Control Method and Related Device for Double-Holding Electromagnet

Abstract

The present application relates to the technical field of electromagnets, and discloses a control method and related device for a dual-holding electromagnet. The method includes: applying a first steady-state voltage to the electromagnetic coil to generate a magnetic field in a direction opposite to the direction of the magnetic field of the permanent magnet and weaken the magnetic field strength of the permanent magnet; after applying the first steady-state voltage, applying a first pulse voltage to the electromagnetic coil to cancel the magnetic field of the permanent magnet with the magnetic field of the electromagnetic coil and move the sliding rod from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil. The embodiments of the present application can improve the control accuracy in the process of controlling the dual-holding electromagnet, so as to avoid reliability problems such as contact adhesion and misoperation and generate relatively large noise.

Description

Technical Field

[0001] This application relates to the technical field of electromagnets, and in particular to a control method and related device for a dual-holding electromagnet. Background Art

[0002] A dual-holding electromagnet is an electromagnet that can switch between two stable states and does not require continuous energy supply. When the coil is energized and excited, the slide bar is attracted under the action of the electromagnetic field and moves towards one of its static magnetic equilibrium points, and finally stops at this static magnetic equilibrium point. When the power supply is cut off, the slide bar is attracted under the action of the permanent magnetic field and maintained at this static magnetic equilibrium point. When a reverse voltage or reverse current is applied, the slide bar is released and returns to the other static magnetic equilibrium point.

[0003] However, when the dual-holding electromagnet operates frequently, due to low control accuracy, reliability problems such as contact adhesion and misoperation are likely to occur. At the same time, the mechanical impact generated during the operation process will bring relatively large noise. Summary of the Invention

[0004] The purpose of this application is to provide a control method and related device for a dual-holding electromagnet, aiming to improve the control accuracy during the process of controlling the dual-holding electromagnet, so as to avoid reliability problems such as contact adhesion and misoperation and generate relatively large noise.

[0005] An embodiment of this application provides a control method for a dual-holding electromagnet. The dual-holding electromagnet includes a permanent magnet, an electromagnetic coil, and a slide bar. The control method for the dual-holding electromagnet includes:

[0006] Applying a first steady-state voltage to the electromagnetic coil to make the electromagnetic coil generate a magnetic field with a direction opposite to the direction of the magnetic field of the permanent magnet and weaken the magnetic field intensity of the permanent magnet;

[0007] After applying the first steady-state voltage, applying a first pulse voltage to the electromagnetic coil to make the magnetic field of the electromagnetic coil cancel the magnetic field of the permanent magnet and make the slide bar move from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil.

[0008] In some embodiments, before applying the first steady-state voltage to the electromagnetic coil, it further includes:

[0009] Linearizing at the first steady-state position to construct a transfer function;

[0010] According to the transfer function, controlling the steady-state voltage generator to generate the first steady-state voltage and the pulse voltage generator to generate the first pulse voltage;

[0011] The expression of the transfer function is:

[0012] ,

[0013] ,

[0014] ,

[0015] ,

[0016] Among them, is the transfer function, is the total input of the transfer function, s is the Laplace transform variable, is the total control input, is the steady-state control input, is the pulsed control input, x is the displacement of the slide bar, x eq is the first steady-state position, is the stiffness coefficient of the magnetic field force with respect to the displacement of the slide bar, is the system gain, is the magnetic field force generated by the permanent magnet, is the proportional coefficient of the magnetic field strength and the current of the electromagnetic coil, is the proportional coefficient of the current and voltage of the electromagnetic coil, is the vacuum permeability, is the equivalent magnetic charge of the permanent magnet.

[0017] In some embodiments, applying the first steady-state voltage to the electromagnetic coil includes:

[0018] Controlling the steady-state voltage generator to apply the first steady-state voltage to the electromagnetic coil;

[0019] The control model of the steady-state voltage generator is:

[0020] ,

[0021] Among them, k is the proportional gain of the steady-state voltage, e is the natural constant, is the starting time for applying the first steady-state voltage.

[0022] In some embodiments, applying the first pulsed voltage to the electromagnetic coil includes:

[0023] Controlling the pulsed voltage generator to apply the first pulsed voltage to the electromagnetic coil;

[0024] The control model of the pulsed voltage generator is:

[0025] ,

[0026] Among them, is the voltage value of the first pulse voltage, and e is the natural constant, is the starting time for applying the first steady-state voltage, is the duration for applying the first steady-state voltage, is the decay rate.

[0027] In some embodiments, the voltage value of the first pulse voltage decreases, so that the kinetic energy acting on the slide bar approaches zero as the speed of the slide bar decays.

[0028] In some embodiments, after applying the first pulse voltage to the electromagnetic coil, it further includes:

[0029] Applying a second steady-state voltage to the electromagnetic coil, so that the electromagnetic coil generates a magnetic field opposite to the direction of the magnetic field of the permanent magnet and weakens the magnetic field strength of the permanent magnet; the voltage direction of the first steady-state voltage and the voltage direction of the second steady-state voltage are opposite;

[0030] After applying the second steady-state voltage, applying a second pulse voltage to the electromagnetic coil, so that the magnetic field of the electromagnetic coil cancels the magnetic field of the permanent magnet and makes the slide bar move from the second steady-state position to the first steady-state position under the action of the magnetic field of the electromagnetic coil.

[0031] The embodiment of the present application further provides a control device for a dual-holding electromagnet. The dual-holding electromagnet includes a permanent magnet, an electromagnetic coil, and a slide bar. The control device for the dual-holding electromagnet includes:

[0032] A first module, configured to apply a first steady-state voltage to the electromagnetic coil, so that the electromagnetic coil generates a magnetic field opposite to the direction of the magnetic field of the permanent magnet and weakens the magnetic field strength of the permanent magnet;

[0033] A second module, configured to apply a first pulse voltage to the electromagnetic coil after applying the first steady-state voltage, so that the magnetic field of the electromagnetic coil cancels the magnetic field of the permanent magnet and makes the slide bar move from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil.

[0034] The embodiment of the present application further provides an electronic device. The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above control method for the dual-holding electromagnet are implemented.

[0035] The embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above control method for the dual-holding electromagnet are implemented.

[0036] The embodiment of the present application further provides a dual-holding electromagnet, which includes a permanent magnet, an electromagnetic coil, and a slide bar. The dual-holding electromagnet further includes a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the steps of the above control method of the dual-holding electromagnet are implemented.

[0037] Advantages of the present application: First, a first steady-state voltage is applied to the electromagnetic coil to generate a magnetic field in a direction opposite to the magnetic field of the permanent magnet and weaken the magnetic field strength of the permanent magnet, so as to reduce the potential barrier height of the energy required to trigger the movement of the slide bar. Then, a first pulse voltage is applied to the electromagnetic coil to make the magnetic field strength of the electromagnetic coil greater than the magnetic field strength of the permanent magnet, thereby canceling the magnetic field of the permanent magnet and causing the slide bar to move from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil. Since a first steady-state voltage is applied to the electromagnetic coil to weaken the magnetic field strength of the permanent magnet, the potential barrier height of the energy required to trigger the movement of the slide bar is reduced, and the magnetization attraction domain of the slide bar is stabilized at a relatively low energy level, overcoming the defect of the dynamic change of the attraction domain caused by the uncertainty of the magnetization enhancement coefficient, improving the control accuracy of the dual-holding electromagnet, and at the same time, a first steady-state voltage with a lower voltage peak can be applied to the electromagnetic coil to reduce the mechanical impact noise generated by the movement of the slide bar. Description of the Drawings

[0038] Figure 1 is a flowchart of the control method of the dual-holding electromagnet provided by the embodiment of the present application.

[0039] Figure 2 is a schematic structural diagram of the control device of the dual-holding electromagnet provided by the embodiment of the present application. Detailed Embodiments

[0040] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] It should be noted that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown can be executed in a different order from the module division in the device or the flowchart. The terms "first", "second", etc. in the specification, claims, and drawings are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0043] For a double-holding electromagnet, there are two static magnetic equilibrium points. When the slide bar moves to the static magnetic equilibrium point, it is stably at this point under the action of the magnetic field of the permanent magnet. The expression of the three-dimensional phase space constructed based on the displacement of the slide bar, the velocity of the slide bar, and the magnetic field strength of the permanent magnet is:

[0044] ,

[0045] where, is, is the vacuum permeability, is the equivalent magnetic charge of the permanent magnet, is the equilibrium spacing, M is the magnetic field strength of the permanent magnet, is the magnetization enhancement coefficient.

[0046] When the slide bar is at the static magnetic equilibrium point, the displacement of the slide bar, the velocity of the slide bar, and the magnetic field strength of the permanent magnet are in steady-state equilibrium, corresponding to two potential wells of the potential energy surface, and the corresponding potential energy function is:

[0047] ,

[0048] where, is the potential energy surface, is the magnetic force on the slide bar at the position by the magnetic field of the permanent magnet.

[0049] Under the action of the magnetic field, the potential energy surface of the slide bar is corrected to:

[0050] ,

[0051] where, is the corrected potential energy surface.

[0052] As the depth of the potential well increases, the system tends to have stronger bistable characteristics. However, the uncertainty of the magnetization enhancement coefficient leads to dynamic changes in the attraction domain, resulting in a decrease in the control accuracy of the double-holding electromagnet, and the mechanical impact generated during the movement of the slide bar will bring greater noise.

[0053] Based on this, the embodiment of the present application provides a control method for a double-holding electromagnet. By first weakening the magnetic field strength of the permanent magnet of the double-holding electromagnet and then triggering the displacement of the slide bar, the slide bar can be displaced after crossing a relatively low potential barrier height, improving the control accuracy in the process of controlling the double-holding electromagnet, avoiding reliability problems such as contact adhesion and misoperation, and reducing the generated noise.

[0054] Figure 1 is the flowchart of the control method for the double-holding electromagnet provided by the embodiment of the present application. Refer to Figure 1, in one embodiment, the method includes but is not limited to steps S101 to S102.

[0055] In this embodiment, the double-holding electromagnet includes a permanent magnet, an electromagnetic coil, and a slide bar.

[0056] Step S101, apply a first steady-state voltage to the electromagnetic coil to cause the electromagnetic coil to generate a magnetic field in a direction opposite to the direction of the magnetic field of the permanent magnet and weaken the magnetic field strength of the permanent magnet.

[0057] Step S102, after applying the first steady-state voltage, apply a first pulse voltage to the electromagnetic coil to cause the magnetic field of the electromagnetic coil to cancel the magnetic field of the permanent magnet and cause the slide bar to move from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil.

[0058] The first steady-state voltage is a supply voltage that can cause the magnetic field strength of the electromagnetic coil to weaken the magnetic field strength of the permanent magnet. When the electromagnetic coil is connected to the first steady-state voltage, the direction of the electromagnetic field generated is opposite to the direction of the magnetic field of the permanent magnet. The calculation method of the first steady-state voltage is to first determine the maximum steady-state voltage, and then select a supply voltage with a voltage value less than the maximum steady-state voltage value, that is, the first steady-state voltage is obtained. For example, select a voltage value that is 30% of the maximum steady-state voltage value as the first steady-state voltage. Among them, the maximum steady-state voltage is the supply voltage connected to the electromagnetic coil when the magnetic field of the electromagnetic coil just cancels the magnetic field of the permanent magnet.

[0059] The first pulse voltage is a pulse voltage that can cause the magnetic field strength of the electromagnetic coil to be greater than the magnetic field strength of the permanent magnet when it reaches the voltage peak. When the electromagnetic coil connected to the first steady-state voltage is connected to the first pulse voltage and the magnetic field strength of the electromagnetic coil cancels the magnetic field strength of the permanent magnet when the first pulse voltage reaches the voltage peak, the slide bar moves from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil.

[0060] The control method of the double-holding electromagnet provided by the embodiment of the present application first applies a first steady-state voltage to the electromagnetic coil, so that the electromagnetic coil generates a magnetic field with a direction opposite to the direction of the magnetic field of the permanent magnet and weakens the magnetic field strength of the permanent magnet, so as to reduce the potential barrier height of the energy required to trigger the movement of the sliding rod. Then, a first pulse voltage is applied to the electromagnetic coil, so that the magnetic field strength of the electromagnetic coil is greater than the magnetic field strength of the permanent magnet, thereby canceling the magnetic field of the permanent magnet and causing the sliding rod to move from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil. Since the first steady-state voltage is applied to the electromagnetic coil to weaken the magnetic field strength of the permanent magnet, the potential barrier height of the energy required to trigger the movement of the sliding rod is reduced, and the magnetization attraction domain of the sliding rod is stabilized at a relatively low energy level, overcoming the defect of the dynamic change of the attraction domain caused by the uncertainty of the magnetization enhancement coefficient, improving the control accuracy of the double-holding electromagnet, and at the same time, a first steady-state voltage with a lower voltage peak can be applied to the electromagnetic coil to reduce the mechanical impact noise generated by the movement of the sliding rod.

[0061] In one embodiment, before applying the first steady-state voltage to the electromagnetic coil, it further includes: linearizing at the first steady-state position to construct a transfer function; controlling a steady-state voltage generator to generate the first steady-state voltage and a pulse voltage generator to generate the first pulse voltage according to the transfer function. The expression of the transfer function is:

[0062] ,

[0063] ,

[0064] ,

[0065] ,

[0066] Among them, is the transfer function, is the total input of the transfer function, s is the Laplace transform variable, is the total control input, is the steady-state control input, is the pulse control input, x is the displacement of the sliding rod, x eq is the first steady-state position, is the stiffness coefficient of the magnetic force with respect to the displacement of the sliding rod, is the system gain, is the magnetic force generated by the permanent magnet, is the proportional coefficient of the magnetic field strength and the current of the electromagnetic coil, is the proportional coefficient of the current and voltage of the electromagnetic coil, is the vacuum permeability, is the equivalent magnetic charge of the permanent magnet.

[0067] In one embodiment, applying a first steady-state voltage to the electromagnetic coil includes: controlling a steady-state voltage generator to apply the first steady-state voltage to the electromagnetic coil. The control model of the steady-state voltage generator is:

[0068] ,

[0069] where k is the proportional gain of the steady-state voltage, e is the natural constant, is the starting time for applying the first steady-state voltage.

[0070] When applying the first steady-state voltage to the electromagnetic coil, a corresponding steady-state current and a magnetic field with a direction opposite to the direction of the magnetic field of the permanent magnet are generated in the electromagnetic coil. The magnetic attraction force exerted by the permanent magnet on the slide bar is weakened by the magnetic field generated by the electromagnetic coil. The calculation formula for this magnetic attraction force is:

[0071] ,

[0072] where, is the weakened magnetic attraction force, is the steady-state current, is the proportional coefficient of the current and voltage of the electromagnetic coil.

[0073] In one embodiment, applying a first pulse voltage to the electromagnetic coil includes: controlling a pulse voltage generator to apply the first pulse voltage to the electromagnetic coil. The control model of the pulse voltage generator is:

[0074] ,

[0075] where, is the voltage value of the first pulse voltage, e is the natural constant, is the starting time for applying the first steady-state voltage, is the duration of applying the first steady-state voltage, is the attenuation rate.

[0076] When applying the first pulse voltage to the electromagnetic coil, the pulse current generated in the electromagnetic coil, the kinetic energy of the slide bar, and the pulse impulse of the mechanical impact of the slide bar all change with the voltage value of the pulse voltage. The calculation formulas for the pulse current generated in the electromagnetic coil, the kinetic energy of the slide bar, and the pulse impulse of the mechanical impact of the slide bar are respectively:

[0077] ,

[0078] ,

[0079] ,

[0080] where, is the real-time pulse current, is the peak pulse current, is the kinetic energy, is the pulse impulse, C is the capacitance value of the capacitor that generates the first pulse voltage, is the peak voltage of the first pulse voltage, is the speed threshold of the slide bar, is the dissipated energy, is the magnetic force on the slide bar after applying the first pulse voltage.

[0081] In one embodiment, the voltage value of the first pulse voltage decreases, so that the kinetic energy acting on the slide bar approaches zero as the speed of the slide bar decays. Specifically, after applying the first pulse voltage to the electromagnetic coil, the voltage value of the first pulse voltage decreases, and the decay rate is set to , and the decay rate of the first pulse voltage is set to be able to make the kinetic energy acting on the slide bar approach zero as the speed of the slide bar decays when the first pulse voltage decays, that is, the speed of the slide bar also decays to zero at the moment when the kinetic energy of the slide bar decays to zero, so as to further reduce the noise of mechanical impact generated by the movement of the slide bar. The setting of the decay rate can be obtained through several tests, so that the decay rate of the kinetic energy of the slide bar gradually approaches the decay rate of the speed of the slide bar until the speed of the slide bar also decays to zero at the moment when the kinetic energy of the slide bar decays to zero.

[0082] In one embodiment, after applying the first pulse voltage to the electromagnetic coil, it further includes: applying a second steady-state voltage to the electromagnetic coil to generate a magnetic field in a direction opposite to the direction of the magnetic field of the permanent magnet and weaken the magnetic field strength of the permanent magnet; after applying the second steady-state voltage, applying a second pulse voltage to the electromagnetic coil to make the magnetic field of the electromagnetic coil cancel the magnetic field of the permanent magnet and make the slide bar move from the second steady-state position to the first steady-state position under the action of the magnetic field of the electromagnetic coil. Among them, the voltage directions of the first steady-state voltage and the second steady-state voltage are opposite. Specifically, when it is necessary to reset the slide bar to the first steady-state position, first apply the second steady-state voltage to the electromagnetic coil to generate a magnetic field in a direction opposite to the direction of the magnetic field of the permanent magnet and weaken the magnetic field strength of the permanent magnet to reduce the potential barrier height of the energy required to trigger the movement of the slide bar, and then apply the second pulse voltage to the electromagnetic coil to make the magnetic field strength of the electromagnetic coil greater than the magnetic field strength of the permanent magnet, so as to cancel the magnetic field of the permanent magnet and make the slide bar move from the second steady-state position to the first steady-state position under the action of the magnetic field of the electromagnetic coil.

[0083] Figure 2 is the structural schematic diagram of the control device of the double-holding electromagnet provided by the embodiment of the present application. Refer to Figure 2 , in one embodiment, the device includes:

[0084] The first module 201 is configured to apply a first steady-state voltage to the electromagnetic coil, so that the electromagnetic coil generates a magnetic field with a direction opposite to the direction of the magnetic field of the permanent magnet and weakens the magnetic field strength of the permanent magnet;

[0085] The second module 202 is configured to apply a first pulse voltage to the electromagnetic coil after applying the first steady-state voltage, so that the magnetic field of the electromagnetic coil cancels out the magnetic field of the permanent magnet and causes the slide bar to move from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil.

[0086] In this embodiment, the double-holding electromagnet includes a permanent magnet, an electromagnetic coil, and a slide bar.

[0087] The specific implementation manner of the control device of the double-holding electromagnet is basically the same as the specific embodiment of the above-mentioned control method of the double-holding electromagnet, and will not be elaborated here.

[0088] An embodiment of the present application further provides an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to implement the steps of the method as described above.

[0089] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method as described above are implemented.

[0090] An embodiment of the present application further provides a double-holding electromagnet, including a permanent magnet, an electromagnetic coil, and a slide bar. The double-holding electromagnet further includes a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the steps of the method as described above are implemented.

[0091] For the control method and related device of the double-holding electromagnet provided by the embodiment of the present application, a first steady-state voltage is first applied to the electromagnetic coil, so that the electromagnetic coil generates a magnetic field with a direction opposite to the direction of the magnetic field of the permanent magnet and weakens the magnetic field strength of the permanent magnet, so as to reduce the potential barrier height of the energy required to trigger the movement of the slide bar. Then, a first pulse voltage is applied to the electromagnetic coil, so that the magnetic field strength of the electromagnetic coil is greater than the magnetic field strength of the permanent magnet, thereby canceling out the magnetic field of the permanent magnet and causing the slide bar to move from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil. Since a first steady-state voltage is applied to the electromagnetic coil to weaken the magnetic field strength of the permanent magnet, the potential barrier height of the energy required to trigger the movement of the slide bar is reduced, so that the magnetization attraction domain of the slide bar is stabilized at a relatively low energy level, overcoming the defect of the dynamic change of the attraction domain caused by the uncertainty of the magnetization enhancement coefficient, improving the control accuracy of the double-holding electromagnet, and at the same time, a first steady-state voltage with a lower voltage peak can be applied to the electromagnetic coil, reducing the mechanical impact noise generated by the movement of the slide bar.

[0092] In the embodiments of the present application, if the modules / units integrated in the control device of the dual-holding electromagnet are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of the present application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0093] Exemplarily, the computer program can be divided into one or more modules / units. One or more modules / units are stored in the memory and executed by the processor. One or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the computer program in the control device of the dual-holding electromagnet.

[0094] The processor can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the electromagnet, and uses various interfaces and circuits to connect all parts of the entire electromagnet.

[0095] The memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory, and invoking the data stored in the memory, the processor realizes various functions of the dual-holding electromagnet. The memory may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0096] Those skilled in the art can understand that although some embodiments herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means being within the scope of the present application and forms different embodiments. For example, any one of the embodiments claimed in the present application can be used in any combination.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a double-holding electromagnet, the double-holding electromagnet comprising a permanent magnet, an electromagnetic coil, and a slide rod, characterized in that, The control method of the dual-holding electromagnet includes: Applying a first steady-state voltage to the electromagnetic coil to generate a magnetic field in a direction opposite to the magnetic field of the permanent magnet and weaken the magnetic field intensity of the permanent magnet; After applying the first steady-state voltage, applying a first pulse voltage to the electromagnetic coil to cancel the magnetic field of the permanent magnet with the magnetic field of the electromagnetic coil and move the slide rod from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil; Before applying the first steady-state voltage to the electromagnetic coil, it further includes: Linearizing at the first steady-state position to construct a transfer function; According to the transfer function, controlling the steady-state voltage generator to generate the first steady-state voltage and the pulse voltage generator to generate the first pulse voltage; The expression of the transfer function is: ， ， ， ， Among them, is the transfer function, is the total input of the transfer function, s is the Laplace transform variable, is the total control input, is the steady-state control input, is the pulsed control input, x is the displacement of the slide bar, x eq is the first steady-state position, is the stiffness coefficient of the magnetic force with respect to the displacement of the slide bar, is the system gain, is the magnetic force generated by the permanent magnet, is the proportionality coefficient of the magnetic field strength and the current of the electromagnetic coil, is the proportionality coefficient of the current and voltage of the electromagnetic coil, is the vacuum permeability, is the equivalent magnetic charge of the permanent magnet.

2. The control method of the dual-holding electromagnet according to claim 1, wherein Applying the first steady-state voltage to the electromagnetic coil includes: Controlling the steady-state voltage generator to apply the first steady-state voltage to the electromagnetic coil; The control model of the steady-state voltage generator is: ， where k is the proportional gain of the steady-state voltage, e is the natural constant, is the starting time for applying the first steady-state voltage.

3. The control method of the dual-holding electromagnet according to claim 1, wherein, Applying the first pulse voltage to the electromagnetic coil includes: Controlling the pulse voltage generator to apply the first pulse voltage to the electromagnetic coil; The control model of the pulse voltage generator is: ， Wherein, is the voltage value of the first pulse voltage, e is the natural constant, is the starting time when the first steady-state voltage is applied, is the duration when the first steady-state voltage is applied, is the attenuation rate.

4. The control method of the dual-holding electromagnet according to claim 1, characterized in that The voltage value of the first pulse voltage decreases, so that the kinetic energy acting on the slide rod approaches zero as the speed of the slide rod decays.

5. The control method of the dual-holding electromagnet according to claim 1, wherein, After applying the first pulse voltage to the electromagnetic coil, it further includes: Applying a second steady-state voltage to the electromagnetic coil to generate a magnetic field in a direction opposite to the magnetic field of the permanent magnet and weaken the magnetic field intensity of the permanent magnet; the voltage directions of the first steady-state voltage and the second steady-state voltage are opposite; After applying the second steady-state voltage, applying a second pulse voltage to the electromagnetic coil to cancel the magnetic field of the permanent magnet with the magnetic field of the electromagnetic coil and move the slide rod from the second steady-state position to the first steady-state position under the action of the magnetic field of the electromagnetic coil.

6. A control device for a double-holding electromagnet, the double-holding electromagnet comprising a permanent magnet, an electromagnetic coil and a slide rod, characterized in that, The control device of the dual-holding electromagnet includes: A first module for applying a first steady-state voltage to the electromagnetic coil to generate a magnetic field in a direction opposite to the magnetic field of the permanent magnet and weaken the magnetic field intensity of the permanent magnet; A second module for applying a first pulse voltage to the electromagnetic coil after applying the first steady-state voltage to cancel the magnetic field of the permanent magnet with the magnetic field of the electromagnetic coil and move the slide rod from the first steady-state position to the second steady-state position under the action of the magnetic field of the electromagnetic coil; Before applying the first steady-state voltage to the electromagnetic coil, it further includes: Linearizing at the first steady-state position to construct a transfer function; According to the transfer function, controlling the steady-state voltage generator to generate the first steady-state voltage and the pulse voltage generator to generate the first pulse voltage; The expression of the transfer function is: ， ， ， ， Among them, is the transfer function, is the total input of the transfer function, s is the Laplace transform variable, is the total control input, is the steady-state control input, is the pulse control input, x is the displacement of the slide bar, x eq is the first steady-state position, is the stiffness coefficient of the magnetic force on the displacement of the slide bar, is the system gain, is the magnetic force generated by the permanent magnet, is the proportionality coefficient of the magnetic field strength and the current of the electromagnetic coil, is the proportionality coefficient of the current and voltage of the electromagnetic coil, is the vacuum permeability, is the equivalent magnetic charge of the permanent magnet.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the control method of the dual-holding electromagnet according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the control method of the dual-holding electromagnet according to any one of claims 1 to 5 are implemented.

9. A dual-holding electromagnet, characterized in that the dual-holding electromagnet includes a permanent magnet, an electromagnetic coil, and a slide bar; the dual-holding electromagnet further includes a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the steps of the control method of the dual-holding electromagnet according to any one of claims 1 to 5 are implemented.

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