Adaptive control system for acceleration of magnetic suspension rotor

Abstract

The invention discloses a magnetic suspension rotor acceleration adaptive control system, which comprises an embedded controller, an instruction unit, an acceleration unit, a track unit, an execution unit and a judgment unit, and is characterized in that the embedded controller provides basic guarantee for the whole adaptive system and provides a high-speed operation basis. According to the invention, through continuous real-time acceleration updating operation, after updating is completed, theoretical verification is carried out in the track unit, actual execution verification is carried out in the execution unit, whether to enter the acceleration unit again is judged through the judgment unit, a new round of execution verification is carried out, and recursive execution is carried out. The method is applied to the field of magnetic suspension transport line control, the complexity and difficulty that the motion acceleration is adjusted for multiple times when a new magnetic suspension transport line is applied and operated are solved, and high-precision and high-efficiency rotor motion control is achieved.

Description

Technical Field

[0001] The invention relates to the field of adaptive control, and in particular to an adaptive control system for acceleration of a magnetic suspension mover. Background Art

[0002] With the rapid development of society, in the field of industrial automation, manufacturing companies are facing increasing demands for efficiency and precision. Traditional motion control systems with fixed parameters often fail to quickly adapt to changing working conditions, resulting in low efficiency and error accumulation. The adaptive control system for actuator acceleration can cope with complex and changing production environments by adjusting control parameters in real time, thereby significantly improving production efficiency and product quality.

[0003] The existing magnetic levitation rotor acceleration control system has a simple logical architecture, requires many factors of human intervention, and is not widely applicable. The acceleration given value of the magnetic levitation rotor movement needs to be frequently adjusted manually according to the situation; therefore, it does not meet the existing needs. In this regard, we propose an adaptive control system for magnetic levitation rotors. Summary of the invention

[0004] The purpose of the present invention is to provide a magnetic levitation mover acceleration adaptive control system to solve the problems of the existing magnetic levitation mover control system proposed in the above background technology, that is, the control system logic architecture is simple, and the motion control system with fixed parameters often cannot quickly adapt to changing working conditions, resulting in low efficiency and error accumulation.

[0005] To achieve the above object, the present invention provides the following technical solutions: an adaptive control system for acceleration of a magnetically suspended mover, an embedded controller: the embedded controller is the control hardware core of the entire system and the calculation basis of the acceleration unit and trajectory unit of the system; Instruction unit: including instruction receiving module, instruction detection module and instruction setting module. The instruction receiving module is configured to give the total movement time, movement distance, starting speed of the mover and final speed of the mover of the magnetic suspension mover, and enters the instruction detection module to detect whether the distance and time exceed the system performance. If they meet the system requirements, they are set through the instruction setting module; Acceleration unit: including acceleration evaluation module, acceleration calculation module and acceleration update module. The acceleration evaluation module is initially set to evaluate whether the specified position is reached within the required time according to the speed mode of the mover, with the maximum acceleration and the speed of each segment as the constraint condition. If it meets the requirements, it enters the acceleration calculation module and obtains a reasonable acceleration value according to the actual set time and position. After the calculation is completed, it enters the acceleration update module to update the acceleration to the trajectory unit in real time; Trajectory unit: including speed planning module, acceleration planning module and trajectory planning module. According to the updated acceleration value output by the acceleration unit, speed planning is first performed, and the 7S algorithm is used for speed planning calculation. The acceleration planning module uses Lagrange interpolation to perform planning calculations, which are divided into multiple segments. Finally, trajectory planning is performed according to requirements. The trajectory planning module can support linear interpolation, circular interpolation, and Bezier curves. The trajectory unit is the control brain of the entire actuator acceleration adaptive control system. Execution unit: includes execution driver, motor and mover. The trajectory unit outputs the planned speed and acceleration and writes them into the execution driver in real time through the bus. The execution driver controls the motor to produce a magnetic field. The produced magnetic field interacts with the permanent magnet plate fixed on the mover to push the mover to move in a specific direction. Judgment unit: including position judgment module and time judgment module. The position judgment module is to make a difference between the set position and the actual position of the mover car fed back by the Hall sensor after stopping, to see whether it meets the process requirements. The process requirements are divided into three levels, the low level is 0.025mm, the middle level is 0.015mm, and the high level is 0.01mm. The judgment is made according to the setting selection; the time judgment module is the actual overall running time of the mover car, to see whether it meets the reasonable range of the difference with the set running time. The time judgment is also divided into three levels, the low level is 0.025s, the middle level is 0.015s, and the high level is 0.01s. The judgment is made according to the setting.

[0006] Preferably, the embedded controller also includes a real-time operating system, including VxWorks, Sylixos and a bus master protocol stack.

[0007] Preferably, the maximum acceleration limit of the evaluation standard of the acceleration evaluation module of the acceleration unit is initially configured according to the system execution driver performance, and is divided into three performance levels, namely, maximum acceleration 2g-2.5g, 2.5g-3g, and 3.5g-4g, which are selected according to the system.

[0008] Preferably, the trajectory unit includes a velocity planning module, an acceleration planning module and a trajectory planning module, and the three modules together constitute the motion control center of the system. The parameters of the trajectory unit come from the acceleration unit, and the output of the trajectory unit is directly given to the execution unit.

[0009] Preferably, the execution driver communicates with the motor through the serial port to control the motor to generate a specific magnetic field, and the magnetic field interacts with the magnetic field generated by the permanent magnet fixed to the back plate of the mover trolley to push the trolley to move in a specific direction.

[0010] Preferably, the time judgment module determines whether the difference between the set time and the actual overall running time of the moving vehicle is less than or equal to 0.025s to 0.01s, and the time judgment module is selected according to the user configuration.

[0011] Preferably, the position of the mover car is fed back to the execution driver in real time through the Hall sensor, and the execution driver feeds back to the position judgment module in real time through the EtherCat protocol, and detects in real time whether the difference between the set position and the current feedback position meets the requirements. The system requirements are divided into three levels according to system performance, which are 0.025mm, 0.015mm, and 0.01mm respectively.

[0012] Preferably, the judgment unit is a detection unit executed by the system. When the difference between the set time and the actual operation time of the movable vehicle as a whole is not less than or equal to 0.025s to 0.01s or the difference between the set position and the current feedback position is not any of 0.025mm, 0.015mm, and 0.01mm, it will return to the acceleration update module of the acceleration unit, judge the remaining position and the remaining time, and re-update the acceleration to the trajectory planning module. The trajectory planning module will continue the speed planning and acceleration planning, and execute the trajectory planning to complete the set time and position.

[0013] Preferably, the acceleration planning module uses Lagrange interpolation polynomial method to perform acceleration planning, and the specific formula is as follows: in is the acceleration value, Based on the above technical solution, the present invention implements the above solution, and dynamically adjusts the acceleration according to whether the set position and the set time meet the requirements, so as to meet the requirements of faster and more stable movement of the mover. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the structure of the magnetic suspension mover acceleration adaptive system of the present invention; Figure 2 The present invention is a flow chart of the magnetic suspension mover acceleration adaptive system method. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] See also Figure 1 and Figure 2 , an embodiment of the present invention provides: a magnetic suspension mover acceleration adaptive control system, comprising: Embedded controller 209: The embedded controller is the control hardware core of the entire system, including memory and processor as well as computer instructions stored in the memory and running on the processor. It is the calculation basis of the system acceleration unit 211 and trajectory unit 212.

[0018] The processor mentioned above may be a central processing unit CPU, or may be other general-purpose processors, controllers, PLCs, digital signal processors DSPs, application-specific integrated circuits ASICs, off-the-shelf programmable gate arrays FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0019] The instruction unit 210 includes an instruction receiving module 2101, an instruction detection module 2103 and an instruction setting module 2102. The instruction receiving module 2101 is used to configure the total movement time Tt, movement position Pt, movement distance, starting speed of the mover and final speed of the mover of the magnetic suspension mover, and enter the instruction detection module 2103 to detect whether the distance and time are out of range and whether the distance and time exceed the system performance. The range is predetermined and stored in a table, including a reasonable range of distance and time. If the system requirements are met, it is set through the instruction setting module 2102 and transmitted to the acceleration unit 211. Acceleration unit 211: includes acceleration evaluation module 2111, acceleration calculation module 2112 and acceleration update module 2113. Acceleration evaluation module 2111 is initially set to evaluate whether the specified position is reached within the required time according to the velocity mode of the mover, with the maximum acceleration and the magnitude of each segment velocity as the constraint condition. If it meets the requirements, it enters the acceleration calculation module, and obtains a reasonable acceleration value according to the actual set time and position. After the calculation is completed, it enters the acceleration update module 2113 to update the acceleration to the trajectory unit 212 in real time. If it meets the requirements, it enters the acceleration calculation module 2112 to perform actual calculations according to the actual motion position Pt and motion time Tt, and calculates the theoretical acceleration a according to the actual set position and time, and then enters the acceleration update module 2113 to update the acceleration a and set it to the trajectory unit 212.

[0020] Trajectory unit 212: includes speed planning module 2121, acceleration planning module 2122 and trajectory planning module 2123. According to the updated acceleration value a output by acceleration unit 211, speed planning is performed. The 7S algorithm is used for speed planning calculation, which is calculated in multiple segments. Finally, trajectory planning is performed according to requirements. Trajectory planning module 2123 can support linear interpolation, circular interpolation and Bezier curve. Trajectory unit 212 is the control brain of the entire actuator acceleration adaptive control system. Specifically, it adopts the general S-type speed planning and also performs acceleration planning. The Lagrange interpolation method is used. The specific formula is as follows: Lagrange interpolation polynomial: Lagrange cardinality polynomial: in is the acceleration value, is the time value, The properties satisfied are: for each , when t=ti, =1, and for other interpolation points t=tm, and m≠i, then = 0. This property ensures that the interpolation polynomial At each interpolation point, it is exactly equal to the corresponding value.

[0021] In order to reduce the oscillation of acceleration planning, multi-segment planning is adopted, and the trajectory planning module 2123 supports linear interpolation, circular interpolation, Bezier curve, etc.

[0022] The execution unit 213 includes an execution driver 2131 and a motor 2132, a movable carriage 2133, and the planned speed and acceleration output by the trajectory unit 212 are output to the execution driver 2131 through a bus protocol, such as an EtherCat bus. The execution driver 2131 controls the motor 2132 to generate a specific magnetic field through a serial port protocol. The specific magnetic field interacts with the magnetic field generated by the permanent magnet fixed to the movable carriage 2133, and drives the movable carriage to move in a specific direction.

[0023] The judgment unit 214 includes a position judgment module 2142 and a time judgment module 2141. The position judgment module 2142 makes a difference between the set position and the actual position of the movable carriage fed back by the Hall sensor after stopping to determine whether the process requirements are met. The process requirements are divided into three levels, the low level is 0.025mm, the middle level is 0.015mm, and the high level is 0.01mm. The judgment is made based on the setting selection; the time judgment module 2141 is the actual overall running time of the movable carriage. Whether it meets the difference with the set running time within a reasonable range, the time judgment is also divided into three levels, the low level is 0.025s, the middle level is 0.015s, and the high level is 0.01s. Both the position and time must be met at the same time to end. If one of them is not met, the acceleration calculation module 2112 of the acceleration unit 211 is entered for calculation and update.

[0024] Its specific working principle is as follows: first, accept the target position Pt and required movement time Tt set by the user, and the instruction detection module 2103 determines whether the target position Pt and movement time Tt are within a reasonable range through the system's established table. If not, it directly enters the instruction receiving module 2101 to receive the instruction. If it is within a reasonable range, it is set to the acceleration unit 211 through the instruction setting module 2102. First, the acceleration evaluation module 2111 selects the maximum acceleration according to the system performance. The system performance is currently divided into three levels, namely, the maximum acceleration 2g-2.5g, 2.5g-3g, and 3.5g-4g. After selection, enter the acceleration calculation module 2112, and use the S-type planning method to calculate the acceleration a when the distance Pt and time Tt are known. The acceleration update module 2113 updates the calculated acceleration a and sets it to the trajectory unit 212. The speed planning module 2121 uses the acceleration a for speed planning. The acceleration planning module 2122 uses Lagrange based on the acceleration a. Acceleration planning is performed by daily interpolation to obtain the speed V and acceleration A executed per unit time. According to the trajectory planned by the trajectory planning module 2123, the speed V and acceleration A are set to the execution driver 2131 of the execution unit 213. The trajectory unit 212 and the execution driver 2131 communicate in a bus manner, such as EtherCat. The execution driver 2131 generates a specific current for the motor 2132 according to the set speed and acceleration, and drives the motor to generate a specific magnetic field. The magnetic field interacts with the magnetic field generated by the permanent magnet of the movable car 2133 to push the car to move in a specific direction. During the movement, the judgment unit 214 obtains the position Pc of the movable car in real time through the Hall sensor, and also updates the movement time Pc in real time in the time judgment module 2141. At the end of the movement, the position judgment module 2142 judges whether the direct difference between Pc and Pt meets the system requirements. The requirements are divided into three levels, namely, the low level is 0.025mm, the middle level is 0.015mm, and the high level is 0.01mm. Figure 2 Take the middle level as an example. If it is not satisfied, it will directly enter the acceleration calculation module 2112 of the acceleration unit 211, calculate the new acceleration Ae according to the remaining distance and time, and then transfer Ae to the trajectory unit 212 to enter a new round of execution movement; the time judgment module 2141 also judges whether the difference between the movement time Pc and Pt meets the system performance requirements, which is divided into three levels, namely, the low level is 0.025s, the middle level is 0.015s, and the high level is 0.01s. Figure 2 Taking the middle level as an example, if it is not satisfied, the acceleration calculation module 2112 of the acceleration unit 211 is entered to calculate the new acceleration Ae according to the remaining distance and time, and then Ae is transmitted to the trajectory unit 212 to enter a new round of execution movement until both the position judgment module 2142 and the time judgment module 2141 are satisfied, and the system execution is completed.

[0025] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A magnetic suspension rotor acceleration adaptive control system, characterized in that: include: Embedded controller: The embedded controller is the control hardware core of the entire system and the calculation basis of the system acceleration unit and trajectory unit; Instruction unit: including instruction receiving module, instruction detection module and instruction setting module. The instruction receiving module is configured to give the total movement time, movement distance, starting speed of the mover and final speed of the mover of the magnetic suspension mover, and enters the instruction detection module to detect whether the distance and time exceed the system performance. If they meet the system requirements, they are set through the instruction setting module; Acceleration unit: including acceleration evaluation module, acceleration calculation module and acceleration update module. The acceleration evaluation module is initially set to evaluate whether the specified position is reached within the required time according to the speed mode of the mover, with the maximum acceleration and the speed of each segment as the constraint condition. If it meets the requirements, it enters the acceleration calculation module and obtains a reasonable acceleration value according to the actual set time and position. After the calculation is completed, it enters the acceleration update module to update the acceleration to the trajectory unit in real time; Trajectory unit: including speed planning module, acceleration planning module and trajectory planning module. According to the updated acceleration value output by the acceleration unit, speed planning is first performed, and the 7S algorithm is used for speed planning calculation. The acceleration planning module uses Lagrange interpolation to perform planning calculations, which are divided into multiple segments. Finally, trajectory planning is performed according to requirements. The trajectory planning module can support linear interpolation, circular interpolation, and Bezier curves. The trajectory unit is the control brain of the entire actuator acceleration adaptive control system. Execution unit: includes execution driver, motor and mover. The trajectory unit outputs the planned speed and acceleration and writes them into the execution driver in real time through the bus. The execution driver controls the motor to produce a magnetic field. The produced magnetic field interacts with the permanent magnet plate fixed on the mover to push the mover to move in a specific direction. Judgment unit: including position judgment module and time judgment module. The position judgment module is to make a difference between the set position and the actual position of the mover car fed back by the Hall sensor after stopping, to see whether it meets the process requirements. The process requirements are divided into three levels, the low level is 0.025mm, the middle level is 0.015mm, and the high level is 0.01mm. The judgment is made according to the setting selection; the time judgment module is the actual overall running time of the mover car, to see whether it meets the reasonable range of the difference with the set running time. The time judgment is also divided into three levels, the low level is 0.025s, the middle level is 0.015s, and the high level is 0.01s. The judgment is made according to the setting.

2. The magnetic suspension rotor acceleration adaptive control system according to claim 1 is characterized in that: The embedded controller also includes real-time operating systems, including VxWorks, Sylixos, and bus master protocol stacks.

3. The magnetic suspension rotor acceleration adaptive control system according to claim 1 is characterized in that: The maximum acceleration limit of the evaluation standard of the acceleration evaluation module of the acceleration unit is initially configured according to the system execution drive performance. It is divided into three performance levels, namely maximum acceleration 2g-2.5g, 2.5g-3g, and 3.5g-4g, which are selected according to the system.

4. The magnetic suspension rotor acceleration adaptive control system according to claim 1 is characterized in that: The trajectory unit includes a velocity planning module, an acceleration planning module and a trajectory planning module. The three modules together constitute the motion control center of the system. The parameters of the trajectory unit come from the acceleration unit, and the output of the trajectory unit is directly given to the execution unit.

5. The magnetic suspension rotor acceleration adaptive control system according to claim 1 is characterized in that: The execution driver communicates with the motor through the serial port to control the motor to generate a specific magnetic field. The magnetic field interacts with the magnetic field generated by the permanent magnet fixed on the back plate of the mover trolley to push the trolley to move in a specific direction.

6. The magnetic suspension mover acceleration adaptive control system according to claim 1 is characterized by: The time judgment module determines the difference between the set time and the actual overall running time of the moving vehicle, and whether it is less than or equal to 0.025s to 0.01s. The time judgment module makes a selection based on the user configuration.

7. The magnetic suspension rotor acceleration adaptive control system according to claim 6 is characterized by: The position of the mover car is fed back to the execution driver in real time through the Hall sensor, and the execution driver feeds back to the position judgment module in real time through the EtherCat protocol, and detects in real time whether the difference between the set position and the current feedback position meets the requirements. The system requirements are divided into three levels according to system performance, namely 0.025mm, 0.015mm, and 0.01mm.

8. The magnetic suspension mover acceleration adaptive control system according to claim 7 is characterized in that: The judgment unit is a detection unit for the completion of system execution. When the difference between the set time and the actual operation time of the movable car as a whole is not less than or equal to 0.025s to 0.01s or the difference between the set position and the current feedback position is not any of the three values ​​0.025mm, 0.015mm, and 0.01mm, it will return to the acceleration update module of the acceleration unit to judge the remaining position and remaining time, and re-update the acceleration to the trajectory planning module. The trajectory planning module will continue the speed planning and acceleration planning, and execute the trajectory planning to complete the established time and position.

9. The magnetic suspension mover acceleration adaptive control system according to claim 4 is characterized in that: The acceleration planning module uses the Lagrange interpolation polynomial method for acceleration planning. The specific formula is as follows: Lagrange interpolation polynomial: Lagrange cardinality polynomial: in is the acceleration value, Is a time value.

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