Motor control method and related equipment of magnetic drive system

Abstract

The embodiment of the present application proposes a mover control method and related equipment for a magnetic drive system, wherein the magnetic drive system includes multiple stators and at least one mover, and the method includes: first, after the target workpiece on the mover undergoes a first processing operation, the mover operation parameters of the mover are obtained; then, based on the system preset parameters of the magnetic drive system, a control stator is determined from multiple stators, and a magnetic field control parameter is determined according to the mover operation parameters and the first stator position of the control stator; finally, when the mover runs to the control stator, the operation acceleration of the mover is adjusted based on the control thrust corresponding to the magnetic field control parameter. The embodiment of the present application utilizes the magnetic field control parameter on the control stator to control the operation acceleration of the mover, thereby increasing the operation speed of the mover, so as to compensate for the speed loss of the mover and improve the operation efficiency of the mover.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a mover control method and related equipment of a magnetic drive system. Background Art

[0002] Real-time detection of the position of the mover using magnetic levitation conveying technology has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on conveying logistics lines and SMT of precision electronic components. In these applications, it is usually necessary to process the workpiece on the mover during its operation to obtain the target workpiece required by the application.

[0003] For a magnetic drive system that includes a processing flow, when the mover goes through the processing flow and the workpiece on the mover is processed, the mover will inevitably suffer speed loss, and these speed losses will cause the mover carrying the workpiece to operate in the magnetic drive system with low efficiency. Summary of the invention

[0004] The embodiments of the present application provide a mover control method and related equipment of a magnetic drive system, which can improve the operating efficiency of the mover in the magnetic drive system.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a mover control method of a magnetic drive system, wherein the magnetic drive system includes a plurality of stators and at least one mover, and the method includes:

[0006] After the target workpiece on the mover undergoes a first machining operation, obtaining a mover operation parameter of the mover;

[0007] Determining a control stator from the plurality of stators based on system preset parameters of the magnetic drive system, and determining a magnetic field control parameter according to the mover operation parameter and a first stator position of the control stator;

[0008] When the mover moves to the control stator, the running acceleration of the mover is adjusted based on the control thrust corresponding to the magnetic field control parameter.

[0009] In some embodiments, the mover operating parameters include a mover position, a mover speed, and a mover acceleration, and determining the magnetic field control parameters according to the mover parameters and the first stator position of the control stator includes:

[0010] determining a first distance based on the mover position and the first stator position;

[0011] Calculating a first estimated speed of the mover when the mover moves to the first stator position based on the first distance, the mover speed and the mover acceleration;

[0012] A second estimated speed is determined, and a control thrust is determined based on a difference between the first estimated speed and the second estimated speed, and the magnetic field control parameter is obtained based on the control thrust.

[0013] In some embodiments, determining the second estimated speed includes:

[0014] Acquire a reference speed of the mover reaching a process position of a second machining operation, wherein the process position is after a second stator position of the control stator, and the first stator position and the second stator position are two end points of the control stator;

[0015] determining a second distance based on the process position and the second stator position;

[0016] The second estimated speed is obtained based on the reference speed, the second distance, and the mover acceleration, where the second estimated speed is the running speed of the mover when it reaches the second stator position.

[0017] In some embodiments, determining the control thrust based on the difference between the first estimated speed and the second estimated speed includes:

[0018] Acquiring the stator length of the control stator, and acquiring the load weight of the mover and the target workpiece;

[0019] obtaining a speed difference value based on a difference between the second estimated speed and the first estimated speed, and determining a control acceleration based on the speed difference value and the stator length;

[0020] The control thrust is determined based on the control acceleration and the load weight.

[0021] In some embodiments, the stator includes a plurality of control coils, and obtaining the magnetic field control parameter based on the control thrust includes:

[0022] Acquire a maximum control current and a maximum control voltage of the control coil, and determine a maximum coil power of the control coil based on the maximum control current and the maximum control voltage;

[0023] determining a control power based on the control thrust and the second estimated speed, and obtaining the number of coils of the control coil based on a divisor of the control power and the maximum coil power;

[0024] The magnetic field control parameter is obtained based on the number of coils and the control power.

[0025] In some embodiments, when there is a third processing flow between the mover position and the first stator position, the first estimated speed of the mover when running to the first stator position is calculated based on the first distance, the mover speed and the mover acceleration, including:

[0026] Obtaining an intermediate speed loss of the mover during the third processing flow;

[0027] Calculating an initial estimated speed of the mover when the mover moves to the first stator position based on the first distance, the mover speed and the mover acceleration;

[0028] The first estimated speed is obtained based on a difference between the initial estimated speed and the intermediate speed loss.

[0029] In some embodiments, determining the control thrust based on the control acceleration and the load weight includes:

[0030] Obtaining a weight change of the mover during the third processing process;

[0031] obtaining a control weight based on the change weight and the load weight;

[0032] The control thrust is determined based on the control acceleration and the control weight.

[0033] In some embodiments, the method further comprises:

[0034] Determining a stator preceding the control stator as a transition control stator;

[0035] Obtaining current stator parameters of the stator where the mover is located at the current moment;

[0036] Obtaining a transition control parameter of the transition control stator based on an average value of the current stator parameter and the magnetic field control parameter;

[0037] When the mover moves to the transition control stator, the transition control stator is controlled according to the transition control parameter to control the operation of the mover.

[0038] In some embodiments, the method further comprises:

[0039] Determining a transition speed of the mover to the transition control stator based on the mover operation parameters;

[0040] Determine a transition acceleration of the mover running on the transition control stator based on the transition control parameter, and determine a transition estimation speed based on the transition acceleration, the transition speed, and a transition stator length of the transition control stator, wherein the transition estimation speed is the running speed of the mover when it reaches the first stator position under the control of the transition control stator;

[0041] The first estimated speed is updated based on the transition estimated speed, and the magnetic field control parameter is updated based on the updated first estimated speed.

[0042] In some embodiments, the mover is equipped with a controllable magnet, and when the mover and another adjacent mover both run on the control stator, the method further includes:

[0043] Acquire real-time operation data of the adjacent movers, and obtain a control difference thrust based on the real-time operation data and a second estimated speed;

[0044] A magnet control parameter of the adjacent mover is determined based on the control difference thrust, and the controllable magnet of the adjacent mover is controlled based on the magnet control parameter.

[0045] In some embodiments, the real-time operating data includes a first real-time weight and a first real-time speed, the real-time operating data includes real-time weight, real-time speed and real-time acceleration, and obtaining the control difference thrust based on the real-time operating data and the second estimated speed includes:

[0046] determining a third distance between an adjacent mover position of the adjacent mover and the second stator position;

[0047] Obtaining an estimated acceleration based on the third distance, the second estimated speed, and the real-time speed, and obtaining an acceleration difference based on a difference between the estimated acceleration and the real-time acceleration;

[0048] The control difference thrust is obtained based on the real-time weight and the acceleration difference.

[0049] In some embodiments, determining the magnet control parameters of the adjacent movers based on the control difference thrust includes:

[0050] Acquire the control magnetic field strength of the control stator under the magnetic field control parameter and the magnetic permeability of the adjacent mover;

[0051] Obtaining the real-time magnetic induction intensity received by the adjacent movers based on the ratio of the control magnetic field intensity to the real-time speed;

[0052] Based on the control difference thrust, the real-time magnetic induction intensity and the magnetic permeability, the magnet adjustment area is obtained, and based on the magnet adjustment area, the magnet control parameter is obtained.

[0053] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a mover control device of a magnetic drive system, the device comprising:

[0054] An acquisition module, used for acquiring a mover operation parameter of the mover after a target workpiece on the mover undergoes a first processing operation;

[0055] A magnetic field control parameter determination module, used to determine a control stator from the plurality of stators based on system preset parameters of the magnetic drive system, and determine a magnetic field control parameter according to the mover operation parameter and a first stator position of the control stator;

[0056] An operation control module is used to adjust the operation acceleration of the mover based on the control thrust corresponding to the magnetic field control parameter when the mover runs to the control stator.

[0057] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the mover control method of the magnetic drive system as described in the first aspect.

[0058] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, it implements the mover control method of the magnetic drive system described in the first aspect above.

[0059] The embodiment of the present application proposes a mover control method and related equipment of a magnetic drive system, wherein the magnetic drive system includes multiple stators and at least one mover, and the method includes: first, after the target workpiece on the mover undergoes a first processing operation, the mover operation parameters of the mover are obtained; then, based on the system preset parameters of the magnetic drive system, a control stator is determined from multiple stators, and a magnetic field control parameter is determined according to the mover operation parameters and the first stator position of the control stator; finally, when the mover runs to the control stator, the operation acceleration of the mover is adjusted based on the control thrust corresponding to the magnetic field control parameter. The embodiment of the present application uses the mover operation parameters and the position of the control stator after the mover undergoes the first processing operation to accurately calculate the magnetic field control parameters used to compensate for the speed loss of the mover after the first processing operation, and then on the control stator, the magnetic field control parameters are used to control the operation acceleration of the mover to increase the operation speed of the mover, so as to compensate for the speed loss of the mover and improve the operation efficiency of the mover; in addition, safety issues such as collision caused by the speed difference between the previous mover and the next mover are effectively avoided.

[0060] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a structural schematic diagram of a magnetic drive system provided in yet another embodiment of the present application.

[0062] Figure 2 This is a flow chart of a mover control method of a magnetic drive system provided in yet another embodiment of the present application.

[0063] Figure 3 yes Figure 2 Flow chart of step 202 in FIG.

[0064] Figure 4 It is a structural schematic diagram of a magnetic drive system with a third processing operation provided in yet another embodiment of the present application.

[0065] Figure 5 This is a flowchart for determining a first estimated speed provided by another embodiment of the present application.

[0066] Figure 6 This is a flowchart for determining a second estimated speed provided by another embodiment of the present application.

[0067] Figure 7 This is a flowchart for determining control thrust provided by another embodiment of the present application.

[0068] Figure 8This is a schematic diagram of determining control acceleration provided by another embodiment of the present application.

[0069] Fig. 9 This is another flow chart for determining control thrust provided by another embodiment of the present application.

[0070] Fig.10 It is a structural schematic diagram of a control stator provided in yet another embodiment of the present application.

[0071] Fig.11 This is a flowchart for determining magnetic field control parameters provided by another embodiment of the present application.

[0072] Fig.12 It is a structural schematic diagram of a magnetic drive system with a transition control stator provided in yet another embodiment of the present application.

[0073] Fig.13 This is a flow chart of controlling a transition control stator provided by yet another embodiment of the present application.

[0074] Fig.14 This is a flowchart of adjusting magnetic field control parameters provided by another embodiment of the present application.

[0075] Fig.15 This is a schematic diagram of a multi-motor running on a control stator provided by another embodiment of the present application.

[0076] Fig.16 This is a flow chart of controlling controllable magnets of adjacent movers provided by yet another embodiment of the present application.

[0077] Fig.17 This is a flow chart for determining the control differential thrust of adjacent movers provided by another embodiment of the present application.

[0078] Fig.18 This is a flow chart for determining magnet control parameters of adjacent movers provided by another embodiment of the present application.

[0079] Fig.19 This is a schematic diagram of controlling the magnetic field direction of the stator provided by another embodiment of the present application.

[0080] Fig. 20 It is a schematic structural diagram of a mover carrying a controllable magnet provided in yet another embodiment of the present application.

[0081] Fig.21 This is another structural schematic diagram of a mover carrying a controllable magnet provided in yet another embodiment of the present application.

[0082] Fig. 22 It is a structural schematic diagram of a mover control device of a magnetic drive system provided in one embodiment of the present application.

[0083] Fig.23It is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0084] 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.

[0085] It should be noted that although the functional modules are divided in the device schematic 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.

[0086] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0087] Real-time detection of the position of the mover using magnetic levitation conveying technology has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on conveying logistics lines and SMT of precision electronic components. In these applications, it is usually necessary to process the workpiece on the mover during its operation to obtain the target workpiece required by the application.

[0088] For a magnetic drive system that includes a processing flow, when the mover goes through the processing flow and the workpiece on the mover is processed, the mover will inevitably suffer speed loss, and these speed losses will cause the mover carrying the workpiece to operate in the magnetic drive system with low efficiency.

[0089] In order to improve the operating efficiency of the mover on the magnetic drive system, the embodiment of the present application uses the mover operating parameters after the first processing operation and the position of the control stator to accurately calculate the magnetic field control parameters used to compensate for the speed loss of the mover after the first processing operation, and then controls the stator using the magnetic field control parameters to control the operating acceleration of the mover to increase the operating speed of the mover, thereby compensating for the speed loss of the mover and improving the operating efficiency of the mover; in addition, it also effectively avoids safety issues such as collisions caused by the speed difference between the previous mover and the next mover.

[0090] The following will further describe the mover control method and related equipment of the magnetic drive system provided in the embodiment of the present application. The mover control method of the magnetic drive system provided in the embodiment of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the magnetic drive system.

[0091] In order to better illustrate the mover control method of the magnetic drive system provided in the embodiment of the present application, this embodiment first describes the magnetic drive system using the mover control method. Figure 1 The figure is a schematic diagram of the structure of a magnetic drive system provided by an embodiment of the present application. The magnetic drive system includes a magnetic levitation conveyor track, and a mover carrying a workpiece runs on the magnetic levitation conveyor track; a plurality of stators are arranged under the magnetic levitation conveyor track, and the stators are used to provide magnetic buoyancy force for the mover running on the magnetic levitation conveyor track, and except for a special control stator, the other stators all maintain the preset parameters of the magnetic drive system to control the operation of the mover. In addition, when the mover runs on the magnetic levitation conveyor track, the workpiece it carries needs to go through a processing flow consisting of multiple processing operations (such as Figure 1 The first processing operation and the second processing operation in the process).

[0092] Based on the above magnetic drive detection system, the mover control method of the magnetic drive system in the embodiment of the present application will be described in detail below. Figure 2 , is an optional flow chart of a mover control method of a magnetic drive system provided in an embodiment of the present application, Figure 2 The method in the embodiment may include but is not limited to steps 201 to 203. Figure 2 The order of step 201 to step 203 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0093] Step 201: After a target workpiece on a mover undergoes a first machining operation, a mover operation parameter of the mover is obtained.

[0094] Step 201 is described in detail below.

[0095] In some embodiments, when the mover runs on the maglev conveyor track, the stator under the maglev conveyor track will provide the mover with a magnetic buoyancy force according to the preset parameters to push the mover to run on the maglev conveyor track according to the pre-planned running trajectory. Based on the preset parameters of the stator, each mover will arrive at each processing operation in turn at a predetermined speed, and process the workpiece on the mover at each processing operation. It can be understood that each mover includes at least one workpiece, and each processing operation is to process a target workpiece on the mover, and the target workpiece is one or more of the multiple workpieces on the mover.

[0096] During the process of machining the target workpiece of the mover, since the machining robot needs to perform machining operations on the target workpiece on the mover, in order to ensure the accuracy of the machining operation, it is necessary to reduce the running speed of the mover during the machining operation. Therefore, the mover will inevitably suffer speed loss after the machining operation, so that when the mover runs according to the original trajectory, it will not be able to reach the next machining operation at the originally preset speed, thereby reducing the operating efficiency of the mover on the magnetic drive system; in addition, there are some machining operations that have special requirements for speed. When the machining operation cannot be achieved at the preset speed, there will be inaccurate machining; at the same time, because on the magnetic levitation conveyor track, usually one mover after another moves according to the preset running trajectory at a certain safety distance, when the current mover loses speed, there will be safety situations such as collision between the front and rear movers due to the speed difference between the front and rear movers.

[0097] Therefore, after the mover passes through the location where the first processing operation is located, it is necessary to compensate for the speed loss of the mover. That is, after the target workpiece on the mover undergoes the first processing operation, it is necessary to first obtain the mover operating parameters of the mover at that moment, so as to facilitate the subsequent determination of the magnetic field control parameters used to compensate for the speed loss at the control stator according to the mover operating parameters. It can be understood that the mover operating parameters include the mover position where the mover is located, the mover speed of the mover at that moment, and the mover acceleration. In addition, the mover acceleration is related to the pre-set parameters of the stator where the mover is located, and the load weight of the mover and the target workpiece after the first processing operation.

[0098] Step 202: Determine a control stator from a plurality of stators based on system preset parameters of the magnetic drive system, and determine a magnetic field control parameter according to the mover operation parameter and a first stator position of the control stator.

[0099] Step 202 is described in detail below.

[0100] In some embodiments, in addition to obtaining the operating parameters of the mover after the first processing operation, the system preset parameters of the magnetic drive system are also obtained, and the system preset parameters include the first stator position of the control stator, and also include data such as the stator length of the control stator. Then, based on the first stator position, the control stator is determined from multiple stators, so as to more accurately calculate the magnetic field control parameters for compensating for the speed loss according to the first stator position and the operating parameters of the mover. How to calculate the magnetic field control parameters will be further described below.

[0101] Reference Figure 3 , determining the magnetic field control parameters according to the mover parameters and the first stator position of the control stator, including the following steps 301 to 303.

[0102] Step 301: Determine a first distance based on a mover position and a first stator position.

[0103] Step 301 is described in detail below.

[0104] In some embodiments, after determining the control stator, two endpoints of the control stator can be determined, namely the first stator position and the second stator position, wherein the first stator position is an endpoint close to the mover position (i.e., the endpoint where the mover enters the control stator), and the second stator position is another endpoint away from the mover position (i.e., the endpoint where the mover leaves the control stator). After determining the mover position and the first stator position, the first distance X1 between the first stator position and the mover position is calculated based on the difference between the first stator position and the mover position.

[0105] Step 302: Calculate a first estimated speed of the mover when it moves to the first stator position based on the first distance, the mover speed and the mover acceleration.

[0106] Step 302 is described in detail below.

[0107] In some embodiments, after determining the first distance X1, the mover velocity V0 and the mover acceleration A0, the first estimated speed V1 when the mover runs to the first stator position can be calculated based on the first distance X1, the mover velocity V0 and the mover acceleration A0 by the following formula, so as to facilitate the subsequent accurate calculation of the magnetic field control parameters according to the first estimated speed V1. The formula (1) is expressed as follows.

[0108] (1)

[0109] Reference Figure 4 , is a schematic diagram of the structure of a magnetic drive system with a third processing operation provided in an embodiment of the present application. Figure 4 As shown, in some embodiments, there is a third processing operation between the mover position and the first stator position, and the mover will generate a new speed loss after the third processing operation. At this time, the first estimated speed directly calculated based on the first distance X1, the mover speed V0 and the mover acceleration A0 still has this new speed loss, resulting in the magnetic field control parameters calculated subsequently being unable to fully compensate for the speed loss caused by the first processing operation and the third processing operation. Therefore, it is necessary to accurately calculate the first estimated speed based on the speed loss of the third processing flow.

[0110] Reference Figure 5 , based on the first distance, the mover speed and the mover acceleration, a first estimated speed of the mover when it runs to the first stator position is calculated, including the following steps 501 to 503.

[0111] Step 501: Obtaining the intermediate speed loss of the mover during the third processing process.

[0112] Step 502: Calculate the initial estimated speed of the mover when it moves to the first stator position based on the position distance, the mover speed and the mover acceleration.

[0113] Step 503: Obtain a first estimated speed based on the difference between the initial estimated speed and the intermediate speed loss.

[0114] Steps 501 to 503 are described in detail below.

[0115] In some embodiments, when there is a third processing flow between the position of the mover and the first stator position, it is necessary to obtain the intermediate speed loss of the mover during the third processing flow. It is understandable that before the mover passes through the third processing flow, the intermediate speed loss can be a pre-obtained data statistic value, which is obtained based on the speed loss generated by the mover after passing through the third processing flow in multiple historical times; after the mover passes through the third processing flow, the intermediate speed loss can be a real-time speed loss value obtained in real time.

[0116] While obtaining the intermediate speed loss value, the initial estimated speed of the mover running to the first stator position will be calculated based on the first distance X1, the mover speed V0 and the mover acceleration A0 by the method shown in formula (1), and then the first estimated speed V1 of the mover actually running to the first stator position will be obtained based on the difference between the initial estimated speed and the intermediate speed loss.

[0117] Through the above steps 501 to 503, the initial estimated speed is corrected by utilizing the intermediate speed loss of the mover during the third processing process, so that when there is a processing process between the mover position and the first stator position, the first estimated speed of the mover when it runs to the control stator is accurately obtained, so as to facilitate the subsequent more accurate calculation of the magnetic field control parameters to improve the operating efficiency of the mover on the magnetic drive system.

[0118] Step 303: Determine a second estimated speed, determine a control thrust based on a difference between the first estimated speed and the second estimated speed, and obtain a magnetic field control parameter based on the control thrust.

[0119] Step 303 is described in detail below.

[0120] In some embodiments, in addition to obtaining the first estimated speed when the mover moves to the first stator position, in order to accurately obtain the magnetic field control parameters for compensating for speed loss, it is also necessary to obtain the second estimated speed when the mover moves to the second stator position. How to determine the second estimated speed will be further described below.

[0121] Reference Figure 6 , determining a second estimated speed, including the following steps 601 to 603.

[0122] Step 601: Obtain a reference speed of the mover when it reaches a process position of a second machining operation.

[0123] Step 602: Determine a second distance based on the process position and the second stator position.

[0124] Step 603: Obtain a second estimated speed based on the reference speed, the second distance, and the mover acceleration.

[0125] Steps 601 to 603 are described in detail below.

[0126] In some embodiments, in order to calculate the second estimated speed V2, it is necessary to first obtain the reference speed V3 of the mover when it reaches the process position of the second processing process in the preset trajectory process. It can be understood that the process position is after the second stator position of the control stator.

[0127] Next, based on the difference between the process position and the second stator position, the second distance X2 between the process position and the second stator position can be determined. In addition, since the stator at the process position is consistent with the pre-set control parameters of the stator at the mover position, and the mover does not go through the processing process during the operation of the control stator and during the operation of the second distance X2, the load mass of the mover and the target workpiece on the mover remains unchanged, so the mover acceleration A0 of the mover during the operation of the second distance X2 can be considered to be consistent with the mover acceleration A0 of the mover at the mover position.

[0128] Then, based on the reference speed V3, the second distance X2 and the mover acceleration A0, the second estimated speed V2 when the mover moves to the second stator position can be calculated based on the motion formula. The formula (2) is expressed as follows.

[0129] (2)

[0130] Through the above steps 601 to 603, the reference speed when the mover arrives at the process position of the second processing operation is used, and combined with the second distance and the mover acceleration, a second estimated speed of the mover running to the second stator position is obtained as a reference value, so that the second estimated speed and the first estimated speed can be used to accurately calculate the magnetic field control parameters for compensating for speed loss, so as to effectively improve the operating efficiency of the mover in the magnetic drive system.

[0131] In some embodiments, after obtaining the first estimated speed and the second estimated speed, the difference between the second estimated speed and the first estimated speed can be used to determine the control thrust that the stator needs to provide to the mover, thereby accurately obtaining the magnetic field control parameter based on the control thrust. How to determine the control thrust will be further described below.

[0132] Reference Figure 7 , determining the control thrust based on the difference between the first estimated speed and the second estimated speed, includes the following steps 701 to 703.

[0133] Step 701: Obtain the stator length of the control stator, and obtain the load weight of the mover and the target workpiece.

[0134] Step 702: Obtain a speed difference based on a difference between the second estimated speed and the first estimated speed, and determine a control acceleration based on the speed difference and the stator length.

[0135] Step 703: Determine the control thrust based on the control acceleration and the load weight.

[0136] Steps 701 to 703 are described in detail below.

[0137] In some embodiments, in order to determine the control thrust, it is necessary to first obtain the stator length X0 of the control stator. Then, a speed difference is obtained based on the difference between the second estimated speed V2 and the first estimated speed V1, and a control acceleration A1 is calculated based on the speed difference and the stator length X0, as shown in the following formula (3).

[0138] (3)

[0139] In addition, it is also necessary to obtain the load weight M1 of the mover and the target workpiece it carries after the first processing operation. Then, based on the load weight M1 and the control acceleration A1, the control thrust F1 that the control stator needs to provide to the mover can be calculated, as expressed in the following formula (4).

[0140] (4)

[0141] Reference Figure 8 , is a schematic diagram of determining control acceleration provided by an embodiment of the present application. Figure 8 As shown, after the first processing operation, the mover can obtain some determined parameters (such as Figure 8Parameters in multiple boxes shown in the figure), such as, the mover speed V0 and the mover acceleration A0 can be determined, and the first distance X1, the stator length X0, the second distance X2, and the reference speed V3 can be obtained according to the mover position, the first stator position, the second stator position, and the process position of the second machining operation; next, the first estimated speed V1 and the second estimated speed V2 can be further calculated according to the determined parameters, and then the first estimated speed V1, the second estimated speed V2 and the stator length X0 can be further calculated to obtain the control acceleration A1, so as to calculate the control thrust F1 that the control stator needs to provide to the mover using the control acceleration A1.

[0142] Through the above steps 701 to 703, the speed difference between the first estimated speed and the second estimated speed is used in combination with the stator length to accurately obtain the control acceleration required to compensate for the speed loss, and then the control thrust required to control the stator to compensate for the speed loss of the mover is calculated using the control acceleration and the load weight of the stator, so that the magnetic field control parameters can be accurately obtained using the control thrust.

[0143] In some embodiments, if there is a third control process between the mover position and the first stator position, that is, there is a Figure 4 In the case shown, before the mover enters the control stator, the workpiece it carries will be processed according to the third control process, resulting in a change in the load weight of the mover after the third control process. Therefore, the magnetic field control parameter calculated by the control thrust obtained by the above method will have an error and cannot accurately compensate for the speed loss of the mover. Therefore, it is also necessary to adjust the control thrust according to the weight change after the third control process.

[0144] Reference Fig. 9 , determining the control thrust based on the control acceleration and the load weight, includes the following steps 901 to 903.

[0145] Step 901: Obtain the weight change of the mover during the third processing process.

[0146] Step 902: Obtain the control weight based on the change weight and the load weight.

[0147] Step 903: Determine the control thrust based on the control acceleration and the control weight.

[0148] Steps 901 to 903 are described in detail below.

[0149] In some embodiments, after determining the control acceleration, it is also necessary to obtain the weight change of the mover during the third processing flow. It is understandable that before the mover passes through the third processing flow, the weight change may be a pre-obtained data statistic value, which is obtained based on a plurality of historical weight changes of the mover after passing through the third processing flow; after the mover passes through the third processing flow, the weight change may be a real-time weight change value obtained in real time.

[0150] After obtaining the variable weight, the actual control weight of the mover running onto the control stator is obtained based on the accumulated value of the load weight and the variable weight, so as to facilitate the use of the control acceleration A1 and the control weight to obtain the control thrust actually required by the control stator to compensate for the speed loss of the mover based on formula (4).

[0151] In some embodiments, after determining the control thrust required to control the stator to compensate for the speed loss of the mover, it is necessary to calculate the corresponding magnetic field control parameters based on the control thrust. Fig.10 , is a schematic diagram of a control stator structure provided in an embodiment of the present application. Fig.10 The control stator shown includes a plurality of control coils, each of which has a fixed maximum control current and a maximum control voltage. The control thrust provided to the mover can be adjusted by adjusting the number of coils of the selected control coils and the control current and control voltage of each selected control coil. Therefore, the magnetic field control parameters include the number of selected control coils and the control current and control voltage of each selected control coil. The following will further describe how to obtain the magnetic field control parameters based on the control thrust.

[0152] Reference Fig.11 , obtaining magnetic field control parameters based on the control thrust, including the following steps 1101 to 1103.

[0153] Step 1101: Acquire the maximum control current and the maximum control voltage of the control coil, and determine the maximum coil power of the control coil based on the maximum control current and the maximum control voltage.

[0154] Step 1102: Determine the control power based on the control thrust and the second estimated speed, and obtain the number of coils of the control coil based on a divisor of the control power and the maximum coil power.

[0155] Step 1103: Obtain magnetic field control parameters based on the number of coils and control power.

[0156] Steps 1101 to 1103 are described in detail below.

[0157] In some embodiments, the maximum control current Amax and the maximum control voltage Vmax of the control coil are first obtained. It can be understood that since the control coil parameters in the control stator are consistent, the maximum control current Amax and the maximum control voltage Vmax between the control coils are also consistent. Next, based on the maximum control current Amax and the maximum control voltage Vmax, the maximum coil power of each control coil can be determined as: Pmax=Vmax×Amax.

[0158] At the same time, based on the control thrust F1 and the second estimated speed V2, the control power required to provide the control thrust F1 to the mover can be obtained as: P1=F1V2. It can be understood that the second estimated speed V2 is used here as a reference value for determining the control power P1, so that the thrust provided by its control power will be higher than the control thrust F1, so the running speed of the mover when it leaves the control stator will be higher than the second estimated speed V2, but this also helps to improve the operating efficiency of the mover in the magnetic drive system.

[0159] Next, the number of control coils that the control stator needs to select to provide the control thrust F1 can be obtained based on the divisor of the control power P1 and the maximum coil power Pmax plus 1. Next, the control power is divided among the control coils of the selected number of control coils, and the control current and control voltage of each control coil after the power division are determined, thereby obtaining the magnetic field control parameters of the control stator for compensating the speed loss of the mover.

[0160] Through the above steps 1101 to 1103, the control power determined by the control thrust and the second estimated speed is used to determine the number of coils of the control coil, and then the number of coils and the control power are used to further accurately obtain the magnetic field control parameters of the control stator for compensating for the speed loss of the mover, thereby effectively improving the operating efficiency of the mover.

[0161] In some embodiments, when the speed loss to be compensated is too large, the control thrust required to be provided by the control stator will be very large, and the thrust of the mover changes too much during the process of running from the ordinary stator to the control stator, which causes safety problems for the mover and the workpiece it carries due to the large thrust change. Therefore, in order to improve the safety and transition smoothness of the mover running on the maglev conveyor track, a transition control stator is also set before the control stator. Fig.12 , is a schematic diagram of the structure of a magnetic drive system with a transition control stator provided in an embodiment of the present application. Fig.12As shown, the stator before the control stator is used as the transition control stator. When the mover runs to the transition control stator, the transition control stator will first perform acceleration control on the mover, and then the mover will go to the control stator for acceleration control, so as to improve the safety and transition smoothness of the mover running on the maglev conveyor track. The following will describe how to control the mover in combination with the transition control stator.

[0162] Reference Fig.13 The mover control method of the magnetic drive system also includes the following steps 1301 to 1304.

[0163] Step 1301: Determine the previous stator of the control stator as the transition control stator.

[0164] Step 1302: Obtain current stator parameters of the stator where the mover is located at the current moment.

[0165] Step 1303: Obtaining transition control parameters of the transition control stator based on the average value of the current stator parameters and the magnetic field control parameters.

[0166] Step 1304: When the mover moves to the transition control stator, the transition control stator is controlled according to the transition control parameter to perform operation control on the mover.

[0167] Steps 1301 to 1304 are described in detail below.

[0168] In some embodiments, after determining the magnetic field control parameters, the previous stator of the control stator is determined as the transition control stator, and the current stator parameters of the stator where the mover is located at the current moment are obtained based on the system preset parameters; then the transition control parameters of the transition control stator are obtained based on the average value of the current stator parameters and the magnetic field control parameters. It can be understood that the transition control stator is similar to the control stator, which carries multiple control coils. Therefore, the transition control parameters are similar to the magnetic field control parameters, including the number of coils and the control current and control voltage of each control coil.

[0169] After the transition control parameters are determined, when the mover runs to the transition control stator, the transition control mover will provide the mover with corresponding thrust according to the transition control parameters to control the running speed of the mover.

[0170] Through the above steps 1301 to 1304, on the transition control stator, the operation of the mover is controlled by using the transition control parameters obtained by the magnetic field control parameters and the average value of the current stator parameters, thereby improving the safety and transition smoothness of the mover running to the control stator, thereby improving the reliability of the mover control method of the magnetic drive system provided in the present application.

[0171] In some embodiments, after determining the transition control parameters, when the mover runs on the transition control stator, the running acceleration will be increased once, and then when the mover runs to the control stator, the running acceleration will be increased again. If the original magnetic field control parameters are still maintained on the control stator to control the running acceleration of the mover, the speed of the mover after leaving the control stator will be too large, so that it will run to the process position of the second processing operation at a running speed far exceeding the reference speed, so that there is a situation where the running speed does not meet the speed required by the second processing operation, and there may also be a safety problem that the speed of the mover is too large and collides with the previous mover. Therefore, in order to improve the reliability of the mover control method of the magnetic drive system provided in the present application, in the presence of a transition control mover, the magnetic field control parameters need to be corrected after obtaining the transition control parameters. The following will further describe how to correct the magnetic field control parameters.

[0172] Reference Fig.14 The mover control method of the magnetic drive system also includes the following steps 1401 to 1403.

[0173] Step 1401: Determine the transition speed of the mover to the transition control stator based on the mover operation parameters.

[0174] Step 1402: Determine a transition acceleration of the mover running on the transition control stator based on the transition control parameter, and determine a transition estimated speed based on the transition acceleration, the transition speed, and the transition stator length of the transition control stator.

[0175] Step 1403: Update the first estimated speed based on the transition estimated speed, and update the magnetic field control parameter based on the updated first estimated speed.

[0176] Steps 1401 to 1403 are described in detail below.

[0177] In some embodiments, after determining the position of the transition control stator, the transition speed of the mover when it reaches the transition control stator is determined based on the mover operating parameters, which can be obtained by the method of step 302 above. Next, after determining the transition control parameters, the transition acceleration of the mover running on the transition control stator can be determined based on the transition control parameters and the load mass of the mover; after obtaining the transition stator length of the transition stator, the transition estimated speed is determined based on the transition acceleration, transition speed and transition stator length, which can be obtained by the above formula (1). Wherein, the transition estimated speed is the running speed of the mover when it reaches the first stator position of the control stator under the control of the transition control stator.

[0178] Then, the original first estimated speed V1 is updated and replaced based on the transition estimated speed, so that the magnetic field control parameters are updated based on the updated first estimated speed V1 through the method shown in the above step 203 .

[0179] Through the above steps 1401 to 1403, the transition acceleration obtained by the transition control parameters is used to update the first estimated speed of the mover arriving at the first stator position in the case of a transition control stator, and the magnetic field control parameters are updated using the updated first estimated speed, so that the mover can arrive at the second processing flow at a pre-planned reference speed, thereby improving the reliability of the mover control method of the magnetic drive system.

[0180] Step 203: When the mover moves to the control stator, the running acceleration of the mover is adjusted based on the control thrust corresponding to the magnetic field control parameter.

[0181] Step 203 is described in detail below.

[0182] In some embodiments, after the magnetic field control parameters are determined in real time, when the mover runs onto the control stator on the magnetic levitation conveying track, the control thrust provided by the control stator to the mover will be adjusted based on the magnetic field control parameters to adjust the moving acceleration of the mover to compensate for the speed loss of the mover after the first processing operation, thereby effectively improving the operating efficiency, safety and reliability of the mover in the magnetic drive system.

[0183] In some embodiments, in the magnetic drive system, usually one mover after another moves in sequence on the magnetic levitation conveying track, so there are two or more movers running on the control stator at the same time. Fig.15 , is a schematic diagram of a multi-motor running on a control stator provided in an embodiment of the present application. Fig.15 As shown in , at a certain moment, there are two movers (i.e. Fig.15 The mover and the adjacent mover in the control stator run on the control stator, and because the control thrust output by the control stator according to the magnetic field control parameters is for the mover, and because the mover and the adjacent mover have gone through different processing procedures before, or there are processing errors in the same processing procedure, there are speed differences and weight differences between the mover and the adjacent mover, so that the thrust received by the adjacent mover on the control stator is different from the control thrust for the mover; thus, the adjacent mover cannot reach the expected second estimated speed at the second stator position, and then the adjacent mover cannot run to the process position corresponding to the second processing operation at the reference speed, resulting in problems such as inaccurate processing of the adjacent mover at the second processing operation. Therefore, in the case where multiple movers are running on the control stator at the same time, it is necessary to further control and adjust the running acceleration of the adjacent movers. The following will further describe how to adjust the running acceleration of adjacent movers.

[0184] Reference Fig.16 The mover control method of the magnetic drive system also includes the following steps 1601 to 1602.

[0185] Step 1601: Acquire real-time operating data of adjacent movers, and obtain a control difference thrust based on the real-time operating data and a second estimated speed.

[0186] Step 1601 is described in detail below.

[0187] In some embodiments, when it is determined at a certain moment that there is a mover and an adjacent mover running together on the control stator, the real-time operation data of the adjacent mover will be obtained in real time, wherein the real-time operation data includes the real-time acceleration, real-time speed and real-time weight of the adjacent mover at that moment. Next, based on the difference between the real-time operation data and the second estimated speed V2, the control difference thrust required for the adjacent mover to run at the second estimated speed V2 to reach the second stator position under the magnetic field control parameters of the control stator is calculated. The following will further describe how to obtain the control difference thrust based on the real-time operation data and the second operation data.

[0188] Reference Fig.17 , obtaining the control difference thrust based on the real-time operation data and the second operation data, including the following steps 1701 to 1703.

[0189] Step 1701: Determine a third distance between an adjacent mover position of an adjacent mover and a second stator position.

[0190] Step 1702: Obtain an estimated acceleration based on the third distance, the second estimated speed, and the real-time speed, and obtain an acceleration difference based on a difference between the estimated acceleration and the real-time acceleration.

[0191] Step 1703: Obtain control difference thrust based on the real-time weight and acceleration difference.

[0192] Steps 1701 to 1703 are described in detail below.

[0193] In some embodiments, the third distance X3 between the adjacent mover position where the adjacent mover is located and the second stator position of the control stator is first determined, and then based on the third distance X3, the second estimated speed V2 and the real-time speed V_real of the adjacent mover at this moment, the estimated acceleration A_est required for the adjacent mover to run to the second stator position at the second estimated speed V2 can be calculated, which is specifically calculated by the following formula (5).

[0194] (5)

[0195] Next, based on the difference between the estimated acceleration A_est and the real-time acceleration A_real corresponding to the thrust received by the adjacent mover at that moment, the acceleration difference A_diff required for the adjacent mover to run to the second stator position at the second estimated speed V2 can be obtained.

[0196] After the acceleration difference A_diff is obtained, the control difference thrust F_diff=M_real×A_diff required for the adjacent mover to run to the second stator position at the second estimated speed V2 can be obtained based on the product of the acceleration difference A_diff and the real-time weight M_real of the adjacent mover.

[0197] Through the above steps 1701 to 1703, the acceleration difference obtained from the third distance, the second estimated speed and the real-time speed is used to accurately calculate the control difference thrust required for the adjacent movers to run to the second stator position at the second estimated speed on the control stator according to the magnetic field control parameters, so as to facilitate the subsequent adjustment of the running acceleration of the adjacent movers according to the control difference thrust, so that the adjacent movers run to the process position of the second processing operation at the third estimated speed, thereby improving the operating efficiency and accuracy of the adjacent movers in the magnetic drive system.

[0198] Step 1602: Determine magnet control parameters of adjacent movers based on the control difference thrust, and control the controllable magnets of the adjacent movers based on the magnet control parameters.

[0199] Step 1602 is described in detail below.

[0200] In some embodiments, after the control differential thrust is obtained, the magnet control parameters of the adjacent movers are determined based on the control differential thrust, so as to facilitate controlling the controllable magnets of the adjacent movers based on the magnet control parameters to adjust the running acceleration of the adjacent movers. The following will further describe how to use the control differential thrust to determine the magnet control parameters of the adjacent movers.

[0201] Reference Fig.18 , determining the magnet control parameters of adjacent movers based on the control difference thrust, includes the following steps 1801 to 1803.

[0202] Step 1801: Obtain the control magnetic field strength of the control stator under the magnetic field control parameters and the magnetic permeability of the adjacent mover.

[0203] Step 1802: derive the real-time magnetic induction intensity received by the adjacent movers based on the ratio of the control magnetic field intensity and the real-time speed.

[0204] Step 1803: Based on the control difference thrust, the real-time magnetic induction intensity and the magnetic permeability, the magnet adjustment area is obtained, and the magnet control parameter is obtained based on the magnet adjustment area.

[0205] Steps 1801 to 1803 are described in detail below.

[0206] In some embodiments, the control magnetic field intensity E emitted by the control stator under the magnetic field control parameters and the magnetic permeability u0 of the adjacent mover are first obtained. It can be understood that the magnetic field intensity E and the magnetic permeability u0 can be measured in real time through relevant magnetic field measurements. In addition, magnetic permeability is a measure of the responsiveness of a substance to a magnetic field, which describes the properties of the magnetic field in a medium. It is the ratio of the propagation speed of the medium relative to the magnetic field in a vacuum.

[0207] Next, based on the ratio of the control magnetic field intensity E and the real-time speed V_real, the real-time magnetic induction intensity B_real received by the adjacent movers at that moment can be obtained, which is specifically obtained by the following formula (6).

[0208] (6)

[0209] After the real-time magnetic flux density B_real is obtained, the magnet adjustment area A_diff is calculated by the following formula (7) based on the control difference thrust F_diff, the real-time magnetic flux density B_real and the magnetic permeability u0.

[0210] (7)

[0211] Next, the obtained magnet adjustment area A_diff is used as a magnet control parameter.

[0212] Through the above steps 1801 to 1803, the control magnetic field strength and real-time speed emitted by the stator are controlled under the magnetic field control parameters to obtain the magnetic induction intensity received by the adjacent mover in this case, so as to use the magnetic induction intensity and magnetic permeability to accurately calculate the magnet adjustment area corresponding to the control differential thrust.

[0213] In some embodiments, after obtaining the magnet control parameter, i.e., the magnet adjustment area A_diff, the controllable magnets carried by the adjacent movers need to be adjusted so that the side of the controllable magnet perpendicular to the magnetic field direction of the control magnetic field emitted by the control stator increases or decreases the corresponding magnet adjustment area A_diff. Fig.19 , is a schematic diagram of controlling the magnetic field direction of the stator provided in an embodiment of the present application. Fig.19 As shown in the figure, in the magnetic drive system, the magnetic field direction of the control magnetic field emitted by the control stator is usually perpendicular to the maglev conveying track and upward, so the side of the controllable magnet perpendicular to the magnetic field direction is the bottom surface of the magnetic control magnet parallel to the maglev conveying track. In this case, adjusting the induced area of ​​the controllable magnet is to adjust the bottom surface area of ​​the controllable magnet affected by the control magnetic field.

[0214] Reference Fig. 20 , is a schematic diagram of a structure of a mover with a controllable magnet provided in an embodiment of the present application. Fig. 20 As shown, each mover carries a whole controllable magnet, and then a sliding magnetic blocking shell is arranged on the controllable magnet. The sliding magnetic blocking shell is made of some materials that block the magnetic field (such as lead-tin alloy, silver solder, cobalt alloy, aluminum-nickel-cobalt alloy, etc.) and is used to block the magnetic field. Fig. 20 The magnetic induction of a part of the controllable magnet surrounded by the sliding magnetic-resistance shell. By adjusting the left and right sliding of the sliding magnetic-resistance shell of the adjacent mover, the part of the controllable magnet of the adjacent mover that leaks out for magnetic induction with the control magnetic field can be synchronously adjusted, that is, the bottom surface area of ​​the controllable magnet affected by the control magnetic field can be adjusted, thereby providing the required control differential thrust F_diff for the adjacent mover, so as to adjust the running acceleration of the adjacent mover to reach the estimated acceleration A_est.

[0215] Reference Fig.21 , is another structural schematic diagram of a mover with a controllable magnet provided in an embodiment of the present application. Fig.21 As shown, each mover carries a controllable magnet composed of multiple small magnets. By adding or removing some small magnets of adjacent movers in real time, the bottom surface area of ​​the controllable magnet for magnetic induction with the control magnetic field can be adjusted, thereby providing the required control difference thrust F_diff for the adjacent movers to adjust the running acceleration of the adjacent movers to reach the estimated acceleration A_est. In addition, when some small magnets are removed, the magnetic plate of the mover also becomes smaller, so that the minimum safe distance between the movers can also be reduced.

[0216] Through the above steps 1601 to 1602, when multiple movers run together on the control stator, the magnet control parameters determined by the control differential thrust are used to control the controllable magnets of adjacent movers, thereby effectively avoiding the situation where the adjacent movers cannot run to the second stator position at the second estimated speed due to different thrusts received due to speed differences or weight differences between the movers, thereby improving the operating efficiency and accuracy of the adjacent movers in the magnetic drive system.

[0217] The embodiment of the present application proposes a mover control method and related equipment for a magnetic drive system, wherein the magnetic drive system includes multiple stators and at least one mover, and the method includes: first, obtaining the mover operation parameters of the mover after the target workpiece on the mover undergoes a first processing operation; then, determining a control stator from multiple stators based on the system preset parameters of the magnetic drive system, and determining a first distance based on the mover position and the first stator position, obtaining an intermediate speed loss of the mover during a third processing process, and calculating an initial estimated speed of the mover when it runs to the first stator position based on the position distance, the mover speed, and the mover acceleration, and based on the initial estimate The difference between the speed and the intermediate speed loss is used to obtain a first estimated speed; at the same time, a reference speed of the mover reaching the process position of the second machining operation is obtained, a second distance is determined based on the process position and the second stator position, and a second estimated speed is obtained based on the reference speed, the second distance and the mover acceleration; then, the stator length of the control stator is obtained, and the load weight of the mover and the target workpiece is obtained, a speed difference is obtained based on the difference between the second estimated speed and the first estimated speed, and a control acceleration is determined based on the speed difference and the stator length, and a control thrust is determined based on the control acceleration and the load weight; next, the maximum value of the control coil is obtained. The control current and the maximum control voltage are controlled, and the maximum coil power of the control coil is determined based on the maximum control current and the maximum control voltage, the control power is determined based on the control thrust and the second estimated speed, and the number of coils of the control coil is obtained based on the control power and the divisor of the maximum coil power, and the magnetic field control parameter is obtained based on the number of coils and the control power; in addition, the previous stator of the control stator is determined as the transition control stator, the current stator parameters of the stator where the mover is located at the current moment are obtained, and the transition control parameters of the transition control stator are obtained based on the average value of the current stator parameters and the magnetic field control parameters. When the mover runs to the transition control stator When the motion is controlled, the transition control stator is controlled according to the transition control parameters to control the operation of the mover; and, based on the motion operation parameters, a transition speed of the mover reaching the transition control stator is determined, based on the transition control parameters, a transition acceleration of the mover running on the transition control stator is determined, and a transition estimated speed is determined based on the transition acceleration, the transition speed and the transition stator length of the transition control stator, the first estimated speed is updated based on the transition estimated speed, and the magnetic field control parameters are updated based on the updated first estimated speed; finally, when the mover runs to the control stator, the operation acceleration of the mover is adjusted based on the control thrust corresponding to the magnetic field control parameters;In addition, when multiple movers run together on the control stator, the real-time operation data of the adjacent movers are obtained, the third distance between the adjacent mover position and the second stator position of the adjacent mover is determined, the estimated acceleration is obtained based on the third distance, the second estimated speed and the real-time speed, and the acceleration difference is obtained based on the difference between the estimated acceleration and the real-time acceleration, the control difference thrust is obtained based on the real-time weight and the acceleration difference, the control magnetic field intensity of the control stator under the magnetic field control parameter and the magnetic permeability of the adjacent mover are obtained, the real-time magnetic induction intensity of the adjacent mover is obtained based on the ratio of the control magnetic field intensity and the real-time speed, the magnet adjustment area is obtained based on the control difference thrust, the real-time magnetic induction intensity and the magnetic permeability, the magnet control parameter is obtained based on the magnet adjustment area, and the controllable magnet of the adjacent mover is controlled based on the magnet control parameter. ;

[0218] The embodiment of the present application utilizes the operating parameters of the mover after the first processing operation and the position of the control stator to accurately calculate the magnetic field control parameters for compensating for the speed loss of the mover after the first processing operation; at the same time, utilizes the reference speed when the mover arrives at the process position of the second processing operation, and combines the second distance and the mover acceleration to obtain the second estimated speed of the mover running to the second stator position as a reference value, so as to facilitate the subsequent use of the second estimated speed and the first estimated speed to accurately calculate the magnetic field control parameters for compensating for the speed loss; and, utilizes the speed difference between the first estimated speed and the second estimated speed, and combines the stator length to accurately obtain the control acceleration required for compensating for the speed loss, thereby utilizing the control acceleration and the load weight of the stator to calculate the control thrust required for controlling the stator to compensate for the speed loss of the mover; and utilizes the control power determined by the control thrust and the second estimated speed to determine the number of coils of the control coil, thereby utilizing the number of coils and the control power to further accurately obtain the magnetic field control parameters for compensating for the speed loss of the control stator. The magnetic field control parameters of the speed loss of the fill mover are used; in addition, on the transition control stator, the transition control parameters obtained by the average value of the magnetic field control parameters and the current stator parameters are used to control the operation of the mover, thereby improving the safety and transition smoothness of the mover running to the control stator; then on the control stator, the magnetic field control parameters are used to control the running acceleration of the mover to increase the running speed of the mover, so as to compensate for the speed loss of the mover and improve the running efficiency of the mover; in addition, safety issues such as collision caused by the speed difference between the previous mover and the next mover are effectively avoided; and when multiple movers run on the control stator together, the magnet control parameters determined by the control difference thrust are used to control the controllable magnets of adjacent movers, thereby effectively avoiding the situation where the adjacent movers cannot run to the second stator position at the second estimated speed due to the different thrusts received due to the speed difference or weight difference between the adjacent movers, thereby improving the running efficiency and accuracy of the adjacent movers in the magnetic drive system.

[0219] The present application also provides a mover control device for a magnetic drive system, which can implement the mover control method for the magnetic drive system. Fig. 22 , the device 2200 comprises:

[0220] An acquisition module 2210, configured to acquire a mover operation parameter of the mover after the target workpiece on the mover undergoes a first processing operation;

[0221] A magnetic field control parameter determination module 2220, for determining a control stator from a plurality of stators based on system preset parameters of the magnetic drive system, and determining a magnetic field control parameter according to a mover operation parameter and a first stator position of the control stator;

[0222] The operation control module 2230 is used to adjust the operation acceleration of the mover based on the control thrust corresponding to the magnetic field control parameter when the mover runs to the control stator.

[0223] In some embodiments, the magnetic field control parameter determination module 2220 is further used to:

[0224] determining a first distance based on the mover position and the first stator position;

[0225] Calculating a first estimated speed of the mover when it moves to the first stator position based on the first distance, the mover speed and the mover acceleration;

[0226] A second estimated speed is determined, and a control thrust is determined based on a difference between the first estimated speed and the second estimated speed, and a magnetic field control parameter is obtained based on the control thrust.

[0227] In some embodiments, the magnetic field control parameter determination module 2220 is further used to:

[0228] Obtaining a reference speed of the mover reaching a process position of a second machining operation, the process position being after a second stator position of the control stator, the first stator position and the second stator position being two end points of the control stator;

[0229] determining a second distance based on the process position and the second stator position;

[0230] A second estimated speed is obtained based on the reference speed, the second distance and the mover acceleration, where the second estimated speed is the running speed of the mover when it reaches the second stator position.

[0231] In some embodiments, the magnetic field control parameter determination module 2220 is further used to:

[0232] Obtaining the stator length of the control stator, and obtaining the load weight of the mover and the target workpiece;

[0233] obtaining a speed difference value based on a difference between the second estimated speed and the first estimated speed, and determining a control acceleration based on the speed difference value and a stator length;

[0234] The control thrust is determined based on the control acceleration and the load weight.

[0235] In some embodiments, the magnetic field control parameter determination module 2220 is further used to:

[0236] Acquire a maximum control current and a maximum control voltage of the control coil, and determine a maximum coil power of the control coil based on the maximum control current and the maximum control voltage;

[0237] determining a control power based on the control thrust and the second estimated speed, and obtaining the number of coils of the control coil based on a divisor of the control power and the maximum coil power;

[0238] The magnetic field control parameters are obtained based on the number of coils and the control power.

[0239] In some embodiments, the magnetic field control parameter determination module 2220 is further used to:

[0240] Obtaining the intermediate speed loss of the mover during the third processing process;

[0241] An initial estimated speed of the mover when it moves to the first stator position is calculated based on the first distance, the mover speed and the mover acceleration;

[0242] A first estimated speed is obtained based on a difference between the initial estimated speed and the intermediate speed loss.

[0243] In some embodiments, the magnetic field control parameter determination module 2220 is further used to:

[0244] Obtaining the weight change of the mover during the third processing process;

[0245] The control weight is obtained based on the change weight and the load weight;

[0246] The control thrust is determined based on the control acceleration and the control weight.

[0247] In some embodiments, the mover control device 2200 of the magnetic drive system further includes a transition stator control module 2240, and the transition stator control module 2240 is used to:

[0248] determining a previous stator of the control stator as a transition control stator;

[0249] Get the current stator parameters of the stator where the mover is located at the current moment;

[0250] Obtaining a transition control parameter of a transition control stator based on an average value of a current stator parameter and a magnetic field control parameter;

[0251] When the mover runs to the transition control stator, the transition control stator is controlled according to the transition control parameters to control the operation of the mover.

[0252] In some embodiments, the magnetic field control parameter determination module 2220 is further used to:

[0253] Determine the transition speed of the mover to the transition control stator based on the mover operation parameters;

[0254] Determine a transition acceleration of the mover running on the transition control stator based on the transition control parameter, and determine a transition estimated speed based on the transition acceleration, the transition speed, and the transition stator length of the transition control stator, wherein the transition estimated speed is the running speed of the mover when it reaches the first stator position under the control of the transition control stator;

[0255] The first estimated speed is updated based on the transition estimated speed, and the magnetic field control parameter is updated based on the updated first estimated speed.

[0256] In some embodiments, the mover control device 2200 of the magnetic drive system further includes an adjacent mover control module 2250, and the adjacent mover control module 2250 is used to:

[0257] Acquire real-time operation data of adjacent movers, and obtain a control difference thrust based on the real-time operation data and a second estimated speed;

[0258] The magnet control parameters of the adjacent movers are determined based on the control difference thrust, and the controllable magnets of the adjacent movers are controlled based on the magnet control parameters.

[0259] In some embodiments, the adjacent mover control module 2250 is further used to:

[0260] determining a third distance between an adjacent mover position and a second stator position of an adjacent mover;

[0261] Obtaining an estimated acceleration based on the third distance, the second estimated speed, and the real-time speed, and obtaining an acceleration difference based on a difference between the estimated acceleration and the real-time acceleration;

[0262] The control differential thrust is obtained based on the real-time weight and acceleration difference.

[0263] In some embodiments, the adjacent mover control module 2250 is further used to:

[0264] Obtaining the control magnetic field strength of the control stator under the magnetic field control parameters and the magnetic permeability of the adjacent mover;

[0265] The real-time magnetic induction intensity of the adjacent movers is obtained based on the ratio of the control magnetic field intensity and the real-time speed;

[0266] Based on the control difference thrust, the real-time magnetic induction intensity and the magnetic permeability, the magnet adjustment area is obtained, and the magnet control parameter is obtained based on the magnet adjustment area.

[0267] In the above embodiments, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, the specific implementation method of the mover control device of the magnetic drive system is basically the same as the specific implementation method of the mover control method of the above magnetic drive system, and will not be repeated here.

[0268] In the embodiment of the present application, the mover control device of the magnetic drive system uses the mover operating parameters after the mover undergoes a first processing operation and the position of the control stator to accurately calculate the magnetic field control parameters for compensating for the speed loss of the mover after the first processing operation; at the same time, the reference speed when the mover arrives at the process position of the second processing operation is used, and combined with the second distance and the mover acceleration, a second estimated speed of the mover running to the second stator position is obtained as a reference value, so as to facilitate the subsequent use of the second estimated speed and the first estimated speed to accurately calculate the magnetic field control parameters for compensating for the speed loss; and, the speed difference between the first estimated speed and the second estimated speed is used, and combined with the stator length, the control acceleration required to compensate for the speed loss is accurately obtained, so as to use the control acceleration and the load weight of the stator to calculate the control thrust required for controlling the stator to compensate for the speed loss of the mover; and, the control power determined by the control thrust and the second estimated speed is used to determine the number of coils of the control coil, so as to further accurately obtain the control using the number of coils and the control power. The magnetic field control parameters of the stator are used to compensate for the speed loss of the mover; in addition, on the transition control stator, the transition control parameters obtained by the average value of the magnetic field control parameters and the current stator parameters are used to control the operation of the mover, thereby improving the safety and transition smoothness of the mover running to the control stator; then on the control stator, the magnetic field control parameters are used to control the running acceleration of the mover to increase the running speed of the mover, so as to compensate for the speed loss of the mover and improve the running efficiency of the mover; in addition, safety problems such as collision caused by the speed difference between the previous mover and the next mover are effectively avoided; and when multiple movers run on the control stator together, the magnet control parameters determined by the control difference thrust are used to control the controllable magnets of adjacent movers, thereby effectively avoiding the situation where the adjacent movers cannot run to the second stator position at the second estimated speed due to the different thrusts received due to the speed difference or weight difference between the adjacent movers, thereby improving the running efficiency and accuracy of the adjacent movers in the magnetic drive system.

[0269] The present application also provides an electronic device, including:

[0270] at least one memory;

[0271] at least one processor;

[0272] at least one program;

[0273] The program is stored in the memory, and the processor executes the at least one program to implement the mover control method of the magnetic drive system implemented in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

[0274] See also Fig.23 , Fig.23 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0275] The processor 2301 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (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 the present application;

[0276] The memory 2302 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 2302 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 2302, and the processor 2301 calls and executes the mover control method of the magnetic drive system of the embodiment of this application;

[0277] Input / output interface 2303, used to implement information input and output;

[0278] Communication interface 2304, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0279] A bus 2305 that transmits information between various components of the device (e.g., processor 2301, memory 2302, input / output interface 2303, and communication interface 2304);

[0280] The processor 2301 , the memory 2302 , the input / output interface 2303 and the communication interface 2304 are connected to each other in communication within the device via the bus 2305 .

[0281] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the mover control method of the magnetic drive system is implemented.

[0282] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0283] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0284] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0285] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0286] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0287] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0288] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0289] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0290] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0291] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0292] If the integrated unit is implemented in the form of 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 the present application, 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, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0293] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for controlling a mover of a magnetic drive system, characterized in that: The magnetic drive system comprises a plurality of stators and at least one mover, and the method comprises: After the target workpiece on the mover undergoes a first machining operation, obtaining a mover operation parameter of the mover; Determining a control stator from the plurality of stators based on system preset parameters of the magnetic drive system, and determining a magnetic field control parameter according to the mover operation parameter and a first stator position of the control stator; When the mover runs to the control stator, adjusting the running acceleration of the mover based on the control thrust corresponding to the magnetic field control parameter; The mover operation parameters include a mover position, a mover speed, and a mover acceleration, and the determining of the magnetic field control parameters according to the mover operation parameters and the first stator position of the control stator includes: determining a first distance based on the mover position and the first stator position; Calculating a first estimated speed of the mover when the mover moves to the first stator position based on the first distance, the mover speed and the mover acceleration; determining a second estimated speed, determining a control thrust based on a difference between the first estimated speed and the second estimated speed, and obtaining the magnetic field control parameter based on the control thrust; The determining of the second estimated speed comprises: Acquire a reference speed of the mover reaching a process position of a second machining operation, wherein the process position is after a second stator position of the control stator, and the first stator position and the second stator position are two end points of the control stator; determining a second distance based on the process position and the second stator position; The second estimated speed is obtained based on the reference speed, the second distance, and the mover acceleration, where the second estimated speed is the running speed of the mover when it reaches the second stator position.

2. The mover control method of the magnetic drive system according to claim 1, characterized in that: The determining the control thrust based on the difference between the first estimated speed and the second estimated speed comprises: Acquiring the stator length of the control stator, and acquiring the load weight of the mover and the target workpiece; obtaining a speed difference value based on a difference between the second estimated speed and the first estimated speed, and determining a control acceleration based on the speed difference value and the stator length; The control thrust is determined based on the control acceleration and the load weight.

3. The mover control method of the magnetic drive system according to claim 1, characterized in that: The stator includes a plurality of control coils, and the magnetic field control parameter is obtained based on the control thrust, including: Acquire a maximum control current and a maximum control voltage of the control coil, and determine a maximum coil power of the control coil based on the maximum control current and the maximum control voltage; determining a control power based on the control thrust and the second estimated speed, and obtaining the number of coils of the control coil based on a divisor of the control power and the maximum coil power; The magnetic field control parameter is obtained based on the number of coils and the control power.

4. The mover control method of the magnetic drive system according to claim 2, characterized in that: When there is a third processing flow between the mover position and the first stator position, the first estimated speed of the mover when running to the first stator position is calculated based on the first distance, the mover speed and the mover acceleration, including: Obtaining an intermediate speed loss of the mover during the third processing flow; Calculating an initial estimated speed of the mover when the mover moves to the first stator position based on the first distance, the mover speed and the mover acceleration; The first estimated speed is obtained based on a difference between the initial estimated speed and the intermediate speed loss.

5. The mover control method of the magnetic drive system according to claim 4, characterized in that: The determining the control thrust based on the control acceleration and the load weight comprises: Obtaining a weight change of the mover during the third processing process; obtaining a control weight based on the change weight and the load weight; The control thrust is determined based on the control acceleration and the control weight.

6. The mover control method of the magnetic drive system according to claim 1, characterized in that: The method further comprises: Determining a stator preceding the control stator as a transition control stator; Obtaining current stator parameters of the stator where the mover is located at the current moment; Obtaining a transition control parameter of the transition control stator based on an average value of the current stator parameter and the magnetic field control parameter; When the mover moves to the transition control stator, the transition control stator is controlled according to the transition control parameter to control the operation of the mover.

7. The mover control method of the magnetic drive system according to claim 6, characterized in that: The method further comprises: Determining a transition speed of the mover to the transition control stator based on the mover operation parameters; Determine a transition acceleration of the mover running on the transition control stator based on the transition control parameter, and determine a transition estimation speed based on the transition acceleration, the transition speed, and a transition stator length of the transition control stator, wherein the transition estimation speed is the running speed of the mover when it reaches the first stator position under the control of the transition control stator; The first estimated speed is updated based on the transition estimated speed, and the magnetic field control parameter is updated based on the updated first estimated speed.

8. The mover control method of the magnetic drive system according to claim 1, characterized in that: The mover is equipped with a controllable magnet, and when the mover and another adjacent mover both run on the control stator, the method further includes: Acquiring real-time operating data of the adjacent movers, and obtaining a control difference thrust based on the real-time operating data and the second estimated speed; A magnet control parameter of the adjacent mover is determined based on the control difference thrust, and the controllable magnet of the adjacent mover is controlled based on the magnet control parameter.

9. The mover control method of the magnetic drive system according to claim 8, characterized in that: The real-time operation data includes real-time weight, real-time speed and real-time acceleration, and obtaining the control difference thrust based on the real-time operation data and the second estimated speed includes: determining a third distance between an adjacent mover position of the adjacent mover and the second stator position; Obtaining an estimated acceleration based on the third distance, the second estimated speed, and the real-time speed, and obtaining an acceleration difference based on a difference between the estimated acceleration and the real-time acceleration; The control difference thrust is obtained based on the real-time weight and the acceleration difference.

10. The mover control method of the magnetic drive system according to claim 9, characterized in that: The determining of the magnet control parameters of the adjacent movers based on the control difference thrust comprises: Acquire the control magnetic field strength of the control stator under the magnetic field control parameter and the magnetic permeability of the adjacent mover; Obtaining the real-time magnetic induction intensity received by the adjacent movers based on the ratio of the control magnetic field intensity to the real-time speed; Based on the control difference thrust, the real-time magnetic induction intensity and the magnetic permeability, the magnet adjustment area is obtained, and based on the magnet adjustment area, the magnet control parameter is obtained.

11. A mover control device for a magnetic drive system, characterized in that: The magnetic drive system comprises a plurality of stators and at least one mover, and the device comprises: An acquisition module, used for acquiring a mover operation parameter of the mover after a target workpiece on the mover undergoes a first processing operation; A magnetic field control parameter determination module, used to determine a control stator from the plurality of stators based on system preset parameters of the magnetic drive system, and determine a magnetic field control parameter according to the mover operation parameter and a first stator position of the control stator; An operation control module, used for adjusting the operation acceleration of the mover based on the control thrust corresponding to the magnetic field control parameter when the mover runs to the control stator; The mover operation parameters include a mover position, a mover speed, and a mover acceleration, and the determining of the magnetic field control parameters according to the mover operation parameters and the first stator position of the control stator includes: determining a first distance based on the mover position and the first stator position; Calculating a first estimated speed of the mover when the mover moves to the first stator position based on the first distance, the mover speed and the mover acceleration; determining a second estimated speed, determining a control thrust based on a difference between the first estimated speed and the second estimated speed, and obtaining the magnetic field control parameter based on the control thrust; The determining of the second estimated speed comprises: Acquire a reference speed of the mover reaching a process position of a second machining operation, wherein the process position is after a second stator position of the control stator, and the first stator position and the second stator position are two end points of the control stator; determining a second distance based on the process position and the second stator position; The second estimated speed is obtained based on the reference speed, the second distance, and the mover acceleration, where the second estimated speed is the running speed of the mover when it reaches the second stator position.

12. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the mover control method of the magnetic drive system according to any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mover control method of the magnetic drive system according to any one of claims 1 to 10 is implemented.

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