Intelligent flexible annular line motor driving system and driving method thereof

Abstract

The invention discloses an intelligent flexible annular line motor driving system and a driving method thereof, and belongs to the technical field of motors. The coils are arranged independently, the tail end of each coil is connected with the half-bridge circuit, the half-bridge circuit is connected with the direct-current power source and the auxiliary bridge arm in series, the half-bridge circuit is in transmission connection with the midpoint voltage controller, and the midpoint voltage controller is in transmission connection with the current regulator and the PWM generator. The current regulator and the PWM generator are in transmission connection with the auxiliary bridge arm. The method comprises the step of synchronously implementing the intelligent flexible annular wire motor driving based on coil independent control and the midpoint voltage fluctuation suppression of the half-bridge circuit. According to the invention, accurate and independent control of coil current is realized, simultaneous operation of a plurality of rotors on a single stator is realized, the stability and reliability of a system are enhanced, powerful support is provided for wide application of an intelligent flexible annular line motor rotor driving technology in the fields of industrial automation, intelligent manufacturing and the like, and the intelligent flexible annular line motor rotor driving system has great application value.

Description

Technical Field

[0001] The invention relates to an intelligent flexible ring-wire motor drive system and a drive method thereof, belonging to the technical field of motors. Background Art

[0002] The application date is July 19, 2023, the application number is CN202310888383.X, and the Chinese invention patent named "A passive multi-motor ring line motor drive control system and control method thereof" discloses an intelligent flexible ring line motor. Since there is no feeding cable on the mover, the track can be freely spliced, thus meeting industrial applications in a variety of different occasions.

[0003] In the existing field of intelligent flexible ring-line motor mover drive technology, a single straight or arc stator module is usually used as the basic control unit. The core of this technology is to selectively activate or control the corresponding stator module according to the real-time position of the mover to achieve the drive and positioning of the mover. However, this traditional method has several significant limitations.

[0004] First, when the mover is coupled to a specific stator module, only the coils in that module are effectively utilized to generate driving force. However, due to the limitations of the control strategy, current still flows even if some coils are not directly coupled to the mover, which leads to unnecessary increase in motor copper loss and reduces the overall efficiency of the system.

[0005] Secondly, traditional control methods cannot achieve the simultaneous operation of multiple movers on a single stator module. This limitation greatly hinders the promotion and application of this technology in applications that require the coordinated operation of multiple movers, such as complex robotic arms and multi-degree-of-freedom precision machining equipment.

[0006] In order to overcome the above technical difficulties, the present invention proposes a single coil independent control method based on a half-bridge circuit midpoint voltage fluctuation suppression strategy. Summary of the invention

[0007] In order to solve the problems existing in the background technology, the present invention provides an intelligent flexible ring line motor driving system and a driving method thereof.

[0008] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an intelligent flexible ring line motor drive system, including a DC power supply, an auxiliary bridge arm, a midpoint voltage controller, a current regulator and a PWM generator, a coil and a half-bridge circuit; the multiple coils are arranged independently of each other, and the tail end of each coil is connected to the half-bridge circuit, the half-bridge circuit is connected in series with the DC power supply and the auxiliary bridge arm, the half-bridge circuit is connected to the midpoint voltage controller, the midpoint voltage controller is connected to the current regulator and the PWM generator, and the current regulator and the PWM generator are connected to the auxiliary bridge arm.

[0009] The half-bridge circuit includes two uniform capacitors and two equalizing resistors; the two uniform capacitors are connected in series, the two equalizing resistors are connected in series, and the midpoint of the two uniform capacitors in series is connected to the midpoint of the two equalizing resistors in series to determine the midpoint of the half-bridge circuit.

[0010] A working method of an intelligent flexible ring line motor drive system of the present invention comprises synchronously implementing S1 and S2:

[0011] S1: Intelligent flexible ring line motor drive based on independent coil control;

[0012] The S1 comprises the following steps:

[0013] S101: independently setting the coil of each stator of the intelligent flexible ring wire motor, and treating each coil as an independently controlled unit;

[0014] S102: Determine the parameters of the intelligent flexible toroidal wire motor, including: the rotor pole pitch τ, the initial position angle α0 of the rotor relative to the global position, and the global position x;

[0015] S103: Connect the tail ends of all coils to the midpoint of the half-bridge circuit;

[0016] S104: Determine the current command amplitude I * , used to determine the magnitude of the electromagnetic force of the mover;

[0017] S105: judging the coil coupled with the mover according to the relationship between the mover position and the coil position;

[0018] S106: Calculate the coil current command coupled with the mover

[0019]

[0020] In formula (1):

[0021] α represents the electrical angle difference between adjacent coils in space;

[0022] k represents the global number of the coil;

[0023] S107: Coil current command for coupling the measured coil current with the mover Generate PWM wave through current controller;

[0024] S108: Through PWM wave control and the opening / closing of the power tube on the coil, the current flowing through the coil follows the calculated coil current instruction change.

[0025] S2: Midpoint voltage fluctuation suppression of half-bridge circuit.

[0026] The S2 comprises the following steps:

[0027] S201: Obtaining the measured midpoint voltage U of the half-bridge circuit o ;

[0028] S202: Obtaining the voltage U of the DC power supply dc , and set the desired midpoint voltage U of the half-bridge circuit o * =0.5U dc ;

[0029] S203: The measured voltage U at the midpoint of the half-bridge circuit o The desired voltage U at the midpoint of the half-bridge circuit o * The voltage difference is obtained by subtracting;

[0030] S204: inputting the voltage difference into a midpoint voltage controller;

[0031] S205: Obtaining auxiliary bridge arm current;

[0032] S206: inputting the output of the midpoint voltage controller and the auxiliary bridge arm current into the current regulator and the PWM generator to generate a PWM wave;

[0033] S207: The PWM wave is applied to the auxiliary bridge arm to control the on / off of the switch tube of the auxiliary bridge arm.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention adopts a half-bridge circuit with midpoint voltage balancing capability as a power conversion circuit, and uses a single coil as a basic control unit. According to the principle of electromechanics, the present invention realizes precise independent control of the coil current, improves the flexibility and response speed of the system, and realizes the simultaneous operation of multiple movers on a single stator. At the same time, it has the midpoint voltage balancing capability, can keep the midpoint voltage stable, and is not affected by the operation of the mover, further enhancing the stability and reliability of the system, providing strong support for the wide application of intelligent flexible ring line motor mover drive technology in the fields of industrial automation, intelligent manufacturing, etc., and has great application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the structure of the drive system of the present invention;

[0037] Figure 2 Schematic diagram of the spatial distribution of coils and movers, where: 11 is the mover;

[0038] Figure 3 This is an experimental waveform diagram of the half-bridge midpoint voltage fluctuation suppression technology of the present invention;

[0039] Figure 4 This is the experimental waveform diagram without using the half-bridge midpoint voltage fluctuation suppression technology;

[0040] Figure 5 This is the experimental waveform diagram using a full-bridge circuit. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be clearly and completely described 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 invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] An intelligent flexible ring line motor drive system includes a DC power supply 4, an auxiliary bridge arm 5, a midpoint voltage controller 6, a current regulator and PWM generator 7, a coil 8 and a half-bridge circuit; the multiple coils 8 are independently arranged, and the tail end of each coil 8 is connected to the half-bridge circuit, the half-bridge circuit is connected in series with the DC power supply 4 and the auxiliary bridge arm 5, the half-bridge circuit is connected to the midpoint voltage controller 6, the midpoint voltage controller 6 is connected to the current regulator and PWM generator 7, and the current regulator and PWM generator 7 are connected to the auxiliary bridge arm 5.

[0043] The midpoint voltage controller 6 may be a proportional-integral-derivative controller, a resonant controller, etc. Other controllers not listed are also within the scope of the invention.

[0044] The half-bridge circuit includes two uniform capacitors 1 and two equalizing resistors 2; the two uniform capacitors 1 are connected in series, the two equalizing resistors 2 are connected in series, and the midpoint of the two uniform capacitors 1 connected in series is connected to the midpoint of the two equalizing resistors 2 connected in series to determine the midpoint of the half-bridge circuit.

[0045] A working method of an intelligent flexible ring line motor drive system of the present invention comprises synchronously implementing S1 and S2:

[0046] S1: Intelligent flexible ring line motor drive based on independent coil control;

[0047] S2: Midpoint voltage fluctuation suppression of half-bridge circuit.

[0048] The S1 comprises the following steps:

[0049] S101: Figure 2As shown, the coil 8 of each stator of the intelligent flexible ring-shaped wire motor is independently set, that is, the ends of two adjacent coils 8 are not connected, and each coil 8 is used as an independently controlled unit;

[0050] S102: Determine the parameters of the intelligent flexible toroidal wire motor, including: the rotor pole pitch τ, the initial position angle α0 of the rotor relative to the global position, and the global position x obtained by the position sensor;

[0051] S103: Connect the tail ends of all coils 8 to the midpoint of the half-bridge circuit;

[0052] S104: The current command amplitude I is determined by the system directly or through the output of the previous speed controller / position controller * , used to determine the magnitude of the electromagnetic force of the mover;

[0053] S105: judging the coil coupled with the mover according to the relationship between the mover position and the coil position;

[0054] S106: Calculate the coil current command coupled with the mover

[0055]

[0056] In formula (1):

[0057] α represents the electrical angle difference between adjacent coils in space;

[0058] k represents the global number of the coil;

[0059] Formula 1 is not only applicable to the current command of the coil coupled with the mover at the global position, but also to the current command calculated based on the local position of the mover on a single-segment stator;

[0060] S107: Coil current command for coupling the measured coil current with the mover The PWM wave is generated by a current controller; the current controller can be a proportional-integral-derivative controller, an iterative learning controller, a hysteresis controller, etc.

[0061] S108: The power tube 3 on the coil 8 is turned on / off by PWM wave control, so that the current flowing through the coil 8 follows the calculated coil current instruction. change.

[0062] The S2 comprises the following steps:

[0063] S201: Obtaining the measured voltage U at the midpoint of the half-bridge circuit by a voltage measuring device o , the voltage measuring device can be a voltage transformer, a voltage sensor, a linear optocoupler or other measuring device;

[0064] S202: Obtaining the voltage U of the DC power supply 4 dc , and set the desired midpoint voltage U of the half-bridge circuit o * =0.5U dc ;

[0065] S203: The measured voltage U at the midpoint of the half-bridge circuit o The desired voltage U at the midpoint of the half-bridge circuit o * The voltage difference is obtained by subtracting;

[0066] S204: inputting the voltage difference into the midpoint voltage controller 6;

[0067] S205: Measure and obtain the auxiliary bridge arm current 9 by a current measuring device, where the current measuring device may be a current sensor, a sampling resistor and an operational amplifier;

[0068] S206: Input the output of the midpoint voltage controller 6 and the auxiliary bridge arm current 9 into the current regulator and PWM generator 7 to generate a PWM wave;

[0069] The current regulator and PWM generator 7 may be a current hysteresis comparator, which directly generates a PWM wave by comparing the output of the midpoint voltage controller 6 and the auxiliary bridge arm current 9 .

[0070] Alternatively, a current regulator is used to generate a modulation wave, which reacts with a carrier wave to generate a PWM wave. The current regulator may be a proportional integral differential controller, a repetitive controller, or the like.

[0071] Any technology related to generating PWM waves also falls within the scope of the present invention.

[0072] S207 : The PWM wave is applied to the auxiliary bridge arm 5 directly or through a driving circuit or an isolation circuit to control the on / off of the switch tube of the auxiliary bridge arm 5 .

[0073] The present invention can be implemented by MCU, DSP, FPGA, hardware circuit and the like.

[0074] The present invention is applicable to an intelligent flexible ring-shaped line drive system and can provide a solution for the operation of an intelligent flexible ring-shaped line multi-mover on a single stator. Figure 3 The experimental effect of the implementation of the present invention is demonstrated.

[0075] In order to compare the effects of the present invention, Figure 4 and Figure 5 The experimental results of not using the half-bridge midpoint voltage fluctuation suppression technology and using the full-bridge circuit are demonstrated respectively.

[0076] from Figure 3 and Figure 4 It can be seen that compared with the half-bridge circuit that does not use the midpoint voltage fluctuation suppression technology, the present invention can make the mover run stably and can achieve almost the same experimental effect as the full-bridge circuit. Figure 3 and Figure 5 It can be seen that compared with the full-bridge circuit, the use of power tubes can be reduced. The method of the present invention is simple and easy to operate, and has practical application value in industry.

[0077] 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 forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents 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.

[0078] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent flexible ring line motor drive system, characterized in that: The invention comprises a DC power supply (4), an auxiliary bridge arm (5), a midpoint voltage controller (6), a current regulator and a PWM generator (7), a coil (8) and a half-bridge circuit; the plurality of coils (8) are independently arranged, the tail end of each coil (8) is connected to the half-bridge circuit, the half-bridge circuit is connected in series with the DC power supply (4) and the auxiliary bridge arm (5), the half-bridge circuit is connected in transmission with the midpoint voltage controller (6), the midpoint voltage controller (6) is connected in transmission with the current regulator and the PWM generator (7), and the current regulator and the PWM generator (7) are connected in transmission with the auxiliary bridge arm (5).

2. The intelligent flexible ring line motor drive system according to claim 1, characterized in that: The half-bridge circuit comprises two uniform capacitors (1) and two equalizing resistors (2); the two uniform capacitors (1) are connected in series, the two equalizing resistors (2) are connected in series, and the midpoint of the series connection of the two uniform capacitors (1) is connected to the midpoint of the series connection of the two equalizing resistors (2) to determine the midpoint of the half-bridge circuit.

3. A working method of the intelligent flexible ring line motor drive system according to claim 1 or 2, characterized in that: The method comprises synchronously implementing S1 and S2: S1: Intelligent flexible ring-wire motor drive based on independent coil control; S2: Midpoint voltage fluctuation suppression of half-bridge circuit.

4. The method according to claim 3, characterized in that: The S1 comprises the following steps: S101: independently setting each stator coil (8) of the intelligent flexible ring-shaped wire motor, and treating each coil (8) as an independently controlled unit; S102: Determine the parameters of the intelligent flexible toroidal wire motor, including: the rotor pole pitch τ, the initial position angle α0 of the rotor relative to the global position, and the global position x; S103: Connecting the tail ends of all coils (8) to the midpoint of the half-bridge circuit; S104: Determine the current command amplitude I * , used to determine the magnitude of the electromagnetic force of the mover; S105: judging the coil coupled with the mover based on the relationship between the mover position and the coil position; S106: Calculate the coil current command coupled with the mover In formula (1): α represents the electrical angle difference between adjacent coils in space; k represents the global number of the coil; S107: Coil current command for coupling the measured coil current with the mover Generate PWM wave through current controller; S108: The power tube (3) on the coil (8) is turned on / off by PWM wave control, so that the current flowing through the coil (8) follows the calculated coil current instruction. change.

5. The method according to claim 3 or 4, characterized in that: The S2 comprises the following steps: S201: Obtaining the measured midpoint voltage U of the half-bridge circuit o ; S202: Obtaining the voltage U of the DC power supply (4) dc , and set the desired midpoint voltage U of the half-bridge circuit o * =0.5U dc ; S203: The measured voltage U at the midpoint of the half-bridge circuit o The desired voltage U at the midpoint of the half-bridge circuit o * The voltage difference is obtained by subtracting; S204: inputting the voltage difference into the midpoint voltage controller (6); S205: Obtaining auxiliary bridge arm current (9); S206: Input the output of the midpoint voltage controller (6) and the auxiliary bridge arm current (9) into the current regulator and PWM generator (7) to generate a PWM wave; S207: The PWM wave is applied to the auxiliary bridge arm (5) to control the on / off of the switch tube of the auxiliary bridge arm (5).

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