Magnetic drive sub-synchronization method, device, computer equipment, readable storage medium and program product

Abstract

The present application relates to a magnetic driver synchronization method, device, computer equipment, computer-readable storage medium and computer program product. The method comprises: obtaining configuration parameters of a magnetic driver synchronization task; obtaining magnetic driver parameters and the current synchronization stage of the magnetic driver; if the current synchronization stage of the magnetic driver is the start synchronization stage, converting the magnetic driver parameters into motion parameters under the position basis; obtaining the motion parameters under the position basis of each synchronization point according to the motion parameters under the position basis and the configuration parameters; converting the motion parameters under the position basis of each synchronization point into motion parameters under the time basis to obtain the motion instructions of the magnetic driver; and controlling the synchronization of the magnetic driver according to the motion instructions. The use of this method can improve the synchronization accuracy.

Description

Technical Field

[0001] The present application relates to the field of magnetic drive conveying technology, and in particular to a magnetic drive sub-synchronization method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] The coordinated control of multiple moving parts has a wide range of application scenarios in the field of industrial automation. Electronic synchronization technology is a typical technical solution to solve this type of coordinated control application of multiple moving parts, and is widely used in conventional simple control systems. The magnetic levitation conveying system has more independently controlled mover units and more complex mover coordination relationships due to its significant differences in mechanical structure, drive principle and control system solution from traditional motion control systems and conveying systems. The use of traditional electronic synchronization technology in the magnetic levitation conveying system results in inaccurate synchronization accuracy. Summary of the invention

[0003] Based on this, it is necessary to provide a magnetic drive sub-synchronization method, device, computer equipment, computer-readable storage medium and computer program product that can improve synchronization accuracy in response to the above technical problems.

[0004] In a first aspect, the present application provides a magnetic drive sub-synchronization method, the method comprising:

[0005] Get the configuration parameters of the magnetic drive sub-synchronization task;

[0006] Acquiring magnetic driver parameters and the current synchronization stage of the magnetic driver;

[0007] If the current synchronization stage of the magnetic driver is the start synchronization stage, converting the magnetic driver parameters into motion parameters under the position basis;

[0008] According to the motion parameters under the position basis and the configuration parameters, the motion parameters under the position basis of each synchronization point are obtained;

[0009] Converting the motion parameters of each synchronization point under the position basis into the motion parameters under the time basis to obtain the motion instruction of the magnetic driver;

[0010] The magnetic driver is controlled synchronously according to the motion instruction.

[0011] In one embodiment, the configuration parameters include task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis; the configuration parameters of the magnetic driver synchronization task are obtained, including:

[0012] Acquire initial configuration parameters of the magnetic drive sub-synchronization task, wherein the initial configuration parameters include initial task parameters and cam table trajectory parameters;

[0013] Parsing the initial task parameters to obtain task parameters;

[0014] Analyze the cam table trajectory parameters to obtain the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft;

[0015] The step of obtaining the motion parameters of each synchronization point based on the position basis according to the motion parameters based on the position basis and the configuration parameters includes:

[0016] The motion parameters of each synchronization point under the position basis are obtained according to the motion parameters under the position basis, the task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis.

[0017] In one embodiment, after obtaining the magnetic driver parameters and the current synchronization stage of the magnetic driver, the method further includes:

[0018] Obtaining the magnetic drive sub-queues in an initial order, and determining the synchronization area according to the configuration parameters;

[0019] Determine whether the magnetic drive sub-queues in the initial order are all within the synchronization area;

[0020] In the case that there are magnetic drive sub-queues in the initial order that are not in the synchronization area, adjusting the order of the magnetic drive sub-queues that are not in the synchronization area according to the initial order to obtain a target order of the magnetic drive sub-queues in the synchronization area;

[0021] For each magnetic driver arranged in a target order and entering the synchronization area, the current synchronization stage of each magnetic driver is updated according to the parameters of each magnetic driver.

[0022] In one embodiment, adjusting the order of the magnetic drivers in the magnetic driver sub-queue that are not in the synchronization area according to the initial order to obtain the target order of the magnetic driver sub-queue in the synchronization area includes:

[0023] When the index value of the synchronization area where the magnetic driver is located changes and the synchronization area index value is greater than the preset index value, the magnetic driver is placed at the end of the magnetic driver queue;

[0024] When the synchronization area index value of the magnetic driver at the head of the magnetic driver queue changes and the synchronization area index value is equal to the preset index value, the magnetic driver is removed from the head of the magnetic driver queue to obtain the target order of the magnetic driver queue in the synchronization area.

[0025] In one embodiment, the method further comprises:

[0026] If the current synchronization stage of the magnetic driver is the synchronization stage, the initial motion parameters are determined according to the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis, and the initial motion parameters are converted into motion parameters under the time base to obtain the motion instructions of the magnetic driver.

[0027] In one embodiment, the method further comprises:

[0028] If the current synchronization stage of the magnetic driver is the synchronization preparation stage, check whether the magnetic driver is in a uniform speed state, and decelerate the magnetic driver that is not in a uniform speed state to a uniform speed state according to a target deceleration rule;

[0029] If the current synchronization stage of the magnetic driver is the exit synchronization stage, the motion data of the magnetic driver is cleared.

[0030] In a second aspect, a magnetic drive sub-synchronization device is provided, the device comprising:

[0031] A first acquisition module is used to acquire configuration parameters of the magnetic drive sub-synchronization task;

[0032] A second acquisition module is used to acquire the magnetic driver parameters and the current synchronization stage of the magnetic driver;

[0033] The first motion instruction generating module is used for converting the magnetic driver parameters into motion parameters under the position basis if the current synchronization stage of the magnetic driver is the start synchronization stage; obtaining the motion parameters under the position basis of each synchronization point according to the motion parameters under the position basis and the configuration parameters; converting the motion parameters under the position basis of each synchronization point into motion parameters under the time basis to obtain the motion instruction of the magnetic driver;

[0034] A control module is used to control the synchronization of the magnetic driver according to the motion instruction.

[0035] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0037] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0038] The above-mentioned magnetic driver synchronization method, device, computer equipment, computer-readable storage medium and computer program product, when the magnetic driver is in the starting synchronization stage, not only considers the configuration parameters of the synchronization task, but also combines the state of the magnetic driver in the starting synchronization stage, and obtains the motion parameters of the magnetic driver under the position basis by converting the magnetic driver parameters. The motion instructions of the magnetic driver are obtained together, and the magnetic driver is synchronized according to the motion instructions. Compared with directly synchronizing the magnetic driver according to the configuration parameters only, the synchronization accuracy is improved, and there is no need to consider the cam table trajectory parameters of the starting synchronization stage in the transition stage when setting the configuration parameters, and the setting of the configuration parameters is also simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A diagram showing an application environment of a magnetic drive sub-synchronization method in one embodiment;

[0041] Figure 2 A schematic diagram of a flow chart of a magnetic drive sub-synchronization method in one embodiment;

[0042] Figure 3 A schematic diagram of a flow chart of configuration parameter acquisition and calculation steps in one embodiment;

[0043] Figure 4 A schematic diagram of a flow chart of a magnetic drive sub-queue maintenance method in one embodiment;

[0044] Figure 5 A schematic diagram of a flow chart of a magnetic drive sub-queue adjustment method in one embodiment;

[0045] Figure 6 A schematic flow chart of a synchronization control method in another embodiment of the preparation synchronization phase, the synchronization phase and the exit synchronization phase;

[0046] Figure 7 A schematic diagram of the working flow of a synchronization task manager in another embodiment;

[0047] Figure 8 A schematic diagram of the process flow of the synchronization planner in another embodiment;

[0048] Fig. 9 is a structural block diagram of a magnetic drive sub-synchronization device in one embodiment;

[0049] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] The magnetic drive sub-synchronization method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The magnetic driver 102 communicates with the synchronization server 104 through the network. The synchronization server 104 obtains the configuration parameters of the magnetic driver synchronization task; obtains the magnetic driver parameters and the current synchronization stage of the magnetic driver; if the current synchronization stage of the magnetic driver is the start synchronization stage, the magnetic driver parameters are converted into motion parameters under the position basis; according to the motion parameters under the position basis and the configuration parameters, the motion parameters under the position basis of each synchronization point are obtained; the motion parameters under the position basis of each synchronization point are converted into motion parameters under the time basis to obtain the motion instructions of the magnetic driver; and the synchronization of the magnetic driver is controlled according to the motion instructions. The synchronization server 104 can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0052] In an exemplary embodiment, Figure 2 As shown, a magnetic drive sub-synchronization method is provided, which is applied to Figure 1 The synchronization server in the example is used to illustrate, including the following steps S202 to S212. Among them:

[0053] Step S202, obtaining configuration parameters of the magnetic drive sub-synchronization task.

[0054] Among them, the magnetic driver is a component of the magnetic drive conveying system. Usually, the magnetic drive conveying system includes a track and a magnetic driver. The magnetic driver drives the mover on the track to move at high speed through magnetic force to achieve the transfer and transportation of materials on the production line. Therefore, the magnetic driver is also called a magnetic drive trolley or a slave shaft.

[0055] The configuration parameters of the synchronization task refer to the necessary configuration parameters of the synchronization task defined by the user according to the needs, such as the length of the synchronization area, the moving speed of the synchronization area, the cam table trajectory parameters of the electronic cam, etc. Among them, the electronic cam control is a control method in which the moving part (also the slave axis, the trolley) maintains a synchronous motion relationship with the main axis (which can be a virtual main axis, other magnetic drive sub-axis or external main axis, etc.) according to the set cam trajectory, and its effect is the same as that of the mechanical cam.

[0056] Optionally, before the synchronization server obtains the configuration parameters of the magnetic driver synchronization task through the task definition module, the user defines the synchronization task through the synchronization task interface, and selects the configuration parameters according to the defined synchronization task, such as the running speed of the magnetic driver in the synchronization area, the running interval of the magnetic driver, whether the magnetic driver running in the synchronization area waits for the subsequent magnetic driver, cam table trajectory parameters, etc., to obtain the initial configuration parameters. After the user defines the synchronization task, the synchronization server downloads the set initial configuration parameters to the synchronization task manager. The synchronization server parses the initial configuration parameters through the synchronization task manager to obtain the configuration parameters of the magnetic driver synchronization task.

[0057] Step S204, obtaining the magnetic driver parameters and the current synchronization stage of the magnetic driver.

[0058] Optionally, the magnetic drive conveying system includes a plurality of magnetic drivers, and the synchronization server obtains the magnetic driver parameters of each magnetic driver through the synchronization task manager, which may include the magnetic driver serial number, the magnetic driver motion characteristics and other information, and the current position of the magnetic driver. If the current position of the magnetic driver is in the non-synchronous area, the magnetic driver is planned to move in a standard "point-to-point" manner. If the position of the magnetic driver is in the current synchronization stage, all magnetic drivers that have entered the synchronization area are obtained.

[0059] Step S206: if the current synchronization stage of the magnetic driver is the start synchronization stage, the magnetic driver parameters are converted into motion parameters under the position basis.

[0060] The synchronization stage can be divided into four stages in sequence, namely, the synchronization preparation stage, the synchronization start stage, the synchronization stage, and the synchronization exit stage. The magnetic driver parameters may include the magnetic driver sequence number and the magnetic driver motion characteristics and other information. The magnetic driver motion characteristics and other information include the position, velocity, acceleration, and jerk of the actuator in the current time base.

[0061] Optionally, the motion characteristics of the magnetic driver are obtained by:

[0062] The synchronization server obtains the motion characteristics of the spindle through the synchronization planner and can be described by the following formula based on time:

[0063] Formula (1)

[0064] in is the spindle position, is the time base, and g(t) is the spindle position under the time base.

[0065] Position of the mover Controlled by the spindle, the position relationship with the spindle is expressed as formula (2)

[0066] Formula (2)

[0067] in, is the position of the mover.

[0068] Therefore, the motion characteristics of the magnetic driver can be described by the following set of equations:

[0069] Formula (3)

[0070] in is the rotor velocity in time basis, is the rotor acceleration in time basis, is the rotor jerk in time basis, is the first-order derivative of the position of the mover, is the first-order derivative of the position relationship between the spindle and the mover, is the first-order derivative of the spindle position in time basis, is the second-order derivative of the position relationship between the spindle and the mover, is the second-order derivative of the spindle position in time basis, is the third-order derivative of the position relationship between the spindle and the mover, is the third-order derivative of the spindle position in time basis.

[0071] Optionally, the synchronization server converts the magnetic drive sub-parameters into motion parameters in the position basis, such as is the rotor velocity in time basis, is the rotor acceleration in time basis, The jerk of the actuator in time basis is converted into the position in position basis ,speed , acceleration , jerk .

[0072] Step S208, obtaining the motion parameters of each synchronization point based on the position basis according to the motion parameters based on the position basis and the configuration parameters.

[0073] Among them, the configuration parameters include cam table trajectory parameters, synchronization area length, etc.

[0074] Optionally, the synchronization server combines configuration parameters, spindle positions, and And the motion parameters obtained under the position basis, such as the position of the mover ,speed , acceleration , jerk , calculate the position of the synchronization point based on the position ,speed , acceleration , jerk .

[0075] Step S210, converting the motion parameters of each synchronization point in the position basis into the motion parameters in the time basis to obtain the motion instruction of the magnetic driver.

[0076] Optionally, the synchronization server converts the motion parameters of each synchronization point under the position basis into motion parameters under the time basis through the synchronization planner, and uses the motion parameters under the time basis as the instruction position, thereby obtaining the motion instruction of the magnetic driver.

[0077] Step S212, controlling the synchronization of the magnetic driver according to the motion instruction.

[0078] Optionally, the synchronization server controls the corresponding movers to perform synchronous motion according to the generated motion instructions of each mover through the synchronization control execution module.

[0079] Optionally, before controlling the synchronization of the magnetic drive sub-device according to the motion instruction, the motion instruction obtained by the synchronization calculation is compensated. Regardless of whether the car is in the synchronization area, the subsequent operations can be performed in sequence after the motion instruction is obtained: compensation, position loop control, conventional compensation processing, anti-collision processing, etc. The synchronous control compensation function module is used to deal with problems caused by non-ideal factors in the synchronization function, such as the main control axis position acquisition delay caused by communication delay, and other problems that may arise later. Actual control of each mover is performed according to the processed instructions.

[0080] In the above-mentioned magnetic driver synchronization method, when the magnetic driver is in the starting synchronization stage, not only the configuration parameters of the synchronization task are considered, but also the state of the magnetic driver in the starting synchronization stage is combined. By converting the magnetic driver parameters into the motion parameters under the position basis, the motion instructions of the magnetic driver are obtained together. The magnetic driver is synchronized according to the motion instructions, thereby improving the synchronization accuracy compared to directly synchronizing according to the configuration parameters. In setting the configuration parameters, there is no need to consider the cam table trajectory parameters of the starting synchronization stage in the transition stage, and the setting of the configuration parameters is also simplified.

[0081] In an exemplary embodiment, Figure 3 As shown, the configuration parameters include task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis; obtaining the configuration parameters of the magnetic driver synchronization task includes steps S302 to S306. Among them:

[0082] Step S302, obtaining initial configuration parameters of the magnetic drive sub-synchronization task, the initial configuration parameters including initial task parameters and cam table trajectory parameters.

[0083] The initial configuration parameters include initial task parameters and cam table trajectory parameters. The initial task parameters include the length of the synchronization area, etc. When designing the cam table trajectory parameters, only the relative motion between the mover and the spindle after entering the synchronization stage is considered.

[0084] Optionally, the user can define the synchronization task through the synchronization task interface, and select configuration parameters according to the defined synchronization task, such as the running speed of the magnetic driver in the synchronization area, the running interval of the magnetic driver, whether the magnetic driver running in the synchronization area waits for the subsequent magnetic driver, cam table trajectory parameters, etc. After the user defines the synchronization task, the synchronization server downloads the set initial configuration parameters to the synchronization task manager, and the synchronization server obtains the initial configuration parameters of the magnetic driver synchronization task and the designed cam table trajectory through the synchronization task manager.

[0085] Step S304, parse the initial task parameters to obtain task parameters.

[0086] Optionally, the synchronization server parses the initial task parameters, such as the synchronization area length, through the synchronization task manager to obtain data that can be recognized by other modules in the magnetic drive conveying system, such as the number of synchronization areas, the starting and ending points of the synchronization areas, etc.

[0087] Step S306, analyzing the cam table trajectory parameters to obtain the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft.

[0088] Optionally, the synchronization server also needs to parse the cam table trajectory parameters set by the user through the synchronization task manager, and convert the cam table parameters expressed in percentage into the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft. When the current synchronization stage of the movement is "synchronizing stage", the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft strictly operate according to this relationship.

[0089] According to the motion parameters under the position basis and the configuration parameters, the motion parameters under the position basis of each synchronization point are obtained, including step S308:

[0090] Step S308, obtaining the motion parameters of each synchronization point in the position basis according to the motion parameters in the position basis, the task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis.

[0091] Optionally, the synchronization server combines the movement amount of the magnetic driver obtained by parsing the cam table trajectory parameters, the movement amount of the magnetic driver following the main axis, the number of synchronization areas, the starting and ending points of the synchronization areas, and the main axis position with the synchronization planner. And the motion parameters under the acquired position basis, such as the position of the mover ,speed , acceleration , jerk , calculate the position of each mover synchronization point based on the position ,speed , acceleration , jerk .

[0092] In this embodiment, the task parameters and the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft are obtained by analyzing the initial task parameters set by the user and the cam table trajectory, and the main shaft position is combined with the main shaft position. As well as the motion parameters under the acquired position base, the motion parameters under the position base of each mover synchronization point in the start synchronization phase can be obtained, so that when designing the cam table trajectory, there is no need to consider the mover operation trajectory in the transition phase such as the start synchronization phase, but according to the initial task parameters, the cam table trajectory and the spindle position As well as the motion parameters based on the acquired position, which are calculated in real time, more accurate synchronous control can be achieved.

[0093] In an exemplary embodiment, Figure 4 As shown, after obtaining the magnetic driver parameters and the current synchronization stage of the magnetic driver, the process further includes steps S402 to S408. Among them:

[0094] Step S402, obtaining the magnetic drive sub-queues in an initial order, and determining the synchronization area according to the configuration parameters.

[0095] Optionally, each synchronization area has a queue for managing the magnetic drive sub-carriers in the synchronization area. This queue follows the first-in-first-out principle. The synchronization server obtains the initial order of the magnetic drive sub-carrier queue through the synchronization task manager, such as dividing the five magnetic drive sub-carriers into a group of queues, numbered 12345 respectively. Among them, the number is the number assigned to the mover by the user, which can be a specific value, such as 12345..., or ABCD... The serial number uniquely identifies the mover and will not change due to changes in the status of the magnetic drive conveying system. The synchronization server determines the synchronization area by configuring parameters through the synchronization task manager.

[0096] Step S404, determining whether all the magnetic drive sub-queues in the initial sequence are within the synchronization area.

[0097] Optionally, the synchronization server determines whether the magnetic drive sub-queues in the initial order are all within the synchronization area through the synchronization task manager. If the magnetic drive sub-queues in the initial order are all within the synchronization area, the initial order of the magnetic drive sub-queues is used as the target order of the magnetic drive sub-queues in the synchronization area, and for each magnetic drive sub-queue arranged in the target order entering the synchronization area, the current synchronization stage of each magnetic drive sub-queue is updated according to the parameters of each magnetic drive sub-queue.

[0098] Step S406, when there are magnetic drive subqueues in the initial order that are not in the synchronization area, adjust the order of the magnetic drive subqueues that are not in the synchronization area according to the initial order to obtain the target order of the magnetic drive subqueues in the synchronization area.

[0099] Optionally, when the magnetic drive sub-queue in the initial order exists but is not in the synchronization area, the synchronization server adjusts the order of the magnetic drive sub-queues that are not in the synchronization area according to the initial order through the synchronization task manager to obtain the target order of the magnetic drive sub-queues in the synchronization area.

[0100] Step S408: for each magnetic driver arranged in the target order and entering the synchronization area, the current synchronization stage of each magnetic driver is updated according to the parameters of each magnetic driver.

[0101] Optionally, for each magnetic driver arranged in target order entering the synchronization area, the current synchronization stage of each magnetic driver is updated according to the magnetic driver parameters passed in by the synchronization server through the synchronization task manager. The synchronization stage may include a preparation synchronization stage, a start synchronization stage, a synchronization stage, and an exit synchronization stage.

[0102] In this embodiment, by managing the magnetic drive sub-queues based on synchronous control, all magnetic drive sub-queues in a group of magnetic drive sub-queues use the spindle output as input, which has higher synchronization accuracy, shorter response time and more stable synchronization effect.

[0103] In an exemplary embodiment, Figure 5 As shown, for the initial sequence, the sequence of the magnetic drivers in the magnetic driver queue that are not in the synchronization area is adjusted to obtain the target sequence of the magnetic driver queue in the synchronization area, including steps S502 to S504.

[0104] Step S502, obtaining the index value of the synchronization area where the magnetic driver is located.

[0105] The synchronization server obtains the index value of the synchronization area where the magnetic driver is located through the synchronization task manager. Assume that when the index value is 1, it indicates that the magnetic driver is not in any synchronization area.

[0106] Step S504: when the index value of the synchronization area where the magnetic driver is located changes and the synchronization area index value is greater than the preset index value, the magnetic driver is placed at the end of the magnetic driver queue.

[0107] Optionally, the magnetic drive sub-queue follows the first-in-first-out principle. When the synchronization area index value of the drive sub-station changes and the synchronization area index value is greater than a preset index value, such as the preset index value is -1, the synchronization server puts the magnetic drive sub-station greater than the preset index value at the end of the magnetic drive sub-queue through the synchronization task manager.

[0108] Step S506, when the synchronization area index value of the magnetic driver at the head of the magnetic driver queue changes and the synchronization area index value is equal to the preset index value, the magnetic driver is removed from the head of the magnetic driver queue to obtain the target order of the magnetic driver queue in the synchronization area.

[0109] Optionally, when the synchronization area index value of the magnetic drive sub-queue head where the magnetic drive sub-queue is located changes, and the synchronization area index value is equal to a preset index value, such as -1, it is considered that the magnetic drive sub-queue is ready to enter the asynchronous area, and the synchronization server removes the magnetic drive sub-queue with a synchronization area index value of -1 from the head of the magnetic drive sub-queue in sequence through the synchronization task manager.

[0110] The target order of the magnetic drive sub-queues in all synchronization areas is obtained through steps S504 and S506.

[0111] In this embodiment, by maintaining the magnetic drive sub-queue of the synchronization area according to the synchronization area index value of the magnetic drive sub-queue, the current synchronization stage of each magnetic drive sub-queue can be updated in sequence according to the order of the magnetic drive sub-queue, thereby achieving more accurate synchronization control.

[0112] In an exemplary embodiment, Figure 6 As shown, the magnetic drive sub-synchronization method further includes steps S602 to S606. Among them:

[0113] Step S602, if the current synchronization stage of the magnetic driver is the synchronization stage, the initial motion parameters are determined according to the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis, and the initial motion parameters are converted into motion parameters under the time base to obtain the motion instructions of the magnetic driver.

[0114] The initial motion parameter is the motion position of the magnetic driver obtained according to the trajectory parameters of the cam table.

[0115] Optionally, when the current synchronization stage of the magnetic driver is the synchronizing stage, the synchronization server determines the initial motion parameters through the synchronization planner according to the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft, that is, according to the trajectory parameters of the cam table; the synchronization planner converts the initial motion parameters into motion parameters under the time base to obtain the motion instructions of the magnetic driver.

[0116] Step S604: if the current synchronization stage of the magnetic driver is the synchronization preparation stage, check whether the magnetic driver is in a uniform speed state, and decelerate the magnetic driver that is not in a uniform speed state to a uniform speed state according to the target deceleration rule.

[0117] Among them, the target deceleration rule may include a seven-stage deceleration rule.

[0118] Optionally, when the current synchronization stage of the magnetic driver is the preparation synchronization stage, the synchronization server checks whether the magnetic driver is in a uniform speed state through the synchronization planner, and decelerates the magnetic driver that is not in a uniform speed state to a uniform speed state according to the seven-stage deceleration rule.

[0119] The seven-stage planning relationship is shown in formula (4) and formula (5):

[0120] Formula (4)

[0121] Formula (5)

[0122] in, It represents the ratio of the magnetic driver to the spindle position at any time; Indicates the ratio of the magnetic driver to the spindle position at the start of the synchronization area; Indicates the ratio of the magnetic driver to the spindle position at the end of the synchronization area; is a constant; T is the difference between the ratio of the magnetic driver to the spindle position at the end of the synchronization area and the ratio of the magnetic driver to the spindle position at the starting point of the synchronization area; is the position of the magnetic driver under the position basis; is the speed of the magnetic driver in position basis; is the acceleration of the magnetic driver in position basis; is the difference between the position of the magnetic driver synchronization point under the position base and the position of the magnetic driver under the position base; is the position of the magnetic drive sub-synchronization point; is the speed of the magnetic drive sub-synchronization point position basis; is the acceleration of the magnetic drive subsynchronous point under the position basis

[0123] Step S606: if the current synchronization stage of the magnetic driver is the exit synchronization stage, the motion data of the magnetic driver is cleared.

[0124] Optionally, when the current synchronization stage of the magnetic driver is the exit synchronization stage, the synchronization server clears the synchronous motion data of the driver through the synchronization planner to prepare for the next synchronization.

[0125] In this embodiment, by clarifying how the synchronization server controls the magnetic driver when the magnetic driver is in the other three synchronization stages, the synchronization accuracy can be further improved, and the consistency of the synchronization control can be increased to achieve a smoother synchronization control effect.

[0126] In an exemplary embodiment, the synchronization server includes a synchronization task definition module, a synchronization planner, a synchronization task manager, a synchronization control execution module, and a synchronization control compensation module.

[0127] like Figure 7 As shown, the user can define the synchronization task through the synchronization task interface, and select the configuration parameters according to the defined synchronization task, such as the running speed of the magnetic driver in the synchronization area, the running interval of the magnetic driver, whether the magnetic driver running in the synchronization area waits for the subsequent magnetic driver, the cam table trajectory parameters, etc. After the user defines the synchronization task, the synchronization server downloads the set initial configuration parameters to the synchronization task manager. The synchronization server obtains the initial configuration parameters of the magnetic driver synchronization task and the designed cam table trajectory through the synchronization task manager. Initialize the synchronization task manager, that is, parse the initial task parameters, such as the length of the synchronization area, etc., to obtain data that can be recognized by other modules in the magnetic drive conveying system, such as the number of synchronization areas, the starting and ending points of the synchronization area, etc. Parse the cam table trajectory parameters set by the user, and convert the cam table parameters expressed in percentage into the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis.

[0128] The synchronization task manager obtains magnetic driver parameters, such as the magnetic driver position, motion characteristic information, etc., and determines the current synchronization stage of the magnetic driver. The synchronization task manager obtains the magnetic driver queue of the initial order and determines the synchronization area according to the configuration parameters; determines whether the magnetic driver queues of the initial order are all in the synchronization area; if the magnetic driver queues of the initial order exist or not in the synchronization area, when the synchronization area index value of the magnetic driver changes and the synchronization area index value is greater than the preset index value, the magnetic driver is placed at the end of the magnetic driver queue; when the synchronization area index value of the magnetic driver at the head of the magnetic driver queue changes and the synchronization area index value is equal to the preset index value, the magnetic driver is removed from the head of the magnetic driver queue to obtain the target order of the magnetic driver queue in the synchronization area to maintain the magnetic driver queue.

[0129] When the spindle is a virtual spindle, its status is managed by the system. There are several spindle states: 1. Ready to move; 2. Moving; 3. Stopped; 4. Unsafe; 5. Forced start. The current state of the spindle is determined by the position of the magnetic driver and the user's signal. The state between states 1, 2, and 3 is determined by the position of the magnetic driver: when there is a magnetic driver in the synchronization area, the virtual spindle changes from ready to move to moving, and maintains a constant speed after accelerating to the set value; when there is no magnetic driver in the synchronization area, it changes from moving to stopped; after checking the stopped state without abnormality, it changes to ready to move. States 4 and 5 are determined by user signals: when the user thinks it is unsafe, the operation of the virtual spindle is forced to stop, thereby stopping the movement of all magnetic drivers in the synchronization area; when the virtual spindle is in a stopped state but the user needs the magnetic driver in the synchronization area to leave the synchronization area, a signal can be sent to force the virtual spindle to run until there is no magnetic driver in the synchronization area.

[0130] If the maglev conveying system needs to be reset, the synchronization task manager will release all synchronization relationships between the mover and the main axis. If it does not need to be reset, it will determine whether the magnetic drive queue has entered the synchronization area. If it has entered the synchronization area, the synchronization planner will plan the synchronization control of the magnetic drive. If it has entered the asynchronous area, the synchronization task manager will control the magnetic drive to plan the movement in a standard "point-to-point" manner.

[0131] For each magnetic driver arranged in the target order and entering the synchronization area, the current synchronization stage of each magnetic driver is updated according to the parameters of each magnetic driver. By updating the parameters and status of the current synchronization stage of each magnetic driver, it is determined whether the current synchronization stage is the synchronization preparation stage, the synchronization start stage, the synchronization stage or the synchronization exit stage, so as to calculate the command position of the magnetic driver in different stages.

[0132] like Figure 8 As shown, the parameters and states of the current synchronization stage of each magnetic driver are updated.

[0133] If the current synchronization stage of the magnetic driver is the preparation synchronization stage, the synchronization planner checks whether the magnetic driver is in a uniform speed state. If the magnetic driver is not in a uniform speed state, it decelerates to a uniform speed state according to the target deceleration rule, consumes redundant time, and updates the state of the current stage of the magnetic driver during the movement of the magnetic driver.

[0134] If the current synchronization stage of the magnetic driver is the start synchronization stage, the synchronization planner converts the parameters of the magnetic driver into motion parameters under the position basis; obtains the motion parameters of each synchronization point under the position basis according to the motion parameters, task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis under the position basis; converts the motion parameters of each synchronization point under the position basis into motion parameters under the time basis to obtain the motion instructions of the magnetic driver; during the movement of the magnetic driver, updates the state of the current stage of the magnetic driver, outputs the motion instructions of the magnetic driver, and controls the synchronization of the magnetic driver according to the motion instructions.

[0135] If the current synchronization stage of the magnetic driver is the synchronization stage, the synchronization planner determines the initial motion parameters according to the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis, and converts the initial motion parameters into motion parameters on a time basis to obtain the motion instructions of the magnetic driver. During the movement of the magnetic driver, the state of the current stage of the magnetic driver is updated, and the motion instructions of the magnetic driver are output, and the synchronization of the magnetic driver is controlled according to the motion instructions.

[0136] If the current synchronization stage of the magnetic driver is the exit synchronization stage, the synchronization planner clears the motion data of the magnetic driver, and the synchronization process ends.

[0137] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0138] Based on the same inventive concept, the embodiment of the present application also provides a magnetic driver synchronization device for implementing the magnetic driver synchronization method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more embodiments of the magnetic driver synchronization device provided below can refer to the limitations of the magnetic driver synchronization method above, and will not be repeated here.

[0139] In an exemplary embodiment, Fig. 9As shown, a magnetic drive sub-synchronization device is provided, including: a first acquisition module 901, a second acquisition module 902, a first motion instruction generation module 903 and a control module 904, wherein:

[0140] The first acquisition module 901 is used to acquire configuration parameters of the magnetic drive sub-synchronization task.

[0141] The second acquisition module 902 is used to acquire the magnetic driver parameters and the current synchronization stage of the magnetic driver.

[0142] The first motion instruction generating module 903 is used to convert the magnetic driver parameters into motion parameters under the position basis if the current synchronization stage of the magnetic driver is the start synchronization stage; obtain the motion parameters under the position basis of each synchronization point according to the motion parameters under the position basis and the configuration parameters; convert the motion parameters under the position basis of each synchronization point into motion parameters under the time basis to obtain the motion instruction of the magnetic driver

[0143] The control module 904 is used to control the synchronization of the magnetic drive sub-device according to the motion instruction.

[0144] In an exemplary embodiment, the configuration parameters include task parameters, the movement amount of the magnetic driver, and the movement amount of the magnetic driver following the main axis; the first acquisition module 901 includes:

[0145] An acquisition unit, used for acquiring initial configuration parameters of the magnetic drive sub-synchronization task, the initial configuration parameters including initial task parameters and cam table trajectory parameters;

[0146] The parsing unit is used to parse the initial task parameters to obtain the task parameters; parse the cam table trajectory parameters to obtain the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft;

[0147] The first motion instruction generating module 903 includes:

[0148] The motion parameter determination unit is used to obtain the motion parameters of each synchronization point under the position basis according to the motion parameters under the position basis, the task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis.

[0149] In an exemplary embodiment, the apparatus further comprises:

[0150] The third acquisition module is used to acquire the magnetic drive sub-queues in an initial order and determine the synchronization area according to the configuration parameters.

[0151] The judging module is used to judge whether the magnetic drive sub-queues in the initial sequence are all within the synchronization area.

[0152] An adjustment module, configured to adjust the order of the magnetic drivers in the magnetic drive subqueue that are not in the synchronization area according to the initial order, so as to obtain a target order of the magnetic drive subqueues in the synchronization area, if there are magnetic drive subqueues in the initial order that are not in the synchronization area;

[0153] The updating module is used for updating the current synchronization stage of each magnetic driver arranged in the target order and entering the synchronization area according to the parameters of each magnetic driver.

[0154] In an exemplary embodiment, the adjustment module includes:

[0155] The first adjustment unit is used to place the magnetic driver at the end of the magnetic driver queue when the synchronization area index value where the magnetic driver is located changes and the synchronization area index value is greater than a preset index value.

[0156] The second adjustment unit is used to move the magnetic driver out of the head of the magnetic driver queue when the synchronization area index value of the magnetic driver at the head of the magnetic driver queue changes and the synchronization area index value is equal to the preset index value, so as to obtain the target order of the magnetic driver queue in the synchronization area.

[0157] In an exemplary embodiment, the apparatus further comprises:

[0158] The second motion instruction generating module is used to determine the initial motion parameters according to the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis if the current synchronization stage of the magnetic driver is the synchronization stage, and convert the initial motion parameters into motion parameters under the time base to obtain the motion instruction of the magnetic driver.

[0159] In an exemplary embodiment, the apparatus further comprises:

[0160] The deceleration module is used to check whether the magnetic driver is in a uniform speed state if the current synchronization stage of the magnetic driver is the preparation synchronization stage, and decelerate the magnetic driver that is not in a uniform speed state to a uniform speed state according to the target deceleration rule.

[0161] The clearing module is used to clear the motion data of the magnetic driver if the current synchronization stage of the magnetic driver is the exit synchronization stage.

[0162] Each module in the above-mentioned magnetic drive sub-synchronization device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0163] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store magnetic drive sub-synchronization data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a magnetic drive sub-synchronization method is implemented.

[0164] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0165] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0166] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0167] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0168] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0169] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0170] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A magnetic drive sub-synchronization method, It is characterized in that The method comprises: Acquire the configuration parameters of the magnetic driver synchronization task; wherein the configuration parameters include task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft; the acquisition of the configuration parameters of the magnetic driver synchronization task includes: acquiring the initial configuration parameters of the magnetic driver synchronization task, the initial configuration parameters include initial task parameters and cam table trajectory parameters; parsing the initial task parameters to obtain the task parameters; parsing the cam table trajectory parameters to obtain the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft; Acquire the parameters of the magnetic driver and the current synchronization stage of the magnetic driver; wherein the parameters of the magnetic driver include the serial number of the magnetic driver and the motion characteristics of the magnetic driver; acquire the motion characteristics of the magnetic driver, including: determining the motion characteristics of the magnetic driver based on the spindle position, the spindle position under the time base, and the position relationship between the spindle and the mover, wherein the motion characteristics of the magnetic driver include the position, velocity, acceleration, and jerk of the mover under the current time base; If the current synchronization stage of the magnetic driver is the start synchronization stage, converting the magnetic driver parameters into motion parameters under the position basis; According to the motion parameters under the position basis and the configuration parameters, the motion parameters under the position basis of each synchronization point are obtained; Converting the motion parameters of each synchronization point under the position basis into the motion parameters under the time basis to obtain the motion instructions of the magnetic driver; The magnetic driver is controlled synchronously according to the motion instruction.

2. The method according to claim 1, It is characterized in that The step of obtaining the motion parameters of each synchronization point based on the position basis according to the motion parameters based on the position basis and the configuration parameters includes: The motion parameters of each synchronization point under the position basis are obtained according to the motion parameters under the position basis, the task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis.

3. The method according to claim 1, It is characterized in that After obtaining the magnetic driver parameters and the current synchronization stage of the magnetic driver, the method further includes: Obtaining the magnetic drive sub-queues in an initial order, and determining the synchronization area according to the configuration parameters; Determine whether the magnetic drive sub-queues in the initial order are all within the synchronization area; In the case that there are magnetic drive sub-queues in the initial order that are not in the synchronization area, adjusting the order of the magnetic drive sub-queues that are not in the synchronization area according to the initial order to obtain a target order of the magnetic drive sub-queues in the synchronization area; For each magnetic driver arranged in a target order and entering the synchronization area, the current synchronization stage of each magnetic driver is updated according to the parameters of each magnetic driver.

4. The method according to claim 3, It is characterized in that The step of adjusting the order of the magnetic drivers in the magnetic driver sub-queue that are not in the synchronization area according to the initial order to obtain the target order of the magnetic driver sub-queue in the synchronization area includes: When the index value of the synchronization area where the magnetic driver is located changes and the synchronization area index value is greater than the preset index value, the magnetic driver is placed at the end of the magnetic driver queue; When the synchronization area index value of the magnetic driver at the head of the magnetic driver queue changes and the synchronization area index value is equal to the preset index value, the magnetic driver is removed from the head of the magnetic driver queue to obtain the target order of the magnetic driver queue in the synchronization area.

5. The method according to any one of claims 1 to 4, It is characterized in that The method further comprises: If the current synchronization stage of the magnetic driver is the synchronization stage, the initial motion parameters are determined according to the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main axis, and the initial motion parameters are converted into motion parameters under the time base to obtain the motion instructions of the magnetic driver.

6. The method according to claim 5, It is characterized in that The method further comprises: If the current synchronization stage of the magnetic driver is the synchronization preparation stage, check whether the magnetic driver is in a uniform speed state, and decelerate the magnetic driver that is not in a uniform speed state to a uniform speed state according to a target deceleration rule; If the current synchronization stage of the magnetic driver is the exit synchronization stage, the motion data of the magnetic driver is cleared.

7. A magnetic drive sub-synchronization device, It is characterized in that The device comprises: The first acquisition module is used to acquire the configuration parameters of the magnetic driver synchronization task; wherein the configuration parameters include task parameters, the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft; the acquisition of the configuration parameters of the magnetic driver synchronization task includes: acquiring the initial configuration parameters of the magnetic driver synchronization task, the initial configuration parameters include initial task parameters and cam table trajectory parameters; parsing the initial task parameters to obtain the task parameters; parsing the cam table trajectory parameters to obtain the movement amount of the magnetic driver and the movement amount of the magnetic driver following the main shaft; The second acquisition module is used to acquire the parameters of the magnetic driver and the current synchronization stage of the magnetic driver; wherein the parameters of the magnetic driver include the serial number of the magnetic driver and the motion characteristics of the magnetic driver; acquiring the motion characteristics of the magnetic driver includes: determining the motion characteristics of the magnetic driver based on the spindle position, the spindle position under the time base, and the position relationship between the spindle and the mover, wherein the motion characteristics of the magnetic driver include the position, velocity, acceleration, and jerk of the mover under the current time base; The first motion instruction generating module is used for converting the magnetic driver parameters into motion parameters under the position basis if the current synchronization stage of the magnetic driver is the start synchronization stage; obtaining the motion parameters under the position basis of each synchronization point according to the motion parameters under the position basis and the configuration parameters; converting the motion parameters under the position basis of each synchronization point into motion parameters under the time basis to obtain the motion instruction of the magnetic driver; A control module is used to control the synchronization of the magnetic driver according to the motion instruction.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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