Control method and device for improving running speed of sectional type linear motor
By updating and compensating the power angle in a segmented linear motor, the long control cycle problem caused by long lines is solved, the average thrust of the motor and the maximum running speed of the mover are improved, and the fast motion needs are met.
Patent Information
- Application Number
- CN202410032999.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-09
- Publication Date
- 2024-12-24
AI Technical Summary
In a segmented linear motor system, long lines lead to a lot of interactive information between the stator segment and the upper computer, and a long control period, making it difficult to meet the requirements of rapid movement of the motor.
During the motor operation, the power angle is updated periodically according to the control period of the speed ring, the target thrust is calculated, and the magnetic field angle compensation is performed between the power angle updates, and the motor is controlled to operate according to the compensation power angle to improve the maximum operating speed of the mover .
Through periodic update and compensation of the work angle, the average thrust of the motor is improved, the need for rapid operation of the motor is met, and the stability and speed of the motor thrust are improved.
Smart Images
Figure CN119182315A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of motor control technology, and in particular to a control method and device for improving the operating speed of a segmented linear motor. Background Art
[0002] A linear motor is a transmission device that converts electrical energy directly into linear motion mechanical energy without the need for any intermediate conversion mechanism. Due to its simple structure, high positioning accuracy, and fast response speed, the application areas of linear motors are becoming increasingly wide.
[0003] During the operation of the linear motor system, in fact, only the stator coil corresponding to the motor mover generates traction or thrust, and the rest of the stator coils have no practical effect. Therefore, in the process of long-distance linear transportation, if the entire line of the mover movement is designed as a whole linear motor, it will significantly increase energy consumption, and when part of the stator is damaged, the entire line will be affected. In order to save traction energy and improve the maintainability of the line, a segmented spliced linear motor is usually used. During operation, this linear motor only needs to energize the stator coil corresponding to the mover, and if a section of the stator is damaged, the stator can be flexibly replaced. The above-mentioned segmented linear motor system is widely used in medical, 3C industry, logistics and other industries.
[0004] In order to control the current of each stator segment and improve the coordination of the motor system, a unified control method is usually adopted for the stator segments in the segmented linear motor system. First, the position of each mover is received by the host computer, and then the target current of the stator segment corresponding to the mover is uniformly calculated according to the needs, and then the target current is sent to the stator segment controller, and the current of the stator coil is provided by the stator segment controller. In this mode, the longer the line is, the more information the stator segment and the host computer need to interact, the longer the cycle of each target current calculation is, and the longer the control cycle of the motor system is, which limits the real-time performance of the system and makes it difficult to meet the requirements of fast movement of the mover. Summary of the invention
[0005] Based on this, it is necessary to provide a control method and device for improving the running speed of a segmented linear motor, which can increase the running speed of the mover when the segmented linear motor has a certain control cycle, in order to solve the above technical problems.
[0006] A control method for improving the running speed of a segmented linear motor, the method comprising:
[0007] During the operation of the mover of the segmented linear motor, the power angle of the motor is periodically updated according to the control period of the speed loop, the target thrust of the motor operation is calculated by the updated target power angle, and the mover is controlled to periodically operate at the target speed according to the target thrust;
[0008] After obtaining the currently updated target power angle, the timer starts timing, and before the power angle is updated next time, the running distance of the mover in one control cycle is calculated based on the current running speed of the mover and the control cycle of the speed loop. After converting the running distance into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, and the motor is controlled to run according to the compensated power angle before the power angle is updated next time.
[0009] In one embodiment, the thrust of the motor is a sinusoidal function value of the power angle multiplied by a set proportional number k, and k is greater than zero.
[0010] In one embodiment, the target power angle is 90°.
[0011] In one embodiment, according to the current running speed of the mover and the control period of the speed loop, the running distance of the mover in one control period is calculated, and after the running distance is converted into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, including:
[0012] According to the current running speed of the mover and the control cycle of the speed loop, the running distance of the mover in one control cycle is calculated. After the running distance is converted into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle to obtain the compensated power angle of the motor, which is expressed as
[0013]
[0014] Among them, θ0 is the target power angle, v is the current running speed of the actuator, T is the control period of the speed loop, S is the magnetic field period of the motor, and one magnetic field period corresponds to 360°. is the magnetic field angle at which the mover operates in one control cycle.
[0015] In one of the embodiments, the method further includes: when the power angle is updated for the next time, the timer stops timing, and after the next power angle update is completed, the timer restarts timing.
[0016] A control device for improving the running speed of a segmented linear motor, the device comprising:
[0017] An updating module is used to periodically update the power angle of the motor according to the control period of the speed loop during the operation of the mover of the segmented linear motor, calculate the target thrust of the motor operation by updating the target power angle, and control the mover to periodically run at the target speed according to the target thrust;
[0018] The compensation module is used to start the timer after obtaining the currently updated target power angle, and before the power angle is updated next time, calculate the running distance of the mover within a control cycle according to the current running speed of the mover and the control cycle of the speed loop, convert the running distance into the magnetic field angle of the mover, compensate the power angle of the motor according to the magnetic field angle, and control the motor to run according to the compensated power angle before the power angle is updated next time.
[0019] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:
[0020] During the operation of the mover of the segmented linear motor, the power angle of the motor is periodically updated according to the control period of the speed loop, the target thrust of the motor operation is calculated by the updated target power angle, and the mover is controlled to periodically operate at the target speed according to the target thrust;
[0021] After obtaining the currently updated target power angle, the timer starts timing, and before the power angle is updated next time, the running distance of the mover in one control cycle is calculated based on the current running speed of the mover and the control cycle of the speed loop. After converting the running distance into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, and the motor is controlled to run according to the compensated power angle before the power angle is updated next time.
[0022] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:
[0023] During the operation of the mover of the segmented linear motor, the power angle of the motor is periodically updated according to the control period of the speed loop, the target thrust of the motor operation is calculated by the updated target power angle, and the mover is controlled to periodically operate at the target speed according to the target thrust;
[0024] After obtaining the currently updated target power angle, the timer starts timing, and before the power angle is updated next time, the running distance of the mover in one control cycle is calculated based on the current running speed of the mover and the control cycle of the speed loop. After converting the running distance into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, and the motor is controlled to run according to the compensated power angle before the power angle is updated next time.
[0025] The above-mentioned control method and device for improving the running speed of a segmented linear motor can periodically update the running speed of the mover according to the updated target power angle by updating the control power angle of the motor according to the control cycle of the speed loop during the running of the motor, and compensate the motor power angle according to the magnetic field angle of the mover running in one control cycle during the time between two updates of the motor power angle, so as to control the motor to run according to the compensated power angle before the next update of the power angle. This method can periodically update and compensate the power angle of the motor, thereby improving the average thrust of the motor and thus improving the maximum running speed of the mover, and meeting the demand for fast running of the mover in the motor. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 It is a flow chart of a control method for improving the running speed of a segmented linear motor in one embodiment;
[0027] Figure 2 It is a structural block diagram of a control device for improving the running speed of a segmented linear motor in one embodiment;
[0028] Figure 3 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION
[0029] 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.
[0030] In one embodiment, Figure 1 As shown, a control method for improving the running speed of a segmented linear motor is provided, comprising the following steps:
[0031] Step S1, during the operation of the mover of the segmented linear motor, the power angle of the motor is periodically updated according to the control period of the speed loop, the target thrust of the motor operation is calculated by updating the target power angle, and the mover is controlled to periodically operate at the target speed according to the target thrust. Specifically, the target power angle is 90°, and the thrust of the motor operation is the sine function value of the power angle multiplied by a set ratio k, and k is greater than zero.
[0032] It can be understood that when the target power angle of the motor is set to 90° and the proportional number is constant, the target thrust calculated based on the target power angle is the maximum, so that the mover can be controlled to reach the maximum operating speed based on the maximum thrust.
[0033] Step S2, after obtaining the currently updated target power angle, the timer starts timing, and before the power angle is updated next time, the running distance of the mover in one control cycle is calculated according to the current running speed of the mover and the control cycle of the speed loop, and after converting the running distance into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, and the motor is controlled to operate according to the compensated power angle before the power angle is updated next time.
[0034] It can be understood that although the power angle can be periodically updated according to the control cycle of the speed loop, and then the running speed of the rotor can be periodically updated, when the control cycle is long, the maximum running speed of the rotor can only be reached when the power angle is updated to the target power angle. In the time between two power angle updates, due to the change in the running position of the rotor, the power angle of the motor does not meet the conditions of the target power angle, resulting in a decrease in the running speed of the rotor. Therefore, the present application performs power angle compensation in the speed loop during the time between two updates of the motor power angle. By compensating the power angle, the motor is controlled to operate according to the compensated thrust, thereby increasing the maximum running speed of the rotor and achieving smooth operation of the rotor while meeting the demand for rapid operation of the rotor.
[0035] In one embodiment, according to the current running speed of the mover and the control period of the speed loop, the running distance of the mover in one control period is calculated, and after the running distance is converted into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, including:
[0036] According to the current running speed of the mover and the control cycle of the speed loop, the running distance of the mover in one control cycle is calculated. After the running distance is converted into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle to obtain the compensated power angle of the motor, which is expressed as
[0037]
[0038] Among them, θ0 is the target power angle, v is the current running speed of the actuator, T is the control period of the speed loop, S is the magnetic field period of the motor, and one magnetic field period corresponds to 360°. is the magnetic field angle at which the mover operates in one control cycle.
[0039] In one of the embodiments, the method further includes: when the power angle is updated for the next time, the timer stops timing, and after the next power angle update is completed, the timer restarts timing.
[0040] In a specific embodiment, the specific parameters of the segmented linear motor further prove the beneficial effect of a control method for improving the running speed of the segmented linear motor provided by the present application: specifically, the running speed of the mover is 4 meters per second, the control period of the speed loop is 1 millisecond, and the pole pitch of the motor is 10mm (the magnetic field period is 20mm, and one magnetic field period corresponds to 360°). If the power angle calculated and updated within the control period is 90°, then after 1 millisecond (before the next power angle update calculation is completed), the mover runs 4 millimeters, and the corresponding running magnetic field angle is (4 / 20)*360=72°, and the power angle is (90°-72°)=18° at this time. Assuming that the maximum thrust of the motor is 1 when the power angle is 90°, when the power angle is 18°, the thrust of the motor is sin(18°)=0.3, which is only 30% of the maximum thrust. Under this condition, not only the thrust fluctuation is large, but also the thrust of the motor is significantly reduced, so that the maximum speed of the mover is low.
[0041] Therefore, the present application starts the timing after the first power angle update calculation is completed, and before the second power angle update calculation is completed, according to the current operating speed of the mover and the control period of the speed loop, the target power angle is added to the magnetic field angle corresponding to 1 / 2 of the mover's motion displacement during the time between the two calculations. For example, when the speed is 4 mm / ms, the power angle compensation is 90+(2 / 20)*360=126°, sin(126°)=0.81. In this way, before the next power angle update is completed, the power angle will change to 126-(4 / 20)*360=54°, sin(54°)=0.81. It can be seen from this that at any time, the value of the motor thrust is above 81% of the maximum value. As a result, the thrust of the motor is relatively stable, and the average thrust is significantly increased, so that the maximum speed of the mover is improved.
[0042] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.
[0043] In one embodiment, Figure 2 As shown, a control device for improving the running speed of a segmented linear motor is provided, comprising:
[0044] The updating module 201 is used to periodically update the power angle of the motor according to the control period of the speed loop during the operation of the mover of the segmented linear motor, calculate the target thrust of the motor operation by updating the target power angle, and control the mover to periodically run at the target speed according to the target thrust.
[0045] The compensation module 202 is used to start the timer after obtaining the currently updated target power angle, and before the power angle is updated next time, calculate the running distance of the mover within one control cycle according to the current running speed of the mover and the control cycle of the speed loop, convert the running distance into the magnetic field angle of the mover, compensate the power angle of the motor according to the magnetic field angle, and control the motor to operate according to the compensated power angle before the power angle is updated next time.
[0046] For the specific definition of the control device for improving the operating speed of the segmented linear motor, please refer to the definition of the control method for improving the operating speed of the segmented linear motor mentioned above, which will not be repeated here. Each module in the above-mentioned control device for improving the operating speed of the segmented linear motor can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
[0047] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for improving the operating speed of a segmented linear motor is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.
[0048] Those skilled in the art will understand that Figure 3The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.
[0049] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:
[0050] During the operation of the mover of the segmented linear motor, the power angle of the motor is periodically updated according to the control period of the speed loop, the target thrust of the motor operation is calculated by the updated target power angle, and the mover is controlled to periodically operate at the target speed according to the target thrust;
[0051] After obtaining the currently updated target power angle, the timer starts timing, and before the power angle is updated next time, the running distance of the mover in one control cycle is calculated based on the current running speed of the mover and the control cycle of the speed loop. After converting the running distance into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, and the motor is controlled to run according to the compensated power angle before the power angle is updated next time.
[0052] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:
[0053] During the operation of the mover of the segmented linear motor, the power angle of the motor is periodically updated according to the control period of the speed loop, the target thrust of the motor operation is calculated by the updated target power angle, and the mover is controlled to periodically operate at the target speed according to the target thrust;
[0054] After obtaining the currently updated target power angle, the timer starts timing, and before the power angle is updated next time, the running distance of the mover in one control cycle is calculated based on the current running speed of the mover and the control cycle of the speed loop. After converting the running distance into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, and the motor is controlled to run according to the compensated power angle before the power angle is updated next time.
[0055] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
[0056] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0057] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.
Claims
1. A control method for improving the running speed of a segmented linear motor, characterized in that: The method comprises: During the operation of the mover of the segmented linear motor, the power angle of the motor is periodically updated according to the control period of the speed loop, the target thrust of the motor operation is calculated by updating the target power angle, and the mover is controlled to periodically operate at the target speed according to the target thrust; After obtaining the currently updated target power angle, the timer starts timing, and before the power angle is updated next time, the running distance of the mover in one control cycle is calculated based on the current running speed of the mover and the control cycle of the speed loop. After converting the running distance into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, and the motor is controlled to run according to the compensated power angle before the power angle is updated next time.
2. The method according to claim 1, characterized in that The thrust of the motor operation is the sinusoidal function value of the power angle multiplied by a set proportional number k, and k is greater than zero.
3. The method according to claim 1, characterized in that The target power angle is 90°.
4. The method according to claim 1, characterized in that: According to the current running speed of the mover and the control cycle of the speed loop, the running distance of the mover in one control cycle is calculated. After the running distance is converted into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle, including: According to the current running speed of the mover and the control cycle of the speed loop, the running distance of the mover in one control cycle is calculated. After the running distance is converted into the magnetic field angle of the mover, the power angle of the motor is compensated according to the magnetic field angle to obtain the compensated power angle of the motor, which is expressed as Among them, θ0 is the target power angle, v is the current running speed of the actuator, T is the control period of the speed loop, S is the magnetic field period of the motor, and one magnetic field period corresponds to 360°. is the magnetic field angle at which the mover operates in one control cycle.
5. The method according to claim 1, characterized in that The method further includes: when the power angle is updated for the next time, the timer stops timing, and after the next power angle update is completed, the timer restarts timing.
6. A control device for increasing the running speed of a segmented linear motor, characterized in that: The device comprises: An updating module is used to periodically update the power angle of the motor according to the control period of the speed loop during the operation of the mover of the segmented linear motor, calculate the target thrust of the motor operation by updating the target power angle, and control the mover to periodically operate at the target speed according to the target thrust; The compensation module is used to start the timer after obtaining the currently updated target power angle, and before the power angle is updated next time, calculate the running distance of the mover within a control cycle according to the current running speed of the mover and the control cycle of the speed loop, convert the running distance into the magnetic field angle of the mover, compensate the power angle of the motor according to the magnetic field angle, and control the motor to run according to the compensated power angle before the power angle is updated next time.
7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.
8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.