 is used to acquire the maximum running speed of the mover, as well as the running speed and running friction of the mover on at least one stator of the magnetic levitation conveyor system.

[0117] The determination module 1420 is used to determine whether the running speed exceeds the maximum running speed, and select the running speed and the corresponding reference thrust based on a preset mapping relationship.

[0118] The control module 1430 is used to determine the current maximum acceleration of the mover based on the reference thrust and the running friction, and to control the running acceleration of the mover based on the maximum acceleration so that the power consumption of the stator is reduced to within the target power consumption threshold. The running power consumption is obtained based on the running acceleration.

[0119] The specific implementation of the motion control device of the maglev transport system in this embodiment is basically the same as the specific implementation of the motion control method of the maglev transport system described above, and will not be repeated here.

[0120] This application also provides an electronic device, including:

[0121] At least one memory;

[0122] At least one processor;

[0123] At least one program;

[0124] The program is stored in a memory, and the processor executes the at least one program to implement the motion control method of the magnetic levitation transport system described above in this application. The electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0125] Please see Figure 15 , Figure 15 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0126] The processor 1501 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0127] The memory 1502 can be implemented in the form of ROM (Read-Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1502 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1502 and is called and executed by the processor 1501 to execute the motion control method of the magnetic levitation transport system of the embodiments of this application.

[0128] The input / output interface 1503 is used to implement information input and output;

[0129] The communication interface 1504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0130] Bus 1505 transmits information between various components of the device (e.g., processor 1501, memory 1502, input / output interface 1503, and communication interface 1504);

[0131] The processor 1501, memory 1502, input / output interface 1503 and communication interface 1504 are connected to each other within the device via bus 1505.

[0132] This application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the motion control method of the above-described magnetic levitation transport system.

[0133] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0134] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0135] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0136] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0137] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0138] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0139] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) 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", where a, b, and c can be single or multiple.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0141] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0142] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0143] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A motion control method for a magnetic levitation conveyor system, characterized in that, The magnetic levitation transport system includes at least one stator, and the method includes: The maximum operating speed of the mover, as well as the operating speed and operating friction of the mover on at least one stator of the magnetic levitation transport system, are obtained. If the operating speed is determined to exceed the maximum operating speed, a reference thrust corresponding to the operating speed is selected based on a preset mapping relationship; The current maximum acceleration of the mover is determined based on the reference thrust and the operating friction, and the operating acceleration of the mover is controlled based on the maximum acceleration so that the operating power consumption of the stator is reduced to within the target power consumption threshold, wherein the operating power consumption is obtained based on the operating acceleration; The steps for constructing the preset mapping relationship include: The reference speed and reference acceleration at multiple discrete time points when the reference mover is running on at least one stator of the magnetic levitation transport system are obtained, and a reference speed curve is obtained based on the reference speed and a reference acceleration curve is obtained based on the reference acceleration. The reference thrust curve is obtained by multiplying the reference mass of the reference mover and the reference acceleration curve, and the reference power curve is obtained by multiplying the reference thrust curve and the reference velocity curve. The preset mapping relationship is obtained based on the reference velocity curve and the reference thrust curve; The step of selecting the reference thrust corresponding to the running speed based on a preset mapping relationship includes: The reference speed value is determined from the reference speed curve based on the operating speed, and the reference speed value is the one with the smallest difference from the operating speed. The reference thrust corresponding to the reference velocity value is determined from the reference thrust curve based on the preset mapping relationship.

2. The motion control method for the magnetic levitation conveyor system according to claim 1, characterized in that, Determining the maximum acceleration of the mover during current operation based on the reference thrust and the operating friction includes: The mover mass is obtained, and the actual thrust is obtained based on the difference between the reference thrust and the running friction. The maximum acceleration is determined based on the ratio of the actual thrust to the mass of the mover.

3. The motion control method for the magnetic levitation conveyor system according to claim 2, characterized in that, The magnetic levitation transport system includes multiple stators, the mover is equipped with a magnetic grating, and the stators are equipped with multiple coils; the method further includes: Based on the magnetic induction intensity of the magnetic grating and different coils, the coil closest to the magnetic grating is determined as the target coil, and the stator where the target coil is located is determined as the target stator; The current stator power consumption of the target stator is determined based on the moving speed, running acceleration, and mass of the moving element. Based on the comparison between the current stator power consumption and the preset power consumption threshold, the running acceleration of the mover is controlled so that the current stator power consumption is reduced or increased to within the target power consumption threshold.

4. The motion control method for the magnetic levitation conveyor system according to claim 3, characterized in that, The preset power consumption threshold includes a preset low power consumption threshold and a preset high power consumption threshold. The step of controlling the moving part's acceleration based on a comparison between the current stator power consumption and the preset power consumption threshold, so that the current stator power consumption is reduced or increased to within the target power consumption threshold, includes: If the current stator power consumption exceeds the preset high power consumption threshold, then reduce the running acceleration of the mover to within the preset acceleration threshold, so that the target stator energy consumption is reduced to within the target power consumption threshold; If the current stator power consumption is lower than the preset low power consumption threshold, the running acceleration of the mover is increased to the preset acceleration threshold so that the target stator energy consumption is maintained within the target power consumption threshold.

5. The motion control method for the magnetic levitation conveyor system according to claim 1, characterized in that, The magnetic levitation transport system further includes a motor, the stator is provided with multiple reference coils, and the reference mover is provided with a reference magnetic grating. The method further includes: Based on the reference magnetic grating of the reference mover, multiple target reference coils at multiple discrete time points during the operation of the reference mover are determined from the plurality of reference coils; Obtain the rated thrust and rated current of the motor; Based on the ratio of the reference thrust to the rated thrust at multiple discrete time points, and multiplied by the rated current, the coil current of the target reference coil at multiple discrete time points is obtained, and the coil current variation curve is obtained based on the coil current. The power supply configuration for the magnetic levitation transport system is determined based on the coil current variation curve.

6. A motion control device for a magnetic levitation conveyor system, characterized in that, include: The acquisition module is used to acquire the maximum operating speed of the mover, as well as the operating speed and operating friction of the mover on at least one stator of the magnetic levitation conveyor system; The determination module is used to determine that the running speed exceeds the maximum running speed, and select a reference thrust corresponding to the running speed based on a preset mapping relationship; The control module is used to determine the current maximum acceleration of the mover based on the reference thrust and the running friction force, and to control the running acceleration of the mover based on the maximum acceleration, so as to reduce the running power consumption of the stator to within the target power consumption threshold, wherein the running power consumption is obtained according to the running acceleration; The steps for constructing the preset mapping relationship include: The reference speed and reference acceleration at multiple discrete time points when the reference mover is running on at least one stator of the magnetic levitation transport system are obtained, and a reference speed curve is obtained based on the reference speed and a reference acceleration curve is obtained based on the reference acceleration. The reference thrust curve is obtained by multiplying the reference mass of the reference mover and the reference acceleration curve, and the reference power curve is obtained by multiplying the reference thrust curve and the reference velocity curve. The preset mapping relationship is obtained based on the reference velocity curve and the reference thrust curve; The step of selecting the reference thrust corresponding to the running speed based on a preset mapping relationship includes: The reference speed value is determined from the reference speed curve based on the operating speed, and the reference speed value is the one with the smallest difference from the operating speed. The reference thrust corresponding to the reference velocity value is determined from the reference thrust curve based on the preset mapping relationship.

7. An electronic device, characterized in that, The system includes a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the motion control method of the magnetic levitation transport system according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the motion control method for the magnetic levitation transport system as described in any one of claims 1 to 5.

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