Multi-mover linear motor control method, system, and medium

Abstract

The application discloses a kind of multi-mover linear motor control method, system and medium, and mover temporary parking area is arranged between multiple workstations, after production line is started, the state attribute item of each work station on production line and the operation state of each mover are detected in real time by control system, after detecting that current mover completes the operation of current work station process, whether next work station is idle is judged;If yes, control current mover to move to next work station;Otherwise, whether the temporary parking stack of temporary parking area is full is judged, if yes, wait, otherwise control current mover to move to the position corresponding to temporary parking stack.The application carries out preemptive mutual exclusion control to each work station, and sets up mover temporary parking area between work station, to first-in first-out stack thinking to manage, can realize the effective control of multi-mover linear motor, greatly improve the utilization efficiency of work station and mover moving efficiency and carrying efficiency.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a control method, system and medium for a multi-moving linear motor. Background Technology

[0002] For multi-moving linear motors, such as applications with two or more moving units and one or more workstations on a track, the existing control flow and approach is to wait for the first moving unit to complete its work at the first workstation and move to the next workstation before the second moving unit moves to the first workstation to perform its work. This process repeats for N moving units and N workstations, requiring the previous moving unit to complete its work and move to the next workstation to make room before the next moving unit begins its movement. This pattern applies to every work cycle in the production line. This control method leads to frequent waiting and congestion because the time required for each workstation to complete its process at a given node is inconsistent. Therefore, the existing control method has low workstation utilization efficiency, as congestion at any one workstation can block an entire process on the production line, resulting in low overall production line utilization. Summary of the Invention

[0003] The main objective of this invention is to provide a control method, system, and medium for multi-moving linear motors, which can achieve effective control of multi-moving linear motors and improve the utilization efficiency of workstations.

[0004] To achieve the above objectives, this invention proposes a multi-moving linear motor control method. The method is applied to a multi-moving linear motor control system, wherein the linear motor is configured with multiple moving parts and at least one workstation on a production line, and a temporary stopping area for the moving parts is provided between the multiple workstations. The method includes the following steps:

[0005] After the production line is started, the control system monitors the status attributes of each workstation and the operating status of each actuator in real time. The status attributes of the workstation include idle status and occupied status.

[0006] After detecting that the current mover has completed the operation of the current workstation, determine whether the next workstation is idle;

[0007] If so, then control the current moving part to move to the next work station;

[0008] Otherwise, check if the temporary docking stack in the temporary docking area is full. If so, wait; otherwise, move the current mover to the corresponding position on the temporary docking stack.

[0009] The method further includes:

[0010] After detecting that the mover of the previous process has left the current workstation, the status of the current workstation is updated to idle, and the mover of the next process is controlled to move to the current workstation to perform the operation.

[0011] The step of controlling the current mover to move to the position corresponding to the temporary docking stack includes:

[0012] Based on the starting position of the temporary docking area and the number of elements in the temporary docking stack of the temporary docking area, determine the position of the current mover and control the current mover to move to the corresponding element position in the temporary docking stack.

[0013] The step of detecting the status attributes of each workstation and the operating status of each actuator in real time through the control system after the production line is started also includes the following:

[0014] Each workstation is numbered according to the work sequence, a status attribute is set for each workstation, and the absolute value of the physical location of each workstation on the production line is set.

[0015] The step of detecting the status attributes of each workstation and the operating status of each actuator in real time through the control system after the production line is started also includes the following:

[0016] Set the start and end positions of the temporary docking area, as well as the number of elements in the temporary docking stack of the temporary docking area; set the dynamic sub-attribute items.

[0017] The temporary docking stack adopts a first-in-first-out (FIFO) docking stack management strategy; the moving part attributes include one or more of the following: moving part length, width, current position, current process, current state, next moving target position, and movement speed.

[0018] In this context, all movers on the generation line share a single zero-point homing initialization, or share multiple zero-point homing initializations.

[0019] The production line includes one or more material inlets.

[0020] The present invention also proposes a multi-moving linear motor control system, the system including a memory and a processor, the memory storing a computer program, and the computer program being executed by the processor to implement the multi-moving linear motor control method as described above.

[0021] The present invention also proposes a computer storage medium storing a computer program, which, when executed by a processor, implements the multi-motion linear motor control method described above.

[0022] This invention proposes a control method, system, and medium for multi-moving linear motors. The linear motor is configured with multiple motor movesrs and at least one workstation on a production line. Temporary parking areas for the movesrs are set between the workstations. After the production line starts, the control system monitors the status attributes of each workstation and the operating status of each mover in real time. The status attributes of each workstation include idle and occupied states. After detecting that the current mover has completed the operation at the current workstation, it determines whether the next workstation is idle. If so, the current mover is controlled to move to the next workstation; otherwise, it determines whether the temporary parking stack in the temporary parking area is full. If so, it waits; otherwise, the current mover is controlled to move to the corresponding position in the temporary parking stack. The control scheme proposed in this invention treats each workstation as a key resource for improving the production line's operating efficiency. "Preemptive mutual exclusion" control is applied to each workstation, and temporary parking areas are set between workstations, managed using a first-in, first-out (FIFO) stack approach. This enables effective control of multi-moving linear motors, significantly improving the utilization efficiency of workstations, as well as the moving and carrying efficiency of the movesrs. When the operation time of each work station is not consistent, the solution of the present invention can reduce the total blocking time of all stations of the production line, thereby improving the operating efficiency of the production line. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating the multi-moving linear motor control method of the present invention. Detailed Implementation

[0024] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0025] Reference Figure 1 This invention proposes a method for initial phase detection of a permanent magnet synchronous motor, the method comprising the following steps:

[0026] This invention proposes a control method for a multi-movement linear motor. The method is applied to a multi-movement linear motor control system. The linear motor is configured with multiple motor movers and at least one workstation on a production line, and a temporary stop area for the movers is provided between the multiple workstations. The method includes the following steps:

[0027] Step S1: After the production line is started, the control system detects the status attributes of each workstation and the operating status of each actuator in real time. The status attributes of the workstation include idle status and occupied status.

[0028] Step S2: After detecting that the current mover has completed the operation of the current workstation, determine whether the next workstation is idle;

[0029] Step S3: If yes, control the current mover to move to the next work station; otherwise, determine whether the temporary docking stack in the temporary docking area is full. If yes, wait; otherwise, control the current mover to move to the position corresponding to the temporary docking stack.

[0030] Furthermore, the method also includes:

[0031] After detecting that the mover of the previous process has left the current workstation, the status of the current workstation is updated to idle, and the mover of the next process is controlled to move to the current workstation to perform the operation.

[0032] The step of controlling the current mover to move to the position corresponding to the temporary docking stack includes:

[0033] Based on the starting position of the temporary docking area and the number of elements in the temporary docking stack of the temporary docking area, determine the position of the current mover and control the current mover to move to the corresponding element position in the temporary docking stack.

[0034] The step of detecting the status attributes of each workstation and the operating status of each actuator in real time through the control system after the production line is started also includes the following:

[0035] Each workstation is numbered according to the work sequence, a status attribute is set for each workstation, and the absolute value of the physical location of each workstation on the production line is set.

[0036] The step of detecting the status attributes of each workstation and the operating status of each actuator in real time through the control system after the production line is started also includes the following:

[0037] Set the start and end positions of the temporary docking area, as well as the number of elements in the temporary docking stack of the temporary docking area.

[0038] The temporary docking stack adopts a first-in-first-out (FIFO) docking stack management strategy.

[0039] In this context, all movers on the generation line share a single zero-point homing initialization, or share multiple zero-point homing initializations.

[0040] The production line includes one or more material inlets.

[0041] The control scheme proposed in this invention treats each workstation as a key resource for improving the production line's operational efficiency. It employs a "preemptive, mutually exclusive" control mechanism for each workstation and establishes temporary stopping areas for the moving parts between workstations, managing these areas using a first-in, first-out (FIFO) stack approach. This enables effective control of multi-moving linear motors, significantly improving workstation utilization efficiency, as well as moving part efficiency and carrying efficiency. Even when the operation times at each workstation are inconsistent, this invention reduces the total blocking time across all workstations on the production line, thereby improving the overall production line efficiency.

[0042] The overall flow of the multi-moving linear motor control method of the present invention is described in detail below:

[0043] First, each workstation is numbered according to the work sequence, and status attributes are set for each workstation, including idle status and occupied status. These attributes are detected and updated in real time by the control system. At the same time, the absolute value of the physical location of each workstation on the production line is set.

[0044] In addition, temporary docking areas are set up between each workstation, accommodating one or more movers. Each temporary docking area is numbered, and its start and end positions are defined. A temporary docking stack is established within each temporary docking area and managed using a "first-in, first-out" (FIFO) "docking stack" strategy. Each temporary docking stack contains multiple elements, with one mover using one element per stack. The number of moves a temporary docking area can accommodate corresponds to the number of elements the temporary docking stack can hold. When the stack is full, subsequent moves must wait.

[0045] In this embodiment, the mover is abstracted as an object for management, and mover attribute items are set. The mover attribute items include: mover length, width, current position, current process, current state, next target position, and movement speed. Other motor parameters should be set according to engineering requirements and will not be detailed here.

[0046] Secondly, after the production line starts and the mover is initialized, the control system detects that the mover has completed the operation of the current workstation. It then determines whether the previous workstation is idle. If so, the mover moves directly to the next workstation. Otherwise, it checks whether the temporary docking stack is full. If the temporary docking stack is full, the mover waits. Otherwise, the mover moves to the temporary docking area. The position of the mover is determined based on the starting position and the number of elements in the temporary docking area.

[0047] In this process, after the mover of the previous process leaves the workstation, the status of the workstation is updated to idle, and the mover of the next process immediately moves to the workstation to perform the operation.

[0048] Compared to existing control methods, the control scheme of this invention manages workstations on the production line using mutually exclusive resources. By setting up temporary stopping areas between workstations and managing these areas using a first-in, first-out (FIFO) stack approach, this scheme can improve the movement efficiency of the moving parts by 50% when there are N workstations and N moving parts, and the operation time of each process is equal. When there are N workstations and N+M moving parts, this scheme improves the carrying efficiency of M moving parts. Here, M and N are both positive integers.

[0049] Furthermore, when the operation time at each workstation is inconsistent, this solution can reduce the total blocking time at all stations on the production line and improve operational efficiency.

[0050] Furthermore, this solution supports all movers on the production line sharing a single zero-point homing initialization, and also supports multiple zero-point mover homing initializations. In addition, this solution supports situations where there are only one or more production material inlets on the production line. In cases where movers undergo multiple zero-point homing initializations and multiple inlets are present, the efficiency of this solution can be further improved.

[0051] Furthermore, the present invention also proposes a multi-moving linear motor control system, the system including a memory and a processor, the memory storing a computer program, and the computer program being executed by the processor to implement the multi-moving linear motor control method as described above.

[0052] The present invention also proposes a computer storage medium storing a computer program, which, when executed by a processor, implements the multi-motion linear motor control method described above.

[0053] This invention proposes a control method, system, and medium for multi-moving linear motors. The linear motor is configured with multiple motor movesrs and at least one workstation on a production line. Temporary parking areas for the movesrs are set between the workstations. After the production line starts, the control system monitors the status attributes of each workstation and the operating status of each mover in real time. The status attributes of each workstation include idle and occupied states. After detecting that the current mover has completed the operation at the current workstation, it determines whether the next workstation is idle. If so, the current mover is controlled to move to the next workstation; otherwise, it determines whether the temporary parking stack in the temporary parking area is full. If so, it waits; otherwise, the current mover is controlled to move to the corresponding position in the temporary parking stack. The control scheme proposed in this invention treats each workstation as a key resource for improving the production line's operating efficiency. "Preemptive mutual exclusion" control is applied to each workstation, and temporary parking areas are set between workstations, managed using a first-in, first-out (FIFO) stack approach. This enables effective control of multi-moving linear motors, significantly improving the utilization efficiency of workstations, as well as the moving and carrying efficiency of the movesrs. When the operation time of each work station is not consistent, the solution of the present invention can reduce the total blocking time of all stations of the production line, thereby improving the operating efficiency of the production line.

[0054] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Equivalent structural or procedural transformations made using the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A control method for a multi-moving linear motor, characterized in that, The method is applied to a multi-mover linear motor control system, wherein the linear motor is configured with multiple motor movesrs and at least one workstation on the production line, and a temporary stop area for the movesrs is set between the multiple workstations. "Preemptive mutual exclusion" control is performed on each workstation. The method includes the following steps: After the production line is started, the control system monitors the status attributes of each workstation and the operating status of each actuator in real time. The status attributes of the workstation include idle status and occupied status. After detecting that the current mover has completed the operation of the current workstation, determine whether the next workstation is idle; If so, then control the current moving part to move to the next work station; Otherwise, determine whether the temporary docking stack in the temporary docking area is full. If so, wait; otherwise, control the current mover to move to the corresponding position on the temporary docking stack. The temporary docking stack adopts a first-in-first-out (FIFO) docking stack management strategy. All movers on the production line share a single zero-point homing initialization or share multiple zero-point homing initializations. The production line includes one or more production material inlets. The method further includes: After detecting that the mover of the previous process has left the current workstation, the status of the current workstation is updated to idle, and the mover of the next process is controlled to move to the current workstation to perform the operation.

2. The method according to claim 1, characterized in that, The step of controlling the current mover to move to the position corresponding to the temporary docking stack includes: Based on the starting position of the temporary docking area and the number of elements in the temporary docking stack of the temporary docking area, determine the position of the current mover and control the current mover to move to the corresponding element position in the temporary docking stack.

3. The method according to claim 1, characterized in that, Before the step of real-time detection of the status attributes of each workstation and the operating status of each actuator on the production line after the production line is started, the following steps are included: Each workstation is numbered according to the work sequence, a status attribute is set for each workstation, and the absolute value of the physical location of each workstation on the production line is set.

4. The method according to claim 1, characterized in that, Before the step of real-time detection of the status attributes of each workstation and the operating status of each actuator on the production line after the production line is started, the following steps are included: Set the start and end positions of the temporary docking area, as well as the number of elements in the temporary docking stack of the temporary docking area; set the dynamic sub-attribute items.

5. The method according to claim 4, characterized in that, The moving part attributes include one or more of the following: moving part length, width, current position, current process, current state, next target position, and movement speed.

6. A control system for a multi-moving linear motor, characterized in that, The system includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the multi-moving linear motor control method as described in any one of claims 1-5.

7. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, implements the multi-moving linear motor control method as described in any one of claims 1-5.

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