Permanent magnet synchronous linear motor and floating stator control system and damping structure thereof

Abstract

A floating stator control system of a permanent magnet synchronous linear motor comprises a motor which comprises a mover, a stator and a base, relative motion can be generated between the mover and the stator, and relative motion can be generated between the mover and the base; the motion controller is used for controlling the rotor position, the motion speed and the steering direction of the motor; the two groups of position feedback devices are respectively arranged as a rotor and stator relative position feedback module and a rotor base relative position feedback module; the rotor and stator relative position feedback module is used for feeding back relative position signals of the rotor and the stator, the rotor and base relative position feedback module is used for feeding back relative position signals of the rotor and the base, and the relative position signals of the rotor and the stator and the relative position signals of the rotor and the base are transmitted to the motion controller to adjust motor motion. As the floating stator permanent magnet synchronous linear motor is provided with two sets of position feedback systems, accurate positioning of the rotor is realized through the double-feedback full-closed-loop controller, and damping of the floating stator is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and particularly to a permanent magnet synchronous linear motor, its floating stator control system and shock absorption structure. Background Art

[0002] When the mover of a general motor accelerates or decelerates, its reaction force will be conducted to the equipment base and other components through the stator. This is an impact force that will cause the entire equipment to vibrate, and in severe cases, it will affect the use of other components. The characteristics of a permanent magnet synchronous linear motor are high speed and high acceleration. Compared with a general motor, the vibration caused by a permanent magnet synchronous linear motor is generally greater.

[0003] Generally, shock absorption is carried out on the "floating stator" of the motor. The shock absorption method is to make the stator part that was originally fixed on the base of the motor movable relative to the base by adding a moving pair, so that most of the reaction force during the acceleration and deceleration of the mover acts on the stator to cause the stator to accelerate and decelerate, and the force transmitted to the base is greatly reduced, thereby reducing vibration and the impact of vibration on other components of the system, such as the accuracy of a camera and the tuning time of a servo system. This method has the characteristics of a wide adaptation range, simple structure, strong operability, etc., and has good application prospects and can be widely used in various industries.

[0004] Chinese patents with application numbers CN201120527594 and CN201110421784 respectively describe single-axis and double-axis floating stator structures using voice coil motors, but they are not applicable to permanent magnet synchronous linear motors.

[0005] In the prior art, a voice coil motor has only one coil with single-phase current and a short stroke; a permanent magnet synchronous linear motor has three sets of coils with three-phase current and a long stroke, but it requires position feedback between the mover and the stator to perform phase modulation control on the three-phase current. In the prior art, there is only one position feedback of the mover relative to the base, and the connection method of the servo control system is not involved. Summary of the Invention

[0006] The main technical problem to be solved by the present invention is how to achieve shock absorption for a permanent magnet synchronous linear motor.

[0007] According to a first aspect, in one embodiment, a floating stator control system for a permanent magnet synchronous linear motor is provided, including:

[0008] A motor, including a mover, a stator and a base, the mover is connected to the output end of the motor, and relative movement can occur between the mover and the stator, and relative movement can occur between the mover and the base;

[0009] A motion controller, the motion controller is used to control the position, motion speed and steering of the mover of the motor; and

[0010] Two sets of position feedback devices, which are respectively set as the relative position feedback module of the mover and stator and the relative position feedback module of the mover and base;

[0011] The relative position feedback module of the mover and stator is used to feedback the relative position signal of the mover and stator, and the relative position feedback module of the mover and base is used to feedback the relative position signal of the mover and base. Both the relative position signal of the mover and stator and the relative position signal of the mover and base are transmitted to the motion controller to adjust the motion of the motor.

[0012] In another embodiment, the motion controller includes a position controller, a speed controller and a current controller. The position controller receives the relative position signal of the mover and base and adjusts the motor; the speed controller receives the relative position signal of the mover and stator and adjusts the motor; the current controller receives the relative position signal of the mover and stator and adjusts the motor.

[0013] In another embodiment, a differentiator is provided between the speed controller and the relative position feedback module of the mover and stator. The differentiator can convert the relative position signal of the mover and stator into a speed signal and feedback it to the speed controller.

[0014] In another embodiment, the first guide rail adopts a ball guide rail.

[0015] According to the second aspect, a floating stator shock absorption structure of a permanent magnet synchronous linear motor applies the above-mentioned permanent magnet synchronous linear motor floating stator control system. The base is used to connect the motor and the motor installation position; the stator is slidably connected to the base; the mover is slidably installed on the stator, and the sliding directions of the stator and the mover are the same; a stator shock absorption component is provided between the stator and the base, and the stator shock absorption component is used to drive the stator to always tend to return to its original position.

[0016] In another embodiment, linear sliding between the stator and the mover is realized through a first guide rail, and linear sliding between the base and the stator is realized through a second guide rail.

[0017] In another embodiment, the stator shock absorption component includes an elastic member. The elastic member connects the stator and the base, and the telescopic direction of the elastic member is the same as the sliding direction of the stator; the elastic member can limit the movement amplitude of the stator and drive the stator to return to its original position.

[0018] In another embodiment, the stator shock absorption component further includes a damping member. The damping member connects the stator and the base, and the telescopic direction of the damping member is the same as the sliding direction of the stator; the damping member can consume the kinetic energy of the mover.

[0019] In another embodiment, the groups of the read heads are respectively distributed on both sides of the mover along the sliding direction, and the two groups of the grating rulers are respectively distributed on both sides of the mover along the sliding direction.

[0020] According to a third aspect, a permanent magnet synchronous linear motor includes the permanent magnet synchronous linear motor floating stator damping structure as described above, and the mover is connected to the output end of the motor.

[0021] For the permanent magnet synchronous linear motor floating stator control system according to the above embodiment, since two sets of position feedback systems are configured on the floating stator permanent magnet synchronous linear motor, precise positioning of the mover is achieved through a dual-feedback full-closed-loop controller, without being affected by the position of the floating stator, thereby achieving the damping effect of the floating stator; compared with the linear motor floating stator scheme with only one position feedback device, this scheme avoids the vibration caused by the current mutation due to Hall commutation of the permanent magnet linear motor and can achieve more accurate and rapid positioning.

[0022] For the permanent magnet synchronous linear motor floating stator damping structure according to the above embodiment, since the mover is slidably connected to the stator, and the stator is slidably mounted on the base, when the motor drives the mover to move with the electromagnetic force F, that is, the mover will move relative to the stator, and the reaction force F' of equal magnitude will act on the stator, causing the stator to move in the opposite direction. At the same time, there is a stator damping component between the stator and the base, which limits the movement amplitude of the stator, causing the stator to be pulled back near the equilibrium position. In this process, most of the reaction force F' of the motor is used to accelerate and decelerate the stator, and the force F'' transmitted to the base is only the relative force brought by the stator damping component, greatly reducing the vibration of the base and effectively suppressing the vibration of the machine table caused by the reaction force during the movement of the motor mover. It has excellent vibration suppression ability and does not require additional active vibration suppressors. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the principle of the floating stator damping structure in an embodiment.

[0024] Figure 2 It is a schematic diagram of the principle of the floating stator control system in an embodiment.

[0025] Reference numerals: 1, base; 2, stator; 3, mover; 4, second guide rail; 5, first guide rail; 6, first grating ruler; 7, first reading head; 8, second reading head; 9, second grating ruler; 10, first spring; 11, first damper; 12, second spring; 13, second damper; 14, motor mounting position; 15, motion controller; 151, current controller; 152, speed controller; 153, differentiator; 154, position controller; 16, position feedback device; 161, relative position feedback module of mover and stator; 162, relative position feedback module of mover and base. Detailed implementation manners

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings through specific implementation manners. Similar elements in different implementation manners adopt related similar element numbers. In the following implementation manners, many detailed descriptions are for better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, which is to avoid the core part of the present application being overwhelmed by excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and general technical knowledge in the art.

[0027] In addition, the features, operations, or characteristics described in the specification can be combined in any appropriate manner to form various implementation manners. At the same time, the steps or actions in the method description can also be reordered or adjusted in an obvious manner for those skilled in the art. Therefore, the various sequences in the specification and drawings are only for clearly describing a certain embodiment, and do not mean that they are necessary sequences, unless it is stated that a certain sequence must be followed.

[0028] The serial numbers assigned to the components in this article, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. And the "connection" and "coupling" mentioned in this application, unless otherwise specified, both include direct and indirect connections (couplings).

[0029] When the mover of a general motor accelerates or decelerates, its reaction force will be conducted to the equipment base and other components through the stator. This is an impact force, which will cause the entire equipment to vibrate, and in severe cases, it will affect the use of other components; while the characteristics of a permanent magnet synchronous linear motor are high speed and high acceleration. Compared with a general motor, the vibration caused by a permanent magnet synchronous linear motor is generally greater.

[0030] Generally, shock absorption is carried out on the "floating stator" of the motor. The shock absorption method is to make the stator part that was originally fixed on the base of the motor movable relative to the base by adding a moving pair, so that most of the reaction force of the mover's acceleration and deceleration acts on the stator to cause the stator to accelerate and decelerate, and the force transmitted to the base is greatly reduced, thereby reducing vibration and the impact of vibration on other components of the system, such as the accuracy of the camera and the tuning time of the servo system. This method has the characteristics of wide adaptability, simple structure, and strong operability, and has good application prospects and can be widely used in various industries.

[0031] The single-axis and double-axis floating stator structures of the voice coil motor used in the prior art are not applicable to the permanent magnet synchronous linear motor. The voice coil motor has only one coil with single-phase current and a short stroke. Compared with the floating stator structure of the voice coil motor, the floating stator of the linear motor has a longer stroke and more practical use value; the winding coil current of the permanent magnet synchronous linear motor is three-phase and the stroke is long, but position feedback between the mover and the stator is required to perform phase modulation control on the three-phase current. In the prior art, there is only one position feedback of the mover relative to the base, and the connection method of the servo control system is not involved.

[0032] In the embodiment of the present invention, two sets of position feedback systems are configured on the floating stator permanent magnet synchronous linear motor, and precise positioning of the mover is achieved through a double-feedback full-closed loop controller, without being affected by the position of the floating stator, thereby achieving the shock absorption effect of the floating stator.

[0033] Embodiment 1:

[0034] According to a first aspect, in an embodiment, a control system for a floating stator of a permanent magnet synchronous linear motor is provided. Please refer to Figure 1 and Figure 2 , which includes a motor, a motion controller 15, and two sets of position feedback devices 16. The motor in this application is a permanent magnet synchronous linear motor, including a mover 3, a stator 2, and a base 1. The mover 3 is connected to the output end of the motor, and relative movement can occur between the mover 3 and the stator 2, and relative movement can occur between the mover 3 and the base 1; the motion controller 15 is used to control the position, motion speed, and steering of the mover 3 of the motor; the position feedback devices 16 are respectively set as a relative position feedback module 161 between the mover and the stator and a relative position feedback module 162 between the mover and the base; the relative position feedback module 161 between the mover and the stator is used to feedback the relative position signal between the mover 3 and the stator 2, and the relative position feedback module 162 between the mover and the base is used to feedback the relative position signal between the mover 3 and the base 1. The relative position signal between the mover 3 and the stator 2 and the relative position signal between the mover 3 and the base 1 are both transmitted to the motion controller 15 to adjust the motion of the motor.

[0035] Please refer to Figure 2, the motion controller 15 includes a position controller 154, a speed controller 152, and a current controller 151. The position controller 154 receives the relative position signal between the mover 3 and the base 1 and adjusts the relative position between the mover 3 and the base 1. A differentiator 153 is provided between the speed controller 152 and the mover stator relative position feedback module 161. The differentiator 153 can convert the relative position signal between the mover 3 and the stator 2 into a speed signal and feedback it to the speed controller 152. The speed controller 152 receives the speed signal and adjusts the speed of the mover 3. The current controller 151 receives the relative position signal between the mover 3 and the stator 2 and adjusts the direction of the motor current to control the rotation direction of the mover 3.

[0036] Please refer to Figure 1 and Figure 2 , in the embodiment of the present application, the two sets of position feedback devices 16 have the same structure, both including a scale and a read head. The read heads are respectively the first read head 7 and the second read head 8. The first read head 7 and the second read head 8 are both connected to the stator 2, and the first read head 7 and the second read head 8 are respectively arranged on both sides of the mover 3 along the sliding direction. The scales are respectively the first scale 6 and the second scale 9. The first scale 6 is installed on the stator 2, and the second scale 9 is installed on the base 1. The first scale 6 and the second scale 9 are respectively arranged on both sides of the mover 3 along the sliding direction. Among them, the scale can be a magnetic scale, a grating, etc. The first scale 6 and the first read head 7 are opposite to each other and used in cooperation to feedback the relative position between the mover 3 and the stator 2. The second scale 9 and the second read head 8 are opposite to each other and used in cooperation to feedback the relative position between the mover 3 and the base 1.

[0037] In the embodiment of the present application, please refer to Figure 1 and Figure 2 , the position signal of the first read head 7 is divided into two paths. One path is input to the current controller 151 for the commutation of the permanent magnet synchronous linear motor, and the other path becomes a speed signal after passing through the differentiator 153 and is feedback to the speed controller 152. The position signal of the second read head 8 is feedback to the position controller 154. In practice, the motion controller 15 can be a motor servo driver with a dual feedback interface. The main feedback interface is connected to the first read head 7, and the slave feedback interface is connected to the second read head 8. The driver output is connected to the UVW phase coils of the motor to achieve dual feedback full closed-loop control. It can also be a combination of a motion control card with a closed-loop servo control function and a motor servo driver with a single feedback interface. The driver feedback interface is connected to the first read head 7, and the control card feedback interface is connected to the second read head 8 to achieve the same closed-loop control function.

[0038] A permanent magnet synchronous linear motor can use Hall sensors to determine the initial phase. However, precise commutation requires position sensors. If commutation is based only on Hall sensors, it may cause sudden changes in current, triggering unnecessary vibrations. Therefore, in the embodiments of the present application, there are two position feedback devices 16, which avoid the vibrations caused by sudden current changes due to Hall commutation of the permanent magnet linear motor, enabling more accurate and rapid positioning. At the same time, precise positioning of the mover 3 is achieved through a dual-feedback full-closed-loop controller, without being affected by the position of the floating stator 2, thereby realizing the damping effect of the floating stator 2.

[0039] Embodiment 2:

[0040] According to a second aspect, a damping structure for a floating stator of a permanent magnet synchronous linear motor applies the above-mentioned control system for a floating stator of a permanent magnet synchronous linear motor. Please refer to Figure 1 , the motor in the present application, namely a permanent magnet synchronous linear motor, includes a mover 3, a stator 2, and a base 1. The mover 3 is connected to the output end of the motor. The motor is connected to the motor mounting position 14 through the base 1, or is connected to environmental factors such as the ground according to requirements; the stator 2 is slidably connected to the base 1; the mover 3 is slidably mounted on the stator 2, and the sliding directions of the stator 2 and the mover 3 are the same; a stator damping assembly is provided between the stator 2 and the base 1, and the stator damping assembly is used to drive the stator 2 to always tend to return to its original position.

[0041] In one embodiment, please refer to Figure 1 , linear sliding between the stator 2 and the mover 3 is achieved through a first guide rail 5, and linear sliding between the base 1 and the stator 2 is achieved through a second guide rail 4. The first guide rail 5 and the second guide rail 4 in the embodiments of the present application can be various kinematic pairs such as crossed roller guide rails or air bearing guide rails.

[0042] Please refer to Figure 1 , the stator damping assembly includes an elastic member and a damping member. The elastic member connects the stator 2 and the base 1. The elastic member in the embodiments of the present application uses a first spring 10. Both ends of the first spring 10 are respectively connected to the stator 2 and the base 1, and the telescopic direction of the first spring 10 is the same as the sliding direction of the stator 2. When the movement amplitude of the stator 2 is larger, the force of the first spring 10 is greater. The elasticity of the first spring 10 can limit the movement amplitude of the stator 2 and drive the stator 2 to return to its original position, reaching the vicinity of the equilibrium position. The damping member connects the stator 2 and the base 1. The damping member in the embodiments of the present application uses a first damper 11. Both ends of the first damper 11 are respectively connected to the stator 2 and the base 1, and the telescopic direction of the first damper 11 is the same as the sliding direction of the stator 2 and is parallel to the telescopic direction of the first spring 10. The first damper 11 can consume the kinetic energy of the mover 3 when the stator 2 moves under the reaction force of the mover 3, reduce the amplitude of vibration, and improve stability.

[0043] In another embodiment, please refer to Figure 1 , a linear sliding is achieved between the stator 2 and the mover 3 through a first guide rail 5, and a linear sliding is achieved between the base 1 and the stator 2 through a second guide rail 4. In the embodiment of the present application, the first guide rail 5 adopts a common linear ball guide rail, and the second guide rail 4 can be a common linear ball guide rail, a crossed roller guide rail, an air bearing guide rail or various other kinematic pairs.

[0044] Please refer to Figure 1 , the stator shock absorption assembly includes an elastic member, and the elastic member connects the stator 2 and the base 1. In the embodiment of the present application, the elastic member adopts a first spring 10. Both ends of the first spring 10 are respectively connected to the stator 2 and the base 1, and the telescopic direction of the first spring 10 is the same as the sliding direction of the stator 2. When the movement amplitude of the stator 2 is larger, the force of the first spring 10 is greater. Through the elasticity of the first spring 10, the movement amplitude of the stator 2 can be limited and the stator 2 can be driven to return to its original position and reach the vicinity of the equilibrium position. That is, when the first guide rail 5 adopts a ball guide rail, its own damping is already large enough, so the first damper 11 can be omitted from the stator shock absorption assembly.

[0045] Please refer to Figure 1 , in the actual application process, the motor is installed on the ground, that is, the installation position 14 is set as the ground, and generally, the base 1 and the ground are usually connected in the form of foot cups for supporting the base 1. Because the foot cups are not absolutely rigid, the inherent stiffness and damping of the foot cups are equivalent to the set second spring 12 and second damper 13. In this process, most of the reaction force F' of the motor is used to accelerate and decelerate the stator 2, and the force F'' transmitted to the base 1 is only the damping force and the spring force. Therefore, by designing reasonable spring stiffness coefficients and damping coefficients of the damper, the vibration of the base 1 can be greatly reduced.

[0046] Please refer to Figure 1 , in this embodiment, the first guide rail 5 is arranged between the mover 3 and the stator 2, and the vibration of the base 1 is reduced through the stator shock absorption assembly; in another embodiment, the first guide rail 5 can also be arranged between the mover 3 and the base 1. The reaction force F' of the motor acts on the stator 1, so that the stator 1 moves along the second guide rail 4. The stator 1 is shock-absorbed through the stator shock absorption assembly to reduce the vibration of the base 1. The force acting on the base 1 increases the frictional force of the mover 3 sliding on the first guide rail 5 compared with before, and can also reduce the vibration of the base 1.

[0047] Furthermore, for the natural frequency of the system, a vibration suppression algorithm in the prior art can be applied in the control system to further reduce the residual vibration. For example, a method for suppressing the residual vibration of a multi-modal system suppresses the vibration of the multi-modal system of the system by planning the time of the optimal jerk, and has higher robustness than the trapezoidal curve. It is effective within a certain error range of the natural frequency of the system, and can be applied to most motion controllers 15 without adding other hardware devices, saving costs.

[0048] Please refer to Figure 1 , the first head 7 and the second head 8 are respectively arranged on both sides of the stator 2 along the sliding direction, the first grating scale 6 and the second grating scale 9 are respectively arranged on both sides of the mover 3 along the sliding direction, and the first grating scale 6 and the second grating scale 9 are arranged parallel to the sliding direction of the mover 3; the acting force F of the motor on the mover 3 causes the mover 3 to deflect, and its equal-sized reaction force F' will act on the stator 2, so that the relative positions between the mover 3 and the stator 2 and between the mover 3 and the base 1 change. The first head 7 and the first grating scale 6 measure and feedback the relative position change between the mover 3 and the stator 2 during this process, and the second head 8 and the second grating scale 9 measure and feedback the relative position change between the mover 3 and the base 1 during this process.

[0049] Embodiment 3:

[0050] According to the third aspect, a permanent magnet synchronous linear motor includes the above-mentioned permanent magnet synchronous linear motor floating stator shock absorption structure, and the mover 3 is connected to the output end of the motor. Compared with the voice coil motor, the linear motor floating stator has a longer stroke and more practical use value. Moreover, for the permanent magnet synchronous linear motor with the above-mentioned floating stator 2 shock absorption structure, the force F'' finally transmitted to the base 1 is only the relative force brought by the stator shock absorption component, which greatly reduces the vibration of the base 1 and effectively suppresses the vibration of the machine table caused by the reaction force during the movement of the motor mover 3. It has excellent vibration suppression ability and does not require an additional active vibration suppressor.

[0051] The above uses specific examples to elaborate on the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art of the present invention, according to the idea of the present invention, several simple deductions, deformations or substitutions can also be made.

Claims

1. A floating stator control system for a permanent magnet synchronous linear motor, characterized in that, it includes: A motor, including a mover (3), a stator (2) and a base (1), the mover (3) is connected to the output end of the motor, and relative movement can occur between the mover (3) and the stator (2), and relative movement can occur between the mover (3) and the base (1); A motion controller (15), which is used to control the position, movement speed and steering of the mover (3) of the motor; and Two groups of position feedback devices (16), which are respectively set as a relative position feedback module of the mover and stator (161) and a relative position feedback module of the mover and base (162); The relative position feedback module of the mover and stator (161) is used to feedback the relative position signal of the mover (3) and the stator (2), and the relative position feedback module of the mover and base (162) is used to feedback the relative position signal of the mover (3) and the base (1). The relative position signal of the mover (3) and the stator (2) and the relative position signal of the mover (3) and the base (1) are both transmitted to the motion controller (15) to adjust the motion of the motor.

2. The floating stator control system for a permanent magnet synchronous linear motor according to claim 1, characterized in that, The motion controller (15) includes a position controller (154), a speed controller (152) and a current controller (151). The position controller (154) receives the relative position signal of the mover (3) and the base (1) and adjusts the motor; the speed controller (152) receives the relative position signal of the mover (3) and the stator (2) and adjusts the motor; the current controller (151) receives the relative position signal of the mover (3) and the stator (2) and adjusts the motor.

3. The floating stator control system for a permanent magnet synchronous linear motor according to claim 2, characterized in that, A differentiator (153) is arranged between the speed controller (152) and the relative position feedback module of the mover and stator (161), and the differentiator (153) can convert the relative position signal of the mover (3) and the stator (2) into a speed signal and feedback it to the speed controller (152).

4. The floating stator control system for a permanent magnet synchronous linear motor according to claim 3, characterized in that, The position feedback device (16) includes a grating scale and a reading head. Two groups of the reading heads are arranged on the mover (3), and two groups of the grating scales are arranged and are respectively arranged on the stator (2) and the base (1), and the reading heads are arranged in one-to-one correspondence with the grating scales.

5. A shock absorption structure for a floating stator of a permanent magnet synchronous linear motor, characterized in that, Apply the permanent magnet synchronous linear motor floating stator control system according to any one of claims 1-4. The base (1) is used to connect the motor and the motor mounting position (14); the stator (2) is slidably connected to the base (1); the mover (3) is slidably mounted on the stator (2), and the sliding directions of the stator (2) and the mover (3) are the same; a stator shock absorption assembly is arranged between the stator (2) and the base (1), and the stator shock absorption assembly is used to drive the stator (2) to always tend to return to its original position.

6. The permanent magnet synchronous linear motor floating stator shock absorption structure according to claim 5, characterized in that, linear sliding between the stator (2) and the mover (3) is realized through a first guide rail (5), and linear sliding between the base (1) and the stator (2) is realized through a second guide rail (4).

7. The permanent magnet synchronous linear motor floating stator shock absorption structure according to claim 6, characterized in that, the stator shock absorption assembly includes an elastic member, the elastic member connects the stator (2) and the base (1), and the telescopic direction of the elastic member is the same as the sliding direction of the stator (2); the elastic member can limit the movement amplitude of the stator (2) and drive the stator (2) to return to its original position.

8. The permanent magnet synchronous linear motor floating stator shock absorption structure according to claim 7, characterized in that, the stator shock absorption assembly further includes a damping member, the damping member connects the stator (2) and the base (1), and the telescopic direction of the damping member is the same as the sliding direction of the stator (2); the damping member can consume the kinetic energy of the mover (3).

9. The permanent magnet synchronous linear motor floating stator shock absorption structure according to claim 7, characterized in that, the first guide rail (5) adopts a ball guide rail.

10. A permanent magnet synchronous linear motor, characterized in that, it includes the permanent magnet synchronous linear motor floating stator shock absorption structure according to any one of claims 5-9, and the mover (3) is connected to the output end of the motor.

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