Magnetic suspension mover acceleration self-tuning method for completing target motion distance within specified time

Abstract

The invention discloses a magnetic suspension rotor acceleration self-tuning method capable of completing a target distance within specified time, relates to the technical field of magnetic suspension transportation, and solves the problem that a common speed planning algorithm in the prior art can only obtain predicted motion time according to given parameters such as speed acceleration and the like; the method comprises the steps that an upper computer gives a motion instruction, and according to the target position, the maximum speed limit, the maximum acceleration limit and the motion duration requirements given by the motion instruction, the magnetic suspension rotor completes motion and reaches the target position in the specified duration, and the speed of a constant speed section is calculated. According to the method, under the condition that only the movement distance and the movement time of the rotor are stipulated, the algorithm is automatically updated to determine the proper acceleration of the rotor, and then the movement time of each movement stage is calculated, so that the requirement that the rotor reaches the target position under the limitation of the stipulated time, the maximum acceleration and the maximum speed is finally met.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic suspension transportation, in particular to a method for self-tuning acceleration of a magnetic suspension mover for completing a target moving distance within a specified time. Background Art

[0002] The maglev transport line is a modern transport line product that is flexible, fast and high-precision. In order to match the processing rhythm of other equipment in the production line, the mover movement of the maglev transport line requires a more flexible and diversified movement mode. In certain specific situations, the mover needs to reach the target position within a specified movement time.

[0003] However, the common speed planning algorithm in the prior art can only obtain the estimated movement time based on given parameters such as speed and acceleration, but it is difficult to reversely calculate the movement parameters required under the specified movement time; therefore, it does not meet the existing needs. In this regard, we propose a magnetic levitation mover acceleration self-tuning method to complete the target distance within a specified time. Summary of the invention

[0004] The purpose of the present invention is to provide a method for self-tuning the acceleration of a magnetic levitation mover that completes a target movement distance within a specified time, so as to solve the problem that the common speed planning algorithm in the prior art proposed in the above background technology can only obtain the estimated movement time based on given parameters such as speed and acceleration, but it is difficult to reversely calculate the movement parameters required under the specified movement time.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for self-tuning the acceleration of a magnetic suspension mover to complete a target movement distance within a specified time, comprising the following steps:

[0006] Step 1: The host computer gives a motion command. According to the target position, maximum speed limit, maximum acceleration limit and motion duration requirements given by the motion command, the magnetic levitation mover completes the motion within the specified time, reaches the target position, and calculates the uniform speed segment speed.

[0007] Step 2: According to the calculated uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is used to determine the motion mode;

[0008] Step 3: Continuously update the acceleration a of the mover so that it can carry out the speed planning stage under the condition of satisfying the maximum acceleration constraint. Under the condition of satisfying the movement duration requirement of this instruction, the acceleration time Ta, uniform speed time Tv, and deceleration time Td are calculated from the acceleration value a. After obtaining the time parameters and acceleration parameters of each movement stage, the position information of the magnetic levitation mover at each moment can be obtained. At the same time, the movement trajectory of the magnetic levitation mover obtained by the speed parameter planning meets the distance requirement set by the movement instruction, and the speed instruction is sent to the driver.

[0009] Preferably, the parameters given in the motion instruction include the total motion duration, the motion target position, the final speed limit, the maximum acceleration limit, the starting speed and the final speed.

[0010] Preferably, the movement mode includes:

[0011] Mode 1: Uniform speed of the mover The relationship between the starting speed Vs and the final speed Ve is Vs≤v≤Ve, and the moving process of the mover is from the acceleration section to the uniform speed section to the acceleration section;

[0012] Mode 2: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from deceleration section to uniform speed section to acceleration section;

[0013] Mode 3: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the acceleration section to the uniform speed section to the deceleration section;

[0014] Mode 4: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the deceleration section to the uniform speed section to the deceleration section.

[0015] Preferably, when the motion mode is mode 1, the speed of the uniform speed segment is The calculation formula is:

[0016]

[0017]

[0018] in is the uniform speed, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance.

[0019] Preferably, when the motion mode is mode 2, the uniform speed segment speed is The calculation formula is:

[0020]

[0021] in is the uniform speed, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance.

[0022] Preferably, when the motion mode is mode 3, the uniform speed segment speed is The calculation formula is:

[0023]

[0024] in is the speed of the uniform speed section, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance.

[0025] Preferably, when the motion mode is mode 4, the uniform speed segment speed is The calculation formula is:

[0026]

[0027] in is the speed of the uniform speed section, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance.

[0028] Preferably, the updating of the mover acceleration a comprises the following steps:

[0029] S1: First, the acceleration a will be set to a minimum value, and then the acceleration a will gradually increase at a fixed increment value, and the uniform speed will be continuously verified during the process. Is it greater than 0, whether the discriminant satisfies the numerical solution conditions and satisfies its magnitude relationship with the starting speed Vs and the ending speed Ve in this speed mode;

[0030] S2: If the condition is not met, continue to verify whether the next speed mode is met, repeat the acceleration update and condition verification process until all speed modes are verified to be unsatisfactory or the acceleration is updated to the maximum acceleration limit and then stop updating;

[0031] S3: If the acceleration a that meets the conditions is obtained during the process, the acceleration, acceleration time, uniform speed time, and deceleration time are output, which proves that there is a satisfying value of acceleration a that can achieve the motion target set by the actuator instruction.

[0032] Preferably, the calculated acceleration time Ta, uniform speed time Tv, and deceleration time Td are calculated as follows:

[0033]

[0034] T v =TT a -T d .

[0035] Preferably, the speed parameters in step 3 include the parameters known in the parameter setting stage, such as the starting speed Vs, the final speed Ve, the total movement time T, the movement distance h, and the acceleration time parameter Ta, the deceleration time parameter Td, the uniform speed time parameter Tv, and the uniform speed time parameter h obtained in the speed planning stage.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] In the present invention, when only the movement distance and movement time of the mover are specified, the algorithm automatically updates and determines the appropriate mover acceleration, and then calculates the movement time of each movement stage, so that it finally meets the requirement that the mover reaches the target position within the specified time and the maximum acceleration and the maximum speed limit. When planning the trajectory of the magnetic levitation mover, the instruction setting unit gives the mover's starting speed, terminal speed and total movement time, specifies the maximum speed and maximum acceleration during the movement, and adopts the acceleration self-adaptive method to reversely calculate the various movement parameters under the specified time. If the acceleration result meets the requirement, the various movement parameters reversely calculated according to this acceleration can meet the requirement that the mover reaches the target position within the specified time. The specified time mover planning method enriches the existing movement mode of the magnetic levitation mover, simplifies the complicated calculation of the preliminary parameter setting for realizing the movement of the magnetic levitation mover under the specified time, and meets the requirement that the magnetic levitation transport line adapts to more beats in the automated production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0039] 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.

[0040] See also Figure 1 , an embodiment provided by the present invention: given the following parameters: mover movement distance h, total running time T, starting speed Vs, ending speed Ve, maximum speed limit V max , Maximum acceleration limit a max A method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time comprises the following steps:

[0041] Step 1: The host computer gives a motion command. According to the target position, maximum speed limit, maximum acceleration limit and motion duration requirements given by the motion command, the magnetic levitation mover completes the motion within the specified time, reaches the target position, and calculates the uniform speed segment speed.

[0042] Step 2: According to the calculated uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is used to determine the motion mode, which includes:

[0043] Mode 1: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the acceleration section to the uniform speed section to the acceleration section;

[0044] When the motion mode is mode 1, the speed of the uniform speed segment is The calculation formula is:

[0045]

[0046] set up

[0047] If Discriminant < 0 or the obtained Vp <= 0, then increase the value of acceleration a until both the discriminant and Vp are greater than 0. Determine whether the uniform speed segment meets the maximum speed constraint. If This means that the given movement distance is too long, resulting in the magnetic levitation mover being unable to reach the target position within the specified time.

[0048] Mode 2: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from deceleration section to uniform speed section to acceleration section;

[0049] When the motion mode is mode 2, the speed of the uniform speed segment is The calculation formula is:

[0050]

[0051]

[0052] set up

[0053] If Discriminant < 0 or the obtained Vp <= 0, then increase the value of acceleration a until both the discriminant and Vp are greater than 0. If a Vp that meets the conditions is calculated within the acceleration constraint range, then the Vp at this time is determined as the final uniform speed segment speed. Otherwise, switch to solving the next mode.

[0054] Mode 3: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the acceleration section to the uniform speed section to the deceleration section;

[0055] When the motion mode is mode 3, the speed of the uniform speed segment is The calculation formula is:

[0056]

[0057] Let Discriminant = T·a-2.0·V e +2.0 V s If Discriminant = 0 or the obtained Vp <= 0, then increase the value of acceleration a until the discriminant is not equal to 0 and Vp is greater than 0. If a Vp that meets the conditions is calculated within the acceleration constraint range, then the Vp at this time is determined as the final uniform speed segment speed. Otherwise, switch to solving the next mode.

[0058] Mode 4: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the deceleration section to the uniform speed section to the deceleration section;

[0059] When the motion mode is mode 4, the speed of the uniform speed segment is The calculation formula is:

[0060]

[0061] in is the uniform speed, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance.

[0062] Let Discriminant = T·a + 2.0·V e -2.0 V s If Discriminant = 0 or the obtained Vp <= 0, then increase the value of acceleration a until the discriminant is not equal to 0 and Vp is greater than 0. If a Vp that meets the conditions is calculated within the acceleration constraint range, then the Vp at this time is determined as the final uniform speed. Otherwise, there is no solution under this parameter condition.

[0063] Step 3: Continuously update the acceleration a of the mover so that it can perform the speed planning stage under the condition of meeting the maximum acceleration constraint. Under the condition of meeting the motion duration requirement of this instruction, the acceleration time Ta, uniform speed time Tv, and deceleration time Td are calculated from the acceleration value a. After obtaining the time parameters and acceleration parameters of each motion stage, the position information of the magnetic levitation mover at each moment can be obtained. At the same time, the motion trajectory of the magnetic levitation mover obtained by speed parameter planning, the speed parameters include the parameters known in the parameter setting stage, the starting speed Vs, the end speed Ve, the total motion duration T, the motion distance h, and the acceleration time parameters Ta, the deceleration time parameters Td, the uniform speed time parameters Tv, and the uniform speed time parameters Td obtained in the speed planning stage. When the motion duration requirement and the maximum limit requirement are met, and the distance requirement set by the motion command is met, the speed command is sent to the driver;

[0064] After obtaining the time parameters and acceleration parameters of each motion stage, the position information of the magnetic suspension mover at each moment can be obtained;

[0065] According to the given path distance, starting speed and terminal speed, determine whether a motion trajectory can be planned under this constraint. The specific judgment formula is:

[0066]

[0067] If the above formula is satisfied, the acceleration update can be realized to meet the motion requirements. If it is not satisfied, it means that the difference between the starting speed and the final speed is large, which can only be achieved by increasing the motion displacement or reducing the speed difference.

[0068] Updating the mover acceleration a includes the following steps:

[0069] S1: First, the acceleration a will be set to a minimum value, and then the acceleration a will gradually increase at a fixed increment value, and the uniform speed will be continuously verified during the process. Is it greater than 0, whether the discriminant satisfies the numerical solution conditions and satisfies its magnitude relationship with the starting speed Vs and the ending speed Ve in this speed mode;

[0070] S2: If the condition is not met, continue to verify whether the next speed mode is met, repeat the acceleration update and condition verification process until all speed modes are verified to be unsatisfactory or the acceleration is updated to the maximum acceleration limit and then stop updating;

[0071] S3: If the acceleration a that meets the conditions is obtained during the process, the acceleration, acceleration time, uniform speed time, and deceleration time are output, which proves that there is a satisfying value of acceleration a that can achieve the motion target set by the actuator instruction.

[0072] After the acceleration a meets the conditions, calculate the acceleration time Ta, uniform speed time Tv, and deceleration time Td. The calculation formula is:

[0073]

[0074] T v =TT a -T d .

[0075] The parameters given by the motion instruction include the total motion duration, motion target position, final speed limit, maximum acceleration limit, starting speed and final speed.

[0076] 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 method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time, characterized in that: The steps include: Step 1: The host computer gives a motion command. According to the target position, maximum speed limit, maximum acceleration limit and motion duration requirements given by the motion command, the magnetic levitation mover completes the motion within the specified time, reaches the target position, and calculates the uniform speed segment speed. Step 2: According to the calculated uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is used to determine the motion mode; Step 3: Continuously update the acceleration a of the mover so that it can carry out the speed planning stage under the condition of satisfying the maximum acceleration constraint. Under the condition of satisfying the movement duration requirement of this instruction, the acceleration time Ta, uniform speed time Tv, and deceleration time Td are calculated from the acceleration value a. After obtaining the time parameters and acceleration parameters of each movement stage, the position information of the magnetic levitation mover at each moment can be obtained. At the same time, the movement trajectory of the magnetic levitation mover obtained by the speed parameter planning meets the distance requirement set by the movement instruction, and the speed instruction is sent to the driver.

2. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 1, characterized in that: The parameters given by the motion instruction include the total motion duration, the motion target position, the final speed limit, the maximum acceleration limit, the starting speed and the final speed.

3. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 2, characterized in that: The sports modes include: Mode 1: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the acceleration section to the uniform speed section to the acceleration section; Mode 2: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from deceleration section to uniform speed section to acceleration section; Mode 3: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the acceleration section to the uniform speed section to the deceleration section; Mode 4: Uniform speed of the mover The relationship between the starting speed Vs and the ending speed Ve is: The moving process of the mover is from the deceleration section to the uniform speed section to the deceleration section.

4. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 3, characterized in that: When the motion mode is mode 1, the speed of the uniform speed segment is The calculation formula is: in is the uniform speed, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance. set up If Discriminant < 0 or the obtained Vp <= 0, then increase the value of acceleration a until both the discriminant and Vp are greater than 0. If a Vp that meets the conditions is calculated within the acceleration constraint range, then the Vp at this time is determined as the final uniform speed segment speed. Otherwise, switch to solving the next mode.

5. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 3, characterized in that: When the motion mode is mode 2, the speed of the uniform speed segment is The calculation formula is: in is the uniform speed, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance. set up If Discriminant < 0 or the obtained Vp <= 0, then increase the value of acceleration a until both the discriminant and Vp are greater than 0. If a Vp that meets the conditions is calculated within the acceleration constraint range, then the Vp at this time is determined as the final uniform speed segment speed. Otherwise, switch to solving the next mode.

6. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 3, characterized in that: When the motion mode is mode 3, the speed of the uniform speed segment is The calculation formula is: in is the speed of the uniform speed section, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance. Let Discriminant = T·a-2.0·V e +2.0 V s If Discriminant = 0 or the obtained Vp <= 0, then increase the value of acceleration a until the discriminant is not equal to 0 and Vp is greater than 0. If a Vp that meets the conditions is calculated within the acceleration constraint range, then the Vp at this time is determined as the final uniform speed segment speed. Otherwise, switch to solving the next mode.

7. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 3, characterized in that: When the motion mode is mode 4, the speed of the uniform speed segment is The calculation formula is: in is the speed of the uniform speed section, T is the moving time of the mover, Vs is the starting speed of the mover, Ve is the final speed of the mover, a is the acceleration of the mover, and h is the moving distance. Let Discriminant = T·a + 2.0·V e -2.0 V s If Discriminant = 0 or the obtained Vp <= 0, then increase the value of acceleration a until the discriminant is not equal to 0 and Vp is greater than 0. If a Vp that meets the conditions is calculated within the acceleration constraint range, then the Vp at this time is determined as the final uniform speed segment speed. Otherwise, there is no solution under these parameter conditions.

8. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to any one of claims 4 to 7, characterized in that: The updating of the mover acceleration a comprises the following steps: S1: First, the acceleration a will be set to a minimum value, and then the acceleration a will gradually increase at a fixed increment value, and the uniform speed will be continuously verified during the process. Is it greater than 0, whether the discriminant satisfies the numerical solution conditions and satisfies its magnitude relationship with the starting speed Vs and the ending speed Ve in this speed mode; S2: If the condition is not met, verify whether the next speed mode is met, and repeat the acceleration update and condition verification process until all speed modes are verified to be unsatisfactory or the acceleration is updated to the maximum acceleration limit and then stops updating; S3: If the acceleration a that meets the conditions is obtained during the process, the acceleration, acceleration time, uniform speed time, and deceleration time are output, which proves that there is a satisfying value of acceleration a that can achieve the motion target set by the actuator instruction.

9. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 8, characterized in that: The calculation formulas for the acceleration time Ta, the uniform speed time Tv, and the deceleration time Td are as follows: T v =T-T a -T d 。 10. The method for self-tuning acceleration of a magnetic suspension mover to complete a target distance within a specified time according to claim 1, characterized in that: The speed parameters in step 3 include the parameters known in the parameter setting stage, such as the starting speed Vs, the final speed Ve, the total movement time T, and the movement distance h, and the acceleration time parameter Ta, the deceleration time parameter Td, the uniform speed time parameter Tv, and the uniform speed time parameter h obtained in the speed planning stage.

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