Method, device, equipment and storage medium for detecting initial phase angle of linear motor

Abstract

The present application relates to the field of motor control technology and discloses a method, device, equipment, and storage medium for detecting the initial phase angle of a linear motor. The method comprises: driving the mover of the linear motor to slightly move; at the end of the slight movement, detecting the slight movement distance of the mover of the linear motor; comparing the slight movement distance with a preset reference distance to obtain a distance comparison result; after obtaining the slight movement distance, driving the mover of the linear motor to move in the slight movement direction; at the end of the movement, detecting the movement distance of the mover of the linear motor relative to the movement before the slight movement; and calculating the initial phase angle of the linear motor using the movement distance and a preset virtual electrical angle based on the distance comparison result. The embodiments of the present application can reduce the movement distance of the mover when detecting the initial phase angle of the linear motor.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a method, device, equipment and storage medium for detecting an initial phase angle of a linear motor. Background Art

[0002] Detecting the initial phase angle of a linear motor is a key step in achieving precise commutation and closed-loop control in control systems. However, conventional techniques require detecting the initial phase angle of a linear motor over a relatively long rotor stroke or using an external sensor (such as a Hall effect sensor or linear encoder). This approach is unsuitable for applications involving short-stroke linear motors, as the detection results are affected by the accuracy of the external sensor. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, equipment and storage medium for detecting the initial phase angle of a linear motor, aiming to reduce the moving distance of the mover when detecting the initial phase angle of the linear motor.

[0004] The present invention provides a method for detecting an initial phase angle of a linear motor, comprising:

[0005] driving the mover of the linear motor to slightly move;

[0006] At the end of the micro-motion, detecting the micro-motion distance of the mover of the linear motor;

[0007] Comparing the micro-motion distance with a preset reference distance to obtain a distance comparison result;

[0008] After obtaining the fine motion distance, driving the mover of the linear motor to move along the fine motion direction;

[0009] At the end of the movement, detecting the movement distance of the mover of the linear motor relative to the movement before the micro-movement;

[0010] According to the distance comparison result, the initial phase angle of the linear motor is calculated using the moving distance and a preset virtual electrical angle.

[0011] In one embodiment, the step of driving the mover of the linear motor to finely move comprises:

[0012] A current vector is applied to the linear motor to make the mover of the linear motor slightly move; the direct-axis current value in the current vector continuously increases to a first current value, and the quadrature-axis current value in the current vector is zero.

[0013] In one embodiment, detecting the micro-movement distance of the mover of the linear motor includes:

[0014] Detecting speed information of a mover of the linear motor;

[0015] When the mover of the linear motor is fine-moved and the speed of the mover returns to zero again, the position distance difference of the mover of the linear motor before and after the fine-movement is calculated to obtain the fine-movement distance.

[0016] In one embodiment, driving the mover of the linear motor to move along the fine motion direction includes:

[0017] A current vector with a continuously increasing direct-axis current value is applied to the linear motor, so that the mover of the linear motor moves in the same direction as the initial micro-motion; the direct-axis current value in the current vector continuously increases from a first current value to a second current value, and the quadrature-axis current value in the current vector is zero.

[0018] In one embodiment, detecting the moving distance of the mover of the linear motor relative to before the micro-movement includes:

[0019] Detecting speed information of a mover of the linear motor;

[0020] When the mover speed of the linear motor returns to zero again after the mover moves, the position distance difference between the mover of the linear motor before and after the micro-movement is calculated to obtain the moving distance.

[0021] In one embodiment, the calculating of the initial phase angle of the linear motor using the moving distance and a preset virtual electrical angle according to the distance comparison result includes:

[0022] When the distance comparison result shows that the fine movement distance is not less than the first reference distance, calculating the difference between the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle;

[0023] When the distance comparison result shows that the fine movement distance is not greater than the second reference distance, calculating the sum of the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle;

[0024] When the distance comparison result shows that the fine movement distance is less than the first reference distance and greater than the second reference distance, taking the electrical angle corresponding to the movement distance as the initial phase angle;

[0025] The first reference distance and the second reference distance are reciprocal numbers of each other.

[0026] In one embodiment, the virtual electrical angle is no greater than .

[0027] The present application also provides an initial phase angle detection device, comprising:

[0028] A first module is used to drive the mover of the linear motor to fine-move;

[0029] The second module is used to detect the micro-movement distance of the mover of the linear motor when the micro-movement ends;

[0030] A third module is configured to compare the micro-motion distance with a preset reference distance to obtain a distance comparison result;

[0031] A fourth module is configured to drive the mover of the linear motor to move along the micro-motion direction after obtaining the micro-motion distance;

[0032] A fifth module is used to detect the movement distance of the mover of the linear motor relative to the movement before the micro-movement at the end of the movement;

[0033] The sixth module is used to calculate the initial phase angle of the linear motor based on the distance comparison result using the moving distance and a preset virtual electrical angle.

[0034] An embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned initial phase angle detection method when executing the computer program.

[0035] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned initial phase angle detection method is implemented.

[0036] The beneficial effects of the present application are as follows: without the need for external sensors, the linear motor's mover is driven to perform micro-movements, and after the micro-movements are completed, the linear motor's mover is driven to move in the micro-movement direction, and the micro-movement distance is compared with a preset reference distance to obtain a corresponding distance comparison result. At the end of the movement, the linear motor's mover's movement distance relative to the distance before the micro-movement is detected. Based on the distance comparison result, the initial phase angle of the linear motor is calculated using the movement distance and a preset virtual electrical angle. Since the relative positional relationship between the linear motor's mover and the direct axis is determined based on the distance comparison result, the linear motor's initial phase angle can be calculated after the linear motor's mover has moved a relatively short distance within no more than one electrical angle cycle, thereby reducing the mover's movement distance when detecting the linear motor's initial phase angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is an application scenario diagram of the user interface automation testing method provided in an embodiment of the present application.

[0038] Figure 2 This is a flow chart of the initial phase angle detection method of the linear motor provided in an embodiment of the present application.

[0039] Figure 3It is a structural diagram of the initial phase angle detection device of the linear motor provided in an embodiment of the present application.

[0040] Figure 4 This is a hardware structure diagram of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0042] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps illustrated may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. Terms such as "first" and "second" in the specification, claims, and drawings are used to distinguish similar items and are not intended to describe a specific sequence or precedence.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0044] In the related art, when detecting the initial phase angle of a linear motor, a common initial phase angle detection method is to forcibly increase the direct-axis current value so that the mover of the linear motor is forced to coincide with the direct axis, and then find the angle. In the process of increasing the direct-axis current value, since the position of the mover is unknown, if the distance between the mover and the adjacent stator NS poles is very far, the mover will move too far when it coincides with the direct axis, thereby causing the mover to move too long.

[0045] Based on this, the embodiments of the present application provide a method, device, equipment and storage medium for detecting the initial phase angle of a linear motor. By making the mover of the linear motor move slightly and determining the relationship between the micro-movement direction and the virtual electrical angle direction based on the micro-movement distance of the mover, the mover can detect the initial phase angle of the linear motor after moving a short distance, thereby reducing the moving distance of the mover when detecting the initial phase angle of the linear motor.

[0046] The following introduces the application scenarios of the initial phase angle detection method of the linear motor provided in the embodiment of the present application. Figure 1 This is an application scenario diagram of the user interface automation testing method provided by the embodiment of the present application. Figure 1This application scenario includes: a detection terminal 1, which is used to detect the initial phase angle of the linear motor. In this embodiment, the detection terminal 1 is used to drive the linear motor's mover to fine-tune. At the end of the fine-tune, the detection terminal 1 is used to detect the fine-tune distance of the linear motor's mover. The fine-tune distance is compared with a preset reference distance to obtain a distance comparison result. After obtaining the fine-tune distance, the linear motor's mover is driven to move in the fine-tune direction. At the end of the movement, the movement distance of the linear motor relative to the movement before the fine-tune is detected. Based on the distance comparison result, the initial phase angle of the linear motor is calculated using the movement distance and a preset virtual electrical angle.

[0047] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0048] Figure 2 Flowchart of the method for detecting the initial phase angle of a linear motor provided by an embodiment of the present application. Figure 2 In one embodiment, the method includes but is not limited to steps S201 to S206.

[0049] Step S201 : driving the mover of the linear motor to fine-move.

[0050] The user interacts with the detection terminal and sends a phase-finding start command. Upon receiving the phase-finding start command, the detection terminal initializes the phase-finding parameters, starts the internal counters, and initializes the virtual angle counter, cumulative current counter, and zero-speed counter. After initialization, a virtual electrical angle is preset as the initial electrical angle before micro-movement. The detection terminal then applies a current vector to the linear actuator to micro-motor the linear motor's mover.

[0051] In one embodiment, step S201 specifically includes applying a current vector to a linear motor to fine-tune a mover of the linear motor. The direct-axis current value in the current vector continuously increases to a first current value, while the quadrature-axis current value in the current vector is zero. Applying the current vector to the linear motor may include subdividing the direct-axis current value of the current vector using a current control algorithm, and then applying the subdivided direct-axis current value to the direct axis of the linear motor, causing the direct-axis current value to continuously increase to the first current value while maintaining the quadrature-axis current value at zero, thereby achieving nanometer-to-micrometer-scale fine-tune the linear motor's mover.

[0052] Step S202 , detecting the micro-movement distance of the mover of the linear motor.

[0053] At the end of the micro-movement, the micro-movement distance of the mover of the linear motor is detected.

[0054] The speed information of the linear motor's mover is detected to determine whether the micro-motion is completed. When the micro-motion is completed, the micro-motion distance of the linear motor's mover is determined by detecting the position of the linear motor's mover before and after the micro-motion and calculating the difference in the straight-line distances between the two positions.

[0055] In one embodiment, step S202 specifically includes: detecting the speed information of the mover of the linear motor; when the speed of the mover returns to zero again after the mover of the linear motor has micro-moved, calculating the position distance difference of the mover of the linear motor before and after the micro-movement, and obtaining the micro-movement distance. Detecting the speed information of the mover of the linear motor can be achieved by using a 0-speed counter to collect the speed information of the mover of the linear motor. Before the mover of the linear motor has micro-moved, the position of the mover is recorded, the speed information of the mover is collected by detecting the 0-speed counter, and when the speed of the mover returns to zero again after the mover of the linear motor has micro-moved, the position of the mover of the linear motor after the micro-movement occurs is detected, and the straight-line distance difference between the two positions is calculated to obtain the micro-movement distance.

[0056] Step S203 : comparing the fine movement distance with a preset reference distance to obtain a distance comparison result.

[0057] The reference distance refers to a theoretical boundary distance for driving the mover of the linear motor to fine-move, and includes a first reference distance and a second reference distance, wherein the first reference distance and the second reference distance are reciprocal numbers of each other.

[0058] The inching distance is compared with the first reference distance and the second reference distance, respectively, to obtain a corresponding distance comparison result. If the distance comparison result indicates that the inching distance is not less than the first reference distance, the inching direction is the same as the virtual electrical angle direction. If the distance comparison result indicates that the inching distance is not greater than the second reference distance, the inching direction is opposite to the virtual electrical angle direction. If the distance comparison result indicates that the inching distance is less than the first reference distance and greater than the second reference distance, the electrical angle corresponding to the inching distance overlaps with the virtual electrical angle. The obtained distance comparison result can be used to determine the relative positional relationship between the linear motor's mover and the direct axis, thereby reducing the mover's movement distance when detecting the linear motor's initial phase angle.

[0059] Step S204: driving the mover of the linear motor to move along the fine-motion direction.

[0060] The detection terminal applies a current vector with the same electrical angle direction as the current vector applied during micro-motion to the linear electrical appliance. The direct-axis current value of the current vector continuously increases from the direct-axis current peak value of the current vector applied during micro-motion to a preset current value to drive the mover of the linear motor to move along the micro-motion direction.

[0061] In one embodiment, step S204 specifically includes: applying a current vector with a continuously increasing direct-axis current value to the linear motor, so that the mover of the linear motor moves in the same direction as the initial micro-motion. The direct-axis current value in the current vector continuously increases from a first current value to a second current value, and the quadrature-axis current value in the current vector is zero. Applying the current vector with a continuously increasing direct-axis current value to the linear motor may be performed by subdividing the direct-axis current value of the current vector using a current control algorithm, applying the subdivided direct-axis current value to the direct axis of the linear motor, and causing the direct-axis current value to continuously increase from the first current value to the second current value, while maintaining the quadrature-axis current value of the linear motor at zero, thereby driving the mover of the linear motor to move in the micro-motion direction.

[0062] Step S205 , detecting the moving distance of the mover of the linear motor relative to the distance before the fine movement.

[0063] At the end of the movement, the distance traveled by the linear motor's mover is detected. The completion of the movement is determined by detecting the linear motor's mover's speed information. At the end of the movement, the distance traveled is determined by detecting the linear motor's mover's position before and after the micro-movement and calculating the difference in linear distance between the two positions.

[0064] In one embodiment, step S205 specifically includes: detecting the speed information of the mover of the linear motor; when the speed of the mover returns to zero again after the mover of the linear motor moves, calculating the position distance difference between the mover of the linear motor before and after the micro-motion, and obtaining the moving distance. Detecting the speed information of the mover of the linear motor can be achieved by using a 0-speed counter to collect the speed information of the mover of the linear motor. Before the mover of the linear motor micro-moves, the position of the mover is recorded, and the speed information of the mover is collected by detecting the 0-speed counter. After the mover of the linear motor moves, when the speed of the mover returns to zero again, detecting the position of the mover of the linear motor after the mover moves, calculating the difference in linear distance between the position before the micro-motion and the position after the movement, and obtaining the moving distance.

[0065] Step S206 , calculating the initial phase angle of the linear motor using the moving distance and a preset virtual electrical angle according to the distance comparison result.

[0066] Based on the distance comparison results obtained by comparing the micro-movement distance with the first reference distance and the second reference distance respectively, the relative position relationship between the mover and the straight axis of the linear motor is determined, and then the moving distance is converted into the corresponding electrical angle. The electrical angle corresponding to the moving distance and the preset virtual electrical angle are used to perform electrical angle calculation to calculate the initial phase angle of the linear motor.

[0067] In one embodiment, step S206 specifically includes: when the distance comparison result shows that the inching distance is not less than the first reference distance, calculating the difference between the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle; when the distance comparison result shows that the inching distance is not greater than the second reference distance, calculating the sum of the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle; when the distance comparison result shows that the inching distance is less than the first reference distance and greater than the second reference distance, using the electrical angle corresponding to the moving distance as the initial phase angle. The first reference distance and the second reference distance are reciprocal numbers of each other.

[0068] When the distance comparison result indicates that the micro-motion distance is not less than the first reference distance, it means that the micro-motion direction is the same as the virtual electrical angle direction, and the difference between the electrical angle corresponding to the moving distance and the virtual electrical angle is calculated as the initial phase angle of the linear motor. When the distance comparison result indicates that the micro-motion distance is not greater than the second reference distance, it means that the micro-motion direction is opposite to the virtual electrical angle direction, and the sum of the electrical angle corresponding to the moving distance and the virtual electrical angle is calculated as the initial phase angle of the linear motor. When the distance comparison result indicates that the micro-motion distance is less than the first reference distance and greater than the second reference distance, it means that the electrical angle corresponding to the micro-motion distance overlaps with the virtual electrical angle, and the electrical angle corresponding to the moving distance is used as the initial phase angle of the linear motor. After obtaining the initial phase angle of the linear motor, the initial phase angle of the linear motor is written into the motor driver, and the motor driver is used to drive the linear motor.

[0069] In one embodiment, the virtual electrical angle is no greater than After determining the relative positional relationship between the mover and the linear axis of the linear motor based on the distance comparison results obtained by comparing the micro-motion distance with the first reference distance and the second reference distance, the initial phase angle of the linear motor can be calculated after the mover of the linear motor moves a relatively short distance within no more than one electrical angle cycle, thereby reducing the movement distance of the mover when detecting the initial phase angle of the linear motor.

[0070] See also Figure 3 The present application also provides an initial phase angle detection device for a linear motor, which can implement the above-mentioned initial phase angle detection method for a linear motor. The device includes:

[0071] The first module 301 is used to drive the mover of the linear motor to fine-move;

[0072] The second module 302 is used to detect the micro-movement distance of the mover of the linear motor when the micro-movement ends;

[0073] The third module 303 is used to compare the micro-motion distance with a preset reference distance to obtain a distance comparison result;

[0074] The fourth module 304 is configured to drive the mover of the linear motor to move along the fine motion direction after obtaining the fine motion distance;

[0075] The fifth module 305 is used to detect the movement distance of the linear motor mover relative to the movement distance before the micro movement at the end of the movement;

[0076] The sixth module 306 is configured to calculate the initial phase angle of the linear motor based on the distance comparison result using the moving distance and the preset virtual electrical angle.

[0077] The specific implementation of the initial phase angle detection device of the linear motor is substantially the same as the specific embodiment of the initial phase angle detection method of the linear motor described above, and will not be described in detail herein.

[0078] Figure 4 This is a hardware structure diagram of the electronic device provided in an embodiment of the present application.

[0079] Refer to the following Figure 4 4 to describe the electronic device 400 according to this embodiment of the present disclosure.

[0080] Figure 4 The electronic device 400 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0081] like Figure 4 As shown, electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, at least one processing unit 410, at least one storage unit 420, a bus 430 connecting various system components (including storage unit 420 and processing unit 410), a display unit 440, and the like.

[0082] The storage unit stores program codes, which can be executed by the processing unit 410, so that the processing unit 410 executes the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned method for detecting the initial phase angle of a linear motor.

[0083] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 4201 and / or a cache memory unit 4202 , and may further include a read-only memory unit (ROM) 4203 .

[0084] The storage unit 420 may also include a program / utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0085] Bus 430 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0086] The electronic device 400 may also communicate with one or more external devices 400′ (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication may occur via an input / output (I / O) interface 450. Furthermore, the electronic device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. The network adapter 460 may communicate with other modules of the electronic device 400 via the bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the electronic device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0087] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned method for detecting the initial phase angle of the linear motor is implemented.

[0088] The initial phase angle detection method, device, equipment, and storage medium for a linear motor provided in an embodiment of the present application do not require the use of an external sensor. Instead, the method drives the linear motor's mover to perform a micro-motion. After the micro-motion is completed, the mover is driven to move in the micro-motion direction. The micro-motion distance is compared with a preset reference distance to obtain a corresponding distance comparison result. At the end of the movement, the distance moved by the linear motor's mover relative to the distance before the micro-motion is completed is detected. Based on the distance comparison result, the initial phase angle of the linear motor is calculated using the movement distance and a preset virtual electrical angle. Since the relative positional relationship between the linear motor's mover and the direct axis is determined based on the distance comparison result, the initial phase angle of the linear motor can be calculated after the mover of the linear motor moves a relatively short distance within no more than one electrical angle cycle, thereby reducing the distance moved by the mover when detecting the initial phase angle of the linear motor.

[0089] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above-mentioned method according to the embodiments of the present disclosure.

[0090] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0091] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0092] Those skilled in the art will appreciate that the modules described above can be distributed in the device according to the description of the embodiment, or can be modified accordingly to be used in one or more devices that are different from the embodiment. The modules of the above embodiment can be combined into one module or further divided into multiple submodules.

[0093] While the exemplary embodiments of the present disclosure have been specifically illustrated and described above, it should be understood that the present disclosure is not limited to the detailed structures, configurations, or implementations described herein; rather, the present disclosure is intended to encompass various modifications and equivalent configurations within the spirit and scope of the appended claims.

Claims

1. A method for detecting the initial phase angle of a linear motor, characterized in that: include: Drive the linear motor's mover to fine-tune; At the end of the micro-motion, detecting the micro-motion distance of the mover of the linear motor; Comparing the micro-motion distance with a preset reference distance to obtain a distance comparison result; After obtaining the fine motion distance, driving the mover of the linear motor to move along the fine motion direction; At the end of the movement, detecting the movement distance of the mover of the linear motor relative to the movement before the micro-movement; Calculating an initial phase angle of the linear motor using the moving distance and a preset virtual electrical angle according to the distance comparison result; The step of calculating the initial phase angle of the linear motor using the moving distance and a preset virtual electrical angle according to the distance comparison result includes: When the distance comparison result shows that the fine movement distance is not less than the first reference distance, calculating the difference between the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle; When the distance comparison result shows that the fine movement distance is not greater than the second reference distance, calculating the sum of the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle; When the distance comparison result shows that the fine movement distance is less than the first reference distance and greater than the second reference distance, taking the electrical angle corresponding to the movement distance as the initial phase angle; The first reference distance and the second reference distance are reciprocal numbers of each other, and the reference distance includes the first reference distance and the second reference distance.

2. The method for detecting the initial phase angle of a linear motor according to claim 1, wherein: The method of driving the mover of the linear motor to finely move comprises: A current vector is applied to the linear motor to make the mover of the linear motor slightly move; the direct-axis current value in the current vector continuously increases to a first current value, and the quadrature-axis current value in the current vector is zero.

3. The method for detecting the initial phase angle of a linear motor according to claim 1, wherein: The detecting the micro-motion distance of the mover of the linear motor includes: Detecting speed information of a mover of the linear motor; When the mover of the linear motor is fine-moved and the speed of the mover returns to zero again, the position distance difference of the mover of the linear motor before and after the fine-movement is calculated to obtain the fine-movement distance.

4. The method for detecting the initial phase angle of a linear motor according to claim 1, wherein: The method of driving the mover of the linear motor to move along the micro-movement direction includes: A current vector with a continuously increasing direct-axis current value is applied to the linear motor, so that the mover of the linear motor moves in the same direction as the initial micro-motion; the direct-axis current value in the current vector continuously increases from a first current value to a second current value, and the quadrature-axis current value in the current vector is zero.

5. The method for detecting the initial phase angle of a linear motor according to claim 1, wherein: The detecting of the moving distance of the mover of the linear motor relative to the moving distance before the micro-movement comprises: Detecting speed information of a mover of the linear motor; When the mover speed of the linear motor returns to zero again after the mover moves, the position distance difference between the mover of the linear motor before and after the micro-movement is calculated to obtain the moving distance.

6. The method for detecting the initial phase angle of a linear motor according to claim 1, wherein: The angle value of the virtual electrical angle is not greater than .

7. An initial phase angle detection device, characterized in that: include: The first module is used to drive the mover of the linear motor to fine-move; The second module is used to detect the micro-movement distance of the mover of the linear motor when the micro-movement ends; A third module is configured to compare the micro-motion distance with a preset reference distance to obtain a distance comparison result; A fourth module is configured to drive the mover of the linear motor to move along the micro-motion direction after obtaining the micro-motion distance; A fifth module is used to detect the movement distance of the mover of the linear motor relative to the movement before the micro-movement at the end of the movement; A sixth module is configured to calculate an initial phase angle of the linear motor using the moving distance and a preset virtual electrical angle according to the distance comparison result; The step of calculating the initial phase angle of the linear motor using the moving distance and a preset virtual electrical angle according to the distance comparison result includes: When the distance comparison result shows that the fine movement distance is not less than the first reference distance, calculating the difference between the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle; When the distance comparison result shows that the fine movement distance is not greater than the second reference distance, calculating the sum of the electrical angle corresponding to the moving distance and the virtual electrical angle to obtain the initial phase angle; When the distance comparison result shows that the fine movement distance is less than the first reference distance and greater than the second reference distance, taking the electrical angle corresponding to the movement distance as the initial phase angle; The first reference distance and the second reference distance are reciprocal numbers of each other, and the reference distance includes the first reference distance and the second reference distance.

8. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the initial phase angle detection method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the initial phase angle detection method according to any one of claims 1 to 6 is implemented.

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