Permanent magnet synchronous linear motor position detection method

Abstract

The invention relates to the technical field of position detection, and discloses a permanent magnet synchronous linear motor position detection method, which comprises the following steps: acquiring total motion stroke data information of a motor; n eddy current sensors are arranged on the total movement stroke of the motor, the distance between every two adjacent eddy current sensors is smaller than or equal to the measuring range of the eddy current sensors, and the measuring range of the eddy current sensors at the two ends can cover the starting point / ending point of movement of the motor; and when the motor enters the detection range of the xth eddy current sensor, the (x-1) th eddy current sensor stops working, and the position data of the motor is acquired by the xth eddy current sensor. The actual position of the motor in the total movement stroke is detected in a non-contact mode through the eddy current sensor, the actual position is used as the basis for actual control over equipment, the problem that an existing photoelectric encoder needs to be replaced regularly is solved, and therefore material consumption of the motor is reduced, and the maintenance work time of a shaking table for screening mineral aggregate is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of position detection, and in particular to a method for detecting the position of a permanent magnet synchronous linear motor. Background Art

[0002] Shaking table equipment plays an important role in the mineral processing industry. Through different designs and working principles, they can efficiently complete the screening and sorting of mineral materials. In some shaking table equipment used for screening mineral materials, permanent magnet synchronous linear motor (hereinafter referred to as motor) is one of the important components. In actual use, it is necessary to detect and obtain the actual position of the motor in the total motion stroke in real time so that the control center can control the working state of the motor according to preset instructions or for users to manually control the motor.

[0003] The existing method for detecting and obtaining the real-time position of the motor is to detect and obtain the real-time position of the motor through a photoelectric (grating) encoder. However, in the shaking table equipment used for mineral processing, the motor is in a continuous working state without stopping for 24 hours, and the photoelectric encoder moves synchronously with the motor. The photoelectric encoder itself has an upper limit on the number of wear times. It wears very seriously during the movement of the motor, which greatly shortens the failure time of the photoelectric encoder. Ultimately, the photoelectric encoder has a short service life, which leads to the need to regularly replace the photoelectric encoder of the shaking table equipment used for screening mineral materials. The frequent maintenance of the shaking table equipment affects the efficiency of the equipment.

[0004] SUMMARY OF THE INVENTION

[0005] The technical problem solved by the present invention is that the existing shaking table equipment used for screening mineral materials needs to regularly replace the photoelectric encoder, and the maintenance work is time-consuming.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A method for detecting the position of a permanent magnet synchronous linear motor comprises the following steps:

[0008] Get the total movement stroke data information of the motor;

[0009] n eddy current sensors are arranged on the total stroke of the motor, where n is a natural number greater than 1, the distance between two adjacent eddy current sensors is less than or equal to the measuring range of the eddy current sensors, and the measuring range of the eddy current sensors at the two ends can cover the starting point / end point of the motor movement;

[0010] When the motor enters the detection range of the xth eddy current sensor, n≥x≥1, the x-1th eddy current sensor stops working, and the xth eddy current sensor starts to collect the position data of the motor. At this time, the actual position of the motor in the total motion stroke is: D=d x +dx-1 , where d x The xth eddy current sensor collects the position data of the motor, d x-1 It is the actual position data of the motor when the x-1th eddy current sensor stops working.

[0011] In one solution of the present invention: a plurality of eddy current sensors are evenly arranged along the path of the motor.

[0012] In one solution of the present invention, the distance between two adjacent eddy current sensors is smaller than the measuring range of the eddy current sensors.

[0013] In one solution of the present invention: the eddy current sensor corresponding to one end of the starting point of the total movement stroke of the motor is arranged at the starting point of the total movement stroke of the motor.

[0014] In one solution of the present invention: the eddy current sensor corresponding to one end of the end point of the total movement stroke of the motor is arranged at the end point of the total movement stroke of the motor.

[0015] In one solution of the present invention, two eddy current sensors are arranged on the total movement stroke of the motor.

[0016] In one embodiment of the present invention, the measuring range of the eddy current sensor is 25 mm.

[0017] In one solution of the present invention: a photoelectric encoder is also provided on the path of the motor movement, and the photoelectric encoder and the eddy current sensor are connected to the control center;

[0018] Initially, the actual position of the motor on the motion path is obtained through the photoelectric encoder, and the feedback signal and position data information of the motor are obtained through the eddy current sensor and transmitted to the control center. After the position data information matches the actual position of the motor on the motion path obtained by the photoelectric encoder, a comparison model is established through the feedback signal;

[0019] After the photoelectric encoder reaches its service life, the real-time feedback signal is obtained through the eddy current sensor and sent to the comparison model for comparison with the historical feedback signal. After the comparison is passed, the real-time position information corresponding to the real-time feedback signal is output as actual position data.

[0020] Beneficial effects of the present invention:

[0021] The present application utilizes an eddy current sensor to detect the actual position of the motor in the total motion stroke in a non-contact manner, which is used as a basis for actual control of the equipment, thereby solving the problem that existing photoelectric encoders need to be replaced regularly, thereby reducing motor consumables and reducing maintenance time for the shaking table for screening mineral materials.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. Among them:

[0024] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0025] Figure 2 is a structural schematic diagram of another embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the eddy current sensor of the present invention arranged back to back;

[0027] Figure 4 It is a schematic diagram of the structure of the present invention in which two eddy current sensors are arranged.

[0028] The reference numerals in the figure are: 1. driving motor; 2. eddy current sensor; 3. motion path. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0032] During the actual use of the shaking table equipment for screening mineral materials, it is necessary to detect in real time the actual position of the motor in the total motion stroke in order to control the working state of the equipment. However, the service life of the photoelectric encoder is short, which leads to the need for regular maintenance and replacement of the photoelectric encoder in the shaking table equipment for screening mineral materials. The present application adopts the device of eddy current sensor 2 to collect the position data of the motor. However, the range of eddy current sensor 2 is limited, and a single eddy current sensor 2 cannot measure the full motion stroke of the motor. Therefore, the present application provides a permanent magnet synchronous linear motor position detection method, which can accurately obtain the real-time position data of the permanent magnet synchronous linear motor position through eddy current sensor 2.

[0033] See also Figure 1-4 The present invention is a method for detecting the position of a permanent magnet synchronous linear motor, comprising the following steps:

[0034] The total movement stroke data information and the movement path 3 of the drive motor 1 are obtained, such as the position and total distance of the movement path 3 of the drive motor 1 , so as to be used for subsequent setting of the number and position of the eddy current sensors 2 .

[0035] n eddy current sensors 2 are arranged on the total movement stroke of the drive motor 1, and the multiple eddy current sensors 2 can be evenly arranged along the path of the drive motor 1. n is a natural number greater than 1, and n can be 2, 3, 4, 5, 6..., the distance between two adjacent eddy current sensors 2 is less than or equal to the range of the eddy current sensor 2, and the range of the eddy current sensors 2 at the two ends can cover the starting point / end point of the movement of the drive motor 1, so that the detection ranges of the two adjacent eddy current sensors 2 are tangent or intersecting. So that all eddy current sensors 2 can cover the entire movement path 3 of the drive motor 1; preferably, the distance between two adjacent eddy current sensors 2 is slightly smaller than the range of the eddy current sensor 2, so that the position of the drive motor 1 can be detected more accurately, avoiding data delay when the drive motor 1 is at the limit range of the two sensor ranges. The eddy current sensors 2 can be arranged in groups of two and back to back, that is, the probes of the two eddy current sensors 2 in the same group are arranged back to back, and several eddy current sensors 2 facing one end of the motion path 3 of the drive motor 1 are used to obtain the real-time position of the forward path of the drive motor 1; and several eddy current sensors 2 facing the other end of the motion path 3 of the drive motor 1 are used to obtain the real-time position of the retreat path of the drive motor 1.

[0036] When the drive motor 1 enters the detection range of the xth eddy current sensor 2, n≥x≥1, the x-1th eddy current sensor 2 stops working, and the xth eddy current sensor 2 collects the position data of the drive motor 1. At this time, the actual position of the drive motor 1 in the total motion stroke is: D=d x +d x-1 , where d x The xth eddy current sensor 2 collects the position data of the drive motor 1 (i.e., the distance between the real-time position of the drive motor 1 and the position of the drive motor 1 when the xth eddy current sensor 2 starts working), d x-1 It is the actual position data of the driving motor 1 when the x-1th eddy current sensor 2 stops working (that is, the position of the driving motor 1 when the xth eddy current sensor 2 starts working).

[0037] See also Figure 1-4 In one embodiment of the present invention, the eddy current sensor 2 corresponding to the starting point of the total movement stroke of the drive motor 1 can be set at the starting point of the total movement stroke of the drive motor 1. Its detection direction is toward the end point of the total movement stroke of the drive motor 1. The eddy current sensor 2 corresponding to the end point of the total movement stroke of the drive motor 1 is set at the end point of the total movement stroke of the drive motor 1. Its detection direction is toward the starting point of the total movement stroke of the drive motor 1. Other eddy current sensors 2 between the starting point and the end point can be evenly spaced along the movement path 3 of the drive motor 1.

[0038] Example 1

[0039] See also Figure 4 In this embodiment, the total movement stroke of the drive motor 1 is 50mm and the measuring range of the eddy current sensor 2 is 25mm as an example for explanation. The two eddy current sensors 2 are respectively arranged at the two ends of the movement path 3 of the drive motor 1, and their detection heads are facing the movement path 3 of the drive motor 1. When the drive motor 1 moves from the starting point to the end point, the real-time position of the drive motor 1 is first collected by the A eddy current sensor 2 at the starting point. At this time, the real-time position of the drive motor 1 is equal to the position collected by the A eddy current sensor 2. When the drive motor 1 continues to run to the measuring range of the B eddy current sensor 2 at the end point, the A eddy current sensor 2 stops collecting work, and the B eddy current sensor 2 at the end point starts collecting the position. At this time, the real-time position of the drive motor 1 is equal to the position collected by the A eddy current sensor 2 plus the position collected by the B eddy current sensor 2.

[0040] When the drive motor 1 moves from the end point to the starting point, the real-time position of the drive motor 1 is first collected by the B eddy current sensor 2 at the end point. At this time, the real-time position of the drive motor 1 is equal to the position collected by the B eddy current sensor 2. When the drive motor 1 continues to run to the range detection range of the A eddy current sensor 2 at the starting point, the B eddy current sensor 2 stops collecting, and the real-time position of the drive motor 1 is collected by the A eddy current sensor 2 at the starting point. At this time, the real-time position of the drive motor 1 is equal to the position collected by the B eddy current sensor 2 plus the position collected by the A eddy current sensor 2.

[0041] Example 2

[0042] See also Figure 1-3 In this example, four eddy current sensors 2 are set as an example for explanation. When the drive motor 1 moves from the starting point to the end point, the first eddy current sensor 2 close to one end of the starting point first collects the real-time position of the drive motor 1. At this time, the real-time position of the drive motor 1 is equal to the position collected by the first eddy current sensor 2, that is, D=d1. When the drive motor 1 continues to run to the measuring range of the second eddy current sensor 2, the first eddy current sensor 2 stops collecting, and the second eddy current sensor 2 starts collecting the position. At this time, the real-time position of the drive motor 1 is equal to the position collected by the first eddy current sensor 2 plus the position collected by the first eddy current sensor 2 (that is, the actual position of the drive motor 1 when the first eddy current sensor 2 stops working, that is, the maximum value of the position collected before the first sensor stops), that is, D=d2+d 1maxWhen entering the range of the third sensor, the second eddy current sensor 2 stops collecting data, and the third eddy current sensor 2 starts collecting data. At this time, the real-time position of the drive motor 1 is equal to the position collected by the third eddy current sensor 2 plus the position collected by the second eddy current sensor 2 and the first eddy current sensor (that is, the actual position of the drive motor 1 when the second eddy current sensor 2 stops working), that is, D = d3 + d 2max The fourth sensor is the same as the third one. The retraction process of the driving motor 1 is the same as the above overall process.

[0043] Example 3

[0044] On the basis of the above embodiment, a photoelectric encoder is further provided on the path of the drive motor 1, and the photoelectric encoder can be provided on the drive motor 1. The photoelectric encoder and the eddy current sensor 2 are connected to the control center; initially, the actual position of the drive motor 1 on the motion path 3 is obtained by the photoelectric encoder, and the feedback signal and position data information of the drive motor 1 are obtained by the eddy current sensor 2 and transmitted to the control center. After the position data information matches the actual position of the drive motor 1 on the motion path 3 obtained by the photoelectric encoder, it is indicated that the feedback signal corresponds to the feedback signal of the drive motor 1. By inputting the feedback signal into the database of the control center for multiple times, a comparison model of the feedback signal of the drive motor 1 is established by means of a convolutional neural network; after the photoelectric encoder reaches the service life limit, the real-time feedback signal is obtained by the eddy current sensor 2, and is transmitted to the comparison model for comparison with the historical feedback signal. After the comparison is passed, the real-time position information corresponding to the real-time feedback signal is output as the actual position data.

[0045] Since the eddy current sensor 2 is a sensor based on the eddy current effect, it is used to measure the distance between the metal conductor and the probe surface in a non-contact, high linearity and high resolution manner. However, since a large number of other metal structures are also included in the shaking bed device. In order to improve the accuracy of the eddy current sensor 2 in obtaining the position of the drive motor 1. Initially, a photoelectric encoder is used to obtain the actual position of the drive motor 1, and the eddy current sensor 2 is used to collect the real-time position and feedback information data of the drive motor 1, and a mapping relationship between the two is established to determine that the real-time position collected by the eddy current sensor 2 is consistent with the position of the drive motor 1 obtained by the photoelectric encoder. At this time, it is explained that the feedback signal acts on the drive motor 1 structure. After collecting the feedback signal for many times, a feedback signal database of the drive motor 1 is formed. In the subsequent process, after reaching the use time limit of the photoelectric encoder, the photoelectric encoder stops using, and the eddy current sensor 2 is enabled to obtain the real-time position data of the drive motor 1. Before obtaining the position, the real-time feedback signal data is obtained and compared with the existing comparison model to determine that the corresponding position data of the drive motor 1 is obtained to ensure the accuracy of position detection.

[0046] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. A method for detecting the position of a permanent magnet synchronous linear motor, characterized in that: The steps include: Get the total movement stroke data information of the motor; n eddy current sensors are arranged on the total stroke of the motor, where n is a natural number greater than 1, the distance between two adjacent eddy current sensors is less than or equal to the measuring range of the eddy current sensors, and the measuring range of the eddy current sensors at the two ends can cover the starting point / end point of the motor movement; When the motor enters the detection range of the xth eddy current sensor, n≥x≥1, the x-1th eddy current sensor stops working, and the xth eddy current sensor starts to collect the position data of the motor. At this time, the actual position of the motor in the total motion stroke is: D=d x +d x-1 , where d x The xth eddy current sensor collects the position data of the motor, d x-1 It is the actual position data of the motor when the x-1th eddy current sensor stops working.

2. A permanent magnet synchronous linear motor position detection method according to claim 1, characterized in that: Multiple eddy current sensors are evenly distributed along the path of the motor.

3. A permanent magnet synchronous linear motor position detection method according to claim 1, characterized in that: The distance between two adjacent eddy current sensors is smaller than the measuring range of the eddy current sensors.

4. A permanent magnet synchronous linear motor position detection method according to claim 1, characterized in that: The eddy current sensor corresponding to one end of the starting point of the total movement stroke of the motor is arranged at the starting point of the total movement stroke of the motor.

5. A permanent magnet synchronous linear motor position detection method according to claim 1, characterized in that: The eddy current sensor corresponding to one end of the motor's total travel end point is arranged at the end point of the motor's total travel end point.

6. A permanent magnet synchronous linear motor position detection method according to claim 1, characterized in that: The number of eddy current sensors arranged on the total movement stroke of the motor is two.

7. A method for detecting position of a permanent magnet synchronous linear motor according to claim 1, characterized in that: The measuring range of the eddy current sensor is 25mm.

8. A permanent magnet synchronous linear motor position detection method according to claim 1, characterized in that: A photoelectric encoder is also arranged on the path of the motor movement, and the photoelectric encoder and the eddy current sensor are connected to the control center; Initially, the actual position of the motor on the motion path is obtained through the photoelectric encoder, and the feedback signal and position data information of the motor are obtained through the eddy current sensor and transmitted to the control center. After the position data information matches the actual position of the motor on the motion path obtained by the photoelectric encoder, a comparison model is established through the feedback signal; After the photoelectric encoder reaches its service life, the real-time feedback signal is obtained through the eddy current sensor and sent to the comparison model for comparison with the historical feedback signal. After the comparison is passed, the real-time position information corresponding to the real-time feedback signal is output as actual position data.

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