Linear motor rotor attitude adjusting method and system

Abstract

The invention relates to the field of linear motors, in particular to a linear motor rotor attitude adjusting method and system, and discloses a linear motor rotor attitude adjusting system. Comprising a stator, a plurality of groups of displacement sensors arranged on the upper end face of the stator, a rotor arranged on the upper end face of the displacement sensors, a plurality of displacement sensors arranged on the upper end face of the rotor, a hydraulic assembly arranged on the upper end face of the displacement sensors and a bogie arranged on the upper end face of the hydraulic assembly. The data acquisition module is used for acquiring a detection signal of the displacement sensor, the controller is used for receiving and reading a displacement signal sent by the data acquisition module, the controller outputs a control signal to the hydraulic assembly according to the displacement signal, and the hydraulic assembly realizes posture adjustment according to the control signal. Through the structural design of the stator, the rotor, the hydraulic assembly and the displacement sensor, the function of dynamically adjusting the posture of the rotor in the working process of the linear motor can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of linear motors, and in particular to a method and system for adjusting the posture of a linear motor mover. Background Art

[0002] In a linear motor, the spatial posture of the mover directly affects the stability of the motor operation. The spatial posture of the motor mover directly affects the gap between the mover and the stator. When the mover and the stator are aligned and the rated gap is maintained, the force and magnetic field of the motor can be better transmitted and converted, which means that the motor has better working efficiency and stability. When the spatial posture of the mover changes, the working efficiency of the motor will show a downward trend with the degree of posture change. The size of the air gap value will affect the starting torque of the motor and the efficiency of cutting the magnetic flux lines during operation. If the air gap is too large, the motor power factor will decrease; if the air gap is too small, the ventilation performance of the motor will decrease, thereby affecting the heat dissipation of the motor and increasing the temperature rise of the motor. When the relative position between the mover and the stator changes, the motor may generate vibration and noise. This vibration and noise will not only reduce the operating efficiency of the motor, but also damage the structure of the motor and shorten the service life of the motor. Secondly, the change in the spatial posture of the mover may cause the positioning accuracy of the motor to decrease. At present, the mover posture of traditional linear motors is usually fixed and cannot be adjusted. This non-adjustable design will cause the linear motor to be unable to adjust when the mover posture is abnormal, which is prone to failure. Summary of the invention

[0003] The present invention aims at the deficiencies in the prior art and provides the following technical solutions: A linear motor mover posture adjustment system comprises: a stator, a plurality of displacement sensors arranged on the upper end surface of the stator, a mover arranged on the upper end surface of the displacement sensor, a plurality of displacement sensors arranged on the upper end surface of the mover, a hydraulic assembly arranged on the upper end surface of the displacement sensor, a bogie arranged on the upper end surface of the hydraulic assembly, a data acquisition module for collecting detection signals of the displacement sensor, and a controller for receiving and reading the displacement signal sent by the data acquisition module, wherein the controller outputs a control signal to the hydraulic assembly according to the displacement signal, and the hydraulic assembly realizes posture adjustment according to the control signal.

[0004] As an improvement of the above technical solution, the number of the displacement sensors and hydraulic components is at least four, each of the displacement sensors and hydraulic components forms a group, and are respectively arranged on the upper end surface and the lower end surface of the mover, and at least four groups of the displacement sensors and hydraulic components are arranged at the four corners of the mover.

[0005] As an improvement of the above technical solution, the hydraulic assembly includes a directional control valve, a pressure control valve, a flow control valve and an actuator.

[0006] The directional control valve is used to control the flow direction of the liquid in the system pipeline.

[0007] The pressure control valve is used to control the pressure in the system pipeline.

[0008] The flow control valve is used to control the oil flow in the system pipeline.

[0009] The actuator is used to convert hydraulic energy into mechanical energy to drive a load.

[0010] As an improvement of the above technical solution, the hydraulic component includes a feedback system.

[0011] The feedback system is used to receive the signal of the displacement sensor and compare it with the input signal to generate a deviation signal to adjust the working state of the control element.

[0012] A linear motor mover posture adjustment method is applied to a linear motor mover posture adjustment system as described in the above scheme, comprising the following steps: S10: The detection signal of the displacement sensor is collected by the data acquisition module and transmitted to the controller.

[0013] S20: The controller performs A / D conversion according to the detection signal of the displacement sensor and calculates the control parameter through the PID control algorithm, and converts the control parameter into a control signal and outputs it to the hydraulic component after D / A conversion to adjust the posture of the mover.

[0014] As an improvement of the above technical solution, in step S20, the controller obtains the current spatial posture of the mover according to the detection signal fed back by the displacement sensor, compares the current spatial posture of the mover with the preset mover posture data, and calculates the control parameters through the control algorithm.

[0015] As an improvement of the above technical solution, the control algorithm at least includes a PID control algorithm and a fuzzy PID control algorithm.

[0016] The PID control algorithm calculates the proportional adjustment coefficient, integral adjustment coefficient and differential adjustment coefficient of the system to obtain the best control parameters.

[0017] The fuzzy PID control algorithm utilizes fuzzy logic and optimizes the PID parameters in real time according to set fuzzy rules, so as to overcome the shortcoming that the traditional PID parameters cannot be adjusted in real time.

[0018] As an improvement of the above technical solution, the data collected by the data acquisition module in step S10 needs to be filtered by the data processing module before being transmitted to the controller to remove unnecessary frequency components.

[0019] Beneficial effects of the present invention: Through the structural design of the stator, mover, hydraulic assembly and displacement sensor, the dynamic adjustment function of the mover posture during the operation of the linear motor can be realized, and the mover posture can be changed according to the current working state. When the mover posture changes, the size of the air gap in the linear motor can be adjusted according to the mover posture, thereby putting the linear motor in an optimal working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the installation position of the hydraulic assembly and displacement sensor of the present invention; Figure 2 It is a structural diagram of the linear motor mover posture adjustment system of the present invention; Figure 3 It is a schematic diagram of the spatial displacement of the linear motor mover of the present invention; Figure 4 It is a principle block diagram of the linear motor mover of the present invention; Figure 5 This is a schematic diagram of the side rolling of the linear motor rotor of the present invention; Figure 6 It is a flow chart of the linear motor mover posture adjustment control method of the present invention; Figure 7 The figure is a logic block diagram of the PID algorithm for adjusting the posture of the linear motor rotor of the present invention.

[0021] Figure numerals: 1. stator; 2. mover; 3. bogie; 4. displacement sensor; 5. hydraulic component; 6. data acquisition module; 7. controller; 8. data processing module. DETAILED DESCRIPTION

[0022] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0023] When the relative position between the mover and the stator changes, the motor may generate vibration and noise. This vibration and noise will not only reduce the operating efficiency of the motor, but may also damage the structure of the motor and shorten the service life of the motor. Secondly, the change in the spatial posture of the mover may cause the positioning accuracy of the motor to decrease. At present, the mover posture of traditional linear motors is usually fixed and cannot be adjusted. This non-adjustable design will make it impossible to adjust the linear motor when the mover posture is abnormal, which is prone to failure.

[0024] In order to solve the above problems, the following embodiments are provided: Embodiment 1:

[0025] See also Figures 1 to 7 , providing a linear motor mover posture adjustment system, comprising: Stator 1; A plurality of displacement sensors 4 are arranged on the upper end surface of the stator 1; A mover 2 disposed on the upper end surface of the displacement sensor 4; A plurality of displacement sensors 4 arranged on the upper end surface of the mover 2; A hydraulic assembly 5 disposed on the upper end surface of the displacement sensor 4; A bogie 3 disposed on the upper end surface of the hydraulic assembly 5; A data acquisition module 6 for acquiring detection signals of the displacement sensor 4; The controller 7 is used to receive and read the displacement signal sent by the data acquisition module 6. The controller 7 outputs a control signal to the hydraulic component 5 according to the displacement signal, and the hydraulic component 5 implements posture adjustment according to the control signal.

[0026] The signal data detected by the displacement sensor 4 is collected by the data acquisition module 6, and the data is transmitted to the controller 7 for processing, the corresponding control parameters are calculated, and the control parameters are output as control signals to drive the hydraulic component 5 to work, thereby driving the mover 2 to produce corresponding posture changes. During the operation of the entire system, the controller 7 can detect the posture of the mover 2. When a posture abnormality occurs or a posture change needs to be executed, the posture can be adjusted through the preset corresponding data.

[0027] In this embodiment, the displacement sensor 4 is preferably Panasonic brand, which uses CMOS image sensor, has stable power supply voltage, low current consumption, and ensures long-term stable operation of the device. Models such as HG-C1030, HG-C1050, HG-C1100, HG-C1200, etc., meet the needs of different application scenarios. It has high-precision measurement capability, repeatability up to 30μm, linearity ±01%FS, to ensure the accuracy of the measurement results.

[0028] The selection of controller 7 needs to comprehensively consider factors such as its structure, brand, application scenarios and performance advantages to ensure that the most suitable product is selected. In this embodiment, the RMC150E-H3-A1-UI / O controller produced by DELTA Corporation of the United States is preferred. This series of controllers is a high-performance motion controller suitable for hydraulic, servo drive and pneumatic positioning systems. It includes position-pressure dual-loop control and switching functions, built-in control algorithms, and can process and connect a variety of position feedback sensors, making it the preferred choice for motion control systems. In addition, the CPU of the RMC151E series controller is equipped with an Ethernet interface, supporting EtherNet / IP, ROFINET and Modbus / TCP protocols, which is convenient for communication and data transmission with various networks.

[0029] In order to ensure the stability of the entire system during operation and ensure that the entire displacement sensor 4 adapts to the working state of the linear motor, please refer to Figure 1 and Figure 2 Specifically, the number of displacement sensors 4 and hydraulic components 5 is at least four, each displacement sensor 4 and hydraulic component 5 forms a group, and are respectively arranged on the upper end surface and the lower end surface of the mover 2. At least four groups of displacement sensors 4 and hydraulic components 5 are arranged at the four corners of the mover 2.

[0030] The four displacement sensors 4 and the hydraulic components 5 at the corners are used to adjust the four corners of the entire system, thereby realizing stable detection and dynamic adjustment of the four sides of the mover 2.

[0031] In one embodiment, see Figure 1 , the hydraulic assembly 5 includes a directional control valve, a pressure control valve, a flow control valve and an actuator; Directional control valves are used to control the flow direction of liquid in system pipelines; The pressure control valve is used to control the pressure in the system pipeline; The flow control valve is used to control the oil flow in the system pipeline; Actuators are used to convert hydraulic energy into mechanical energy to drive the load.

[0032] In addition to the above features, the hydraulic component 5 will also be equipped with a hydraulic pump and a hydraulic oil tank to provide pressurized oil and ensure the stable operation of the hydraulic system. The actuator includes a hydraulic cylinder and a hydraulic motor, the purpose of which is to convert hydraulic energy into mechanical energy to achieve load driving. It is usually installed at the mover 2 of the linear motor.

[0033] The controller 7 controls the flow direction of the hydraulic system through the directional control valve, adjusts the system pressure through the pressure control valve to ensure the stability of the system's oil pressure, and adjusts the oil flow in the hydraulic system through the flow control valve. The controller 7 can also introduce intelligent and automated technologies, improve energy efficiency management, and optimize the human-machine interface to achieve more efficient and accurate production, thereby improving the overall performance of hydraulic equipment.

[0034] In addition, Controller 7 is available in a variety of models, such as RMC151E-H2-U1-PROFI, RMC150E-Q1-UI / O, etc. When selecting Controller 7, it is necessary to comprehensively consider multiple aspects such as product structure, selection, advantages, and usage scenarios to ensure that the stability and reliability requirements of the hydraulic system are met.

[0035] Wherein, the hydraulic assembly 5 includes a feedback system; The feedback system is used to receive the signal of the displacement sensor 4 and compare it with the input signal to generate a deviation signal to adjust the working state of the control element. Embodiment 2:

[0036] In order to cooperate with the first embodiment, a method for adjusting the posture of a linear motor mover is also provided, which is applied to a linear motor mover posture adjustment system as in the first embodiment, and comprises the following steps: S10: The detection signal of the displacement sensor 4 is collected by the data collection module 6 and transmitted to the controller 7 .

[0037] S20: The controller 7 performs A / D conversion according to the detection signal of the displacement sensor 4 and calculates the control parameter through the PID control algorithm, and converts the control parameter into a control signal and outputs it to the hydraulic component 5 after D / A conversion to adjust the posture of the mover 2.

[0038] Among them, in step S20, the controller 7 obtains the current spatial posture of the mover 2 according to the detection signal fed back by the displacement sensor 4, compares the current spatial posture of the mover 2 with the preset mover posture data, and calculates the control parameters through the control algorithm.

[0039] In one embodiment, the control algorithm includes at least a PID control algorithm and a fuzzy PID control algorithm; The PID control algorithm calculates the system's proportional control coefficient, integral control coefficient, and differential control coefficient to obtain the optimal control parameters.

[0040] The fuzzy PID control algorithm uses fuzzy logic and optimizes the PID parameters in real time according to the set fuzzy rules to overcome the disadvantage that the traditional PID parameters cannot be adjusted in real time.

[0041] The PID control algorithm is a control strategy widely used in the prior art, so the specific content of the algorithm is not introduced in detail in this embodiment.

[0042] In addition, the data collected by the data collection module 6 in step S10 needs to be filtered by the data processing module 8 before being transmitted to the controller 7 to remove unnecessary frequency components.

[0043] In addition to filtering, the signal will also undergo necessary processing and A / D conversion through amplifiers, filters and other circuits to adapt to the processing of the controller 7.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them. Anyone familiar with the technology can modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A linear motor mover attitude adjustment system, characterized in that: include: stator (1); A plurality of groups of displacement sensors (4) arranged on the upper end surface of the stator (1); A mover (2) disposed on an upper end surface of a displacement sensor (4); A plurality of displacement sensors (4) arranged on the upper end surface of the mover (2); A hydraulic assembly (5) disposed on an upper end surface of the displacement sensor (4); A bogie (3) disposed on the upper end surface of the hydraulic assembly (5); A data acquisition module (6) for acquiring detection signals from the displacement sensor (4); A controller (7) for receiving and reading a displacement signal sent by a data acquisition module (6), wherein the controller (7) outputs a control signal to a hydraulic component (5) according to the displacement signal, and the hydraulic component (5) implements posture adjustment according to the control signal.

2. A linear motor mover posture adjustment system according to claim 1, characterized in that: The number of the displacement sensors (4) and hydraulic components (5) is at least four, each of the displacement sensors (4) and hydraulic components (5) forms a group and is respectively arranged on the upper end surface and the lower end surface of the mover (2), and at least four groups of the displacement sensors (4) and hydraulic components (5) are arranged at the four corners of the mover (2).

3. A linear motor mover posture adjustment system according to claim 1, characterized in that: The hydraulic assembly (5) comprises a directional control valve, a pressure control valve, a flow control valve and an actuator; The directional control valve is used to control the flow direction of the liquid in the system pipeline; The pressure control valve is used to control the pressure in the system pipeline; The flow control valve is used to control the oil flow in the system pipeline; The actuator is used to convert hydraulic energy into mechanical energy to drive a load.

4. A linear motor mover posture adjustment system according to claim 3, characterized in that: The hydraulic assembly (5) includes a feedback system; The feedback system is used to receive a signal from the displacement sensor (4), and compare it with the input signal to generate a deviation signal to adjust the working state of the control element.

5. A linear motor mover posture adjustment method, applied to a linear motor mover posture adjustment system as claimed in any one of claims 1 to 4, characterized in that: The steps include: S10: collecting detection signals of the displacement sensor (4) through the data acquisition module (6) and transmitting the signals to the controller (7); S20: The controller (7) performs A / D conversion based on the detection signal of the displacement sensor (4) and calculates the control parameter through the PID control algorithm, and converts the control parameter into a control signal through D / A conversion and outputs it to the hydraulic component (5) to adjust the posture of the mover (2).

6. A linear motor mover posture adjustment method according to claim 5, characterized in that: In step S20, the controller (7) obtains the current spatial posture of the mover (2) based on the detection signal fed back by the displacement sensor (4), compares the current spatial posture of the mover (2) with preset mover posture data, and calculates control parameters through a control algorithm.

7. A linear motor mover posture adjustment method according to claim 6, characterized in that: The control algorithm at least includes a PID control algorithm and a fuzzy PID control algorithm; The PID control algorithm calculates the proportional adjustment coefficient, integral adjustment coefficient and differential adjustment coefficient of the system to obtain the best control parameters; The fuzzy PID control algorithm utilizes fuzzy logic and optimizes the PID parameters in real time according to set fuzzy rules, so as to overcome the shortcoming that the traditional PID parameters cannot be adjusted in real time.

8. A linear motor mover posture adjustment method according to claim 6, characterized in that: In step S10, the data collected by the data collection module (6) needs to be filtered by the data processing module (8) before being transmitted to the controller (7) to remove unnecessary frequency components.

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