Control method for moving assembly of intelligent magnetic drive system

Abstract

The invention discloses a control method for a mobile assembly of an intelligent magnetic drive system, relates to a mobile assembly control system, and solves the technical problem that in the prior art, when a magnetic drive system is used for article transportation, linear movement and nonlinear movement of a single magnetic drive system cannot be specifically recognized and detected, in particular to single magnetic drive linear movement recognition. When a single magnetic drive system carries out transportation, movement recognition is carried out on the transportation action of linear movement of the moving assembly, linear track floating data and linear track stable data are collected, and linear movement control is carried out according to data comparison; and single magnetic drive non-linear movement identification: during transportation of a single magnetic drive system and non-linear movement of a moving assembly, carrying out identification detection on movement actions, collecting conveying influence information and track influence information, and carrying out non-linear movement control according to information analysis.

Description

Technical Field

[0001] The invention relates to a mobile component control system, in particular to a control method for a mobile component of an intelligent magnetic drive system. Background Art

[0002] The intelligent magnetic drive system is an advanced technology system that uses magnetic field force to achieve drive and control. The mover is usually the core part of the moving component and is generally equipped with a permanent magnet. In the intelligent magnetic drive conveyor line, the mover can be used for conveying on a variety of transport tracks such as straight, circular or connecting types under the action of electromagnetic force. The carrier is used to carry the target items to be transported, is connected to or integrated on the mover, and moves with the mover to ensure the stability and accuracy of the target items during transportation.

[0003] However, in the prior art, when the magnetic drive system is used for transporting goods, it is not possible to perform targeted identification and detection of the linear movement and nonlinear movement of a single magnetic drive system, so that the movement trajectory cannot be analyzed and the moving components cannot be controlled in time, which reduces the transportation efficiency. In addition, it is not possible to perform signal feedback control on the synchronous movement and transportation of multiple magnetic drive systems, and it is impossible to reduce the impact of real-time deviations.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned problems and to provide a control method for a moving component of an intelligent magnetic drive system.

[0006] The purpose of the present invention can be achieved through the following technical solutions: A control method for a mobile component of an intelligent magnetic drive system, the control method is as follows: S101, single magnetic drive linear movement identification, when a single magnetic drive system is transporting, the movement identification of the transport action of the moving component in linear movement is performed, the linear trajectory floating data and the linear trajectory stable data are collected, and the linear movement control is performed according to the data comparison; S102, single magnetic drive nonlinear movement identification, when a single magnetic drive system is transporting, when the mobile component is performing nonlinear movement, the moving action is identified and detected, the transportation influence information and trajectory influence information are collected, and nonlinear movement control is performed based on the information analysis; S103, multiple magnetic drive feedback control, when multiple magnetic drive systems are transported, feedback control is performed on multiple magnetic drive systems when they are synchronously moved and transported, and current control parameters are obtained through feedback control, and the magnetic drive systems are regulated in time according to the control parameters; S104. Multiple magnetic drive collaborative control. When transporting multiple magnetic drive systems, collaborative control is performed during the collaborative movement and transportation of multiple magnetic drive systems. Information on the influence of the cooperation spacing and information on the deviation of the cooperation frequency are collected, and collaborative control analysis is performed based on information processing.

[0007] As a preferred embodiment of the present invention, the linear trajectory floating data and the linear trajectory stable data are respectively the offset distance of the movement trajectory when the moving component linearly moves corresponding to the weight switching, and the interval duration between the floating moment of the article transportation acceleration and the speed regulation moment of the transportation form.

[0008] As a preferred embodiment of the present invention, if the linear trajectory floating data exceeds the trajectory offset distance threshold, or the linear trajectory stable data exceeds the regulation interval duration threshold, a component speed adaptation regulation signal is generated; if the linear trajectory floating data does not exceed the trajectory offset distance threshold and the linear trajectory stable data does not exceed the regulation interval duration threshold, the current linear movement is continuously monitored.

[0009] As a preferred embodiment of the present invention, the conveying influence information and the trajectory influence information are respectively the maximum deviation value of the corresponding shaking amplitude of the conveyed articles with different weights when the moving component has a non-linear movement trajectory change, and the maximum deviation value of the floating slope at the same trajectory position corresponding to the actual non-linear movement trajectory and the preset non-linear movement trajectory of the moving component.

[0010] As a preferred embodiment of the present invention, if the conveying influence information exceeds the maximum deviation threshold of the shaking float, or the trajectory influence information exceeds the maximum deviation threshold of the slope, a non-linear control signal is generated; if the conveying influence information does not exceed the maximum deviation threshold of the shaking float and the trajectory influence information does not exceed the maximum deviation threshold of the slope, the non-linear movement trajectory of the moving component of the magnetic drive system is continuously monitored.

[0011] As a preferred embodiment of the present invention, the process of S103 multiple magnetic drive feedback control is as follows: Conveying control is performed on the synchronous movement of the corresponding moving components of multiple magnetic drive systems. The deviation value between the actual position and the target position of each moving component during the synchronous movement is obtained, and the deviation value is calculated as a ratio with the current number of moving components and set as the proportionality coefficient, labeled as BL; the position deviation preset coefficient is set with the position deviation value at the current moment, labeled as P; the preset coefficient represents the error correction coefficient set in the actual control scenario; At the same time, integral operation is performed on the deviation value during the synchronous movement stage until the deviation value is zero, and then the integral operation stops, and the deviation integral coefficient is obtained through the integral operation. The expression is: ; t represents the synchronous movement time of the moving component; the change rate is calculated based on the floating interval of the deviation value corresponding to each moment within the synchronous movement period, and the floating coefficient is obtained through average calculation, with the label FD set; Substitute into the formula to obtain the output control coefficient within the synchronous movement stage. The formula is: , where G(t) is the output control coefficient.

[0012] As a preferred embodiment of the present invention, the output control coefficient is compared with the control coefficient threshold: If the output control coefficient exceeds the control coefficient threshold, a deviation corresponding regulation signal is generated and sent to the administrator terminal. After receiving the deviation corresponding regulation signal, the administrator terminal adjusts the distance deviation value of the moving components of each magnetic drive system, and performs corresponding proportional regulation according to the ratio of the distance deviation value of the corresponding moving component to the cumulative value at the current moment; if the output control coefficient does not exceed the control coefficient threshold, continue to monitor the synchronous movement of multiple magnetic drive systems.

[0013] As a preferred embodiment of the present invention, the cooperation spacing influence information and the cooperation frequency deviation information are respectively the excess amount of the distance between the corresponding trajectory endpoints of adjacent moving components entering the cooperation and coordination position and the set point position of the cooperation and coordination position during the operation time, and the increased span of the frequency deviation of the moving components moving to the trajectory endpoints when adjacent moving components cooperate and coordinate.

[0014] As a preferred embodiment of the present invention, if the cooperation spacing influence information exceeds the spacing excess amount threshold, or the cooperation frequency deviation information exceeds the frequency deviation increased span threshold, a cooperation regulation signal is generated; if the cooperation spacing influence information does not exceed the spacing excess amount threshold and the cooperation frequency deviation information does not exceed the frequency deviation increased span threshold, continue to monitor the moving components in cooperative coordination.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. In the present invention, the transportation action of the moving component in linear movement is identified, and through linear movement identification and analysis, it is inferred whether the current linear action execution efficiency meets the standard, so as to ensure that the linear movement action can ensure the conveying efficiency, avoid abnormal displacement of the conveyed items caused by abnormal linear action conveying, reduce the conveying efficiency of the current magnetic drive system, and at the same time, through movement identification, the movement trajectory of the moving component can be reasonably controlled; When the moving component performs non-linear movement, the movement action is identified and detected to ensure that the execution trajectory of the non-linear movement action is consistent with the set trajectory, and to avoid abnormal movement parameters of each part of the non-linear movement trajectory, resulting in changes in the trajectory, reducing the current non-linear movement conveying efficiency, being unable to complete the conveying effect brought by the non-linear movement trajectory, and reducing the conveying success probability of the moving component.

[0016] 2. In the present invention, when synchronously moving and conveying multiple magnetic drive systems, feedback control is performed to obtain the current control parameters through feedback control, and the magnetic drive systems are regulated in a timely manner according to the control parameters. This reduces the efficiency of magnetic drive feedback control, fails to ensure the stability of synchronous movement of multiple magnetic drive systems, causes abnormal synchronous conveying trajectories, and can ensure high efficiency during synchronous movement through feedback control, thereby improving the conveying efficiency. When performing collaborative control on the collaborative movement and conveying of multiple magnetic drive systems, collaborative control is carried out through the collaborative analysis of the movement actions of multiple magnetic drives to ensure the timing of collaborative control, so that the collaborative movement and conveying of collaborative actions can successfully form a closed loop, playing a role in continuous conveying of multiple conveying actions in coordinated movement, and improving the conveying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 It is a flowchart of the method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] The mention of "embodiment" in this article means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present invention. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0021] Please refer to Figure 1 As shown, a control method for a moving component of an intelligent magnetic drive system is as follows: S101. Single magnetic drive linear movement recognition: When a single magnetic drive system is transporting, it conducts movement recognition on the linear movement of the moving component during transportation. Through linear movement recognition and analysis, it infers whether the current linear action execution efficiency meets the standard, so as to ensure that the linear movement can ensure the conveying efficiency, avoid displacement of the conveyed items caused by abnormal linear action conveying, reduce the conveying efficiency of the current magnetic drive system, and at the same time, through movement recognition, it can reasonably control the movement trajectory of the moving component; S102. Single magnetic drive non - linear movement recognition: When a single magnetic drive system is transporting, it conducts recognition and detection on the movement when the moving component makes a non - linear movement, ensuring that the execution trajectory of the non - linear movement action is consistent with the set trajectory, avoiding abnormal movement parameters of each part of the non - linear movement trajectory, resulting in changes in the trajectory, reducing the current non - linear movement conveying efficiency, and being unable to achieve the conveying effect brought by the non - linear movement trajectory, thus reducing the conveying success probability of the moving component; S103. Multiple magnetic drive feedback control: When multiple magnetic drive systems are transporting, during the synchronous movement and conveying of multiple magnetic drive systems, it conducts feedback control. Through feedback control, it obtains the current control parameters and timely adjusts the magnetic drive systems according to the control parameters. This reduces the magnetic drive feedback control efficiency, unable to ensure the synchronous movement stability of multiple magnetic drive systems, resulting in abnormal synchronous conveying trajectories. Through feedback control, it can ensure the high efficiency of movement during synchronous movement and improve the conveying efficiency; S104. Multiple magnetic drive collaborative control: When multiple magnetic drive systems are transporting, during the collaborative movement and conveying of multiple magnetic drive systems, it conducts collaborative control. Through the collaborative analysis of the movement actions of multiple magnetic drives, it conducts collaborative control, ensuring the time fit of the collaborative control, so that the collaborative movement and conveying of the collaborative actions can successfully form a closed - loop, playing a role in continuous conveying of multiple conveying actions in coordinated movement, and improving the conveying efficiency; The specific process of the single magnetic drive linear movement recognition in step S101 is as follows: Collect the single - linear operation period of the magnetic drive system and mark it as the linear single period; when the moving component of the magnetic drive system conveys items of different weights within the linear single period, obtain the offset distance of the movement trajectory when the weight corresponding to the linear movement of the moving component changes. At the same time, according to the linear operation stage of the moving component, obtain the interval duration between the moment of acceleration fluctuation of item transportation and the moment of speed regulation of the transportation form, and mark the offset distance of the movement trajectory when the weight corresponding to the linear movement of the moving component changes and the interval duration between the moment of acceleration fluctuation of item transportation and the moment of speed regulation of the transportation form as the linear trajectory floating data and the linear trajectory stable data respectively, and compare them with the trajectory offset distance threshold and the regulation interval duration threshold respectively: If the offset distance of the moving trajectory exceeds the trajectory offset distance threshold when the moving component linearly moves corresponding to the weight switching, or the interval duration between the moment of floating of the article transportation acceleration and the moment of speed regulation of the transportation form exceeds the regulation interval duration threshold, it is inferred that the moving action of the moving component of the magnetic drive system is abnormal. A component speed adaptation regulation signal is generated and sent to the administrator terminal. After receiving it, the administrator terminal controls the speed of the current magnetic drive system. When a single magnetic drive system moves and conveys, if the weight of the conveyed article changes, the speed is regulated according to the conveying time node to reduce the speed impact caused by mass inertia, so as to avoid changing the linear trajectory and causing non-linear movement of the article; If the offset distance of the moving trajectory does not exceed the trajectory offset distance threshold when the moving component linearly moves corresponding to the weight switching, and the interval duration between the moment of floating of the article transportation acceleration and the moment of speed regulation of the transportation form does not exceed the regulation interval duration threshold, it is inferred that the moving action of the moving component of the magnetic drive system is normal, and the current linear movement is continuously monitored; The process of identifying the non-linear movement of a single magnetic drive is as follows: Collect the single non-linear operation period of the magnetic drive system and mark it as a non-linear single period; within the non-linear single period, obtain the maximum deviation value of the shaking amplitude corresponding to the conveyed articles of different weights when the non-linear movement trajectory of the moving component changes. At the same time, when the conveyed articles generate a shaking amplitude, obtain the maximum deviation value of the floating slope at the same trajectory position corresponding to the actual non-linear movement trajectory and the preset non-linear movement trajectory of the moving component. Mark the maximum deviation value of the shaking amplitude corresponding to the conveyed articles of different weights when the non-linear movement trajectory of the moving component changes and the maximum deviation value of the floating slope at the same trajectory position corresponding to the actual non-linear movement trajectory and the preset non-linear movement trajectory of the moving component as the conveying influence information and the trajectory influence information respectively, and compare them with the maximum deviation threshold of shaking floating and the maximum deviation threshold of slope respectively: If the maximum deviation value of the shaking amplitude corresponding to the conveyed articles of different weights when the non-linear movement trajectory of the moving component changes exceeds the maximum deviation threshold of shaking floating, or the maximum deviation value of the floating slope at the same trajectory position corresponding to the actual non-linear movement trajectory and the preset non-linear movement trajectory of the moving component exceeds the maximum deviation threshold of slope, it is inferred that the non-linear movement trajectory of the current magnetic drive system is abnormal. A non-linear control signal is generated and sent to the administrator terminal. After receiving it, the administrator terminal controls the speed in sections according to the non-linear trajectory to ensure that the real-time trajectory is consistent with the set trajectory when the non-linear floating slope of the trajectory rises; If the maximum deviation value of the shaking amplitude corresponding to the conveyed items of different weights does not exceed the maximum deviation threshold of the shaking floating when the non-linear moving trajectory of the moving component changes, and the maximum deviation value of the floating slope at the same trajectory position corresponding to the actual non-linear moving trajectory and the preset non-linear moving trajectory of the moving component does not exceed the maximum slope deviation threshold, it is inferred that the non-linear moving trajectory of the current magnetic drive system is normal, and continue to monitor the non-linear moving trajectory of the moving component of the magnetic drive system; The specific process of multiple magnetic drive feedback controls is as follows: Conduct conveying control on the synchronous movement of the moving components corresponding to multiple magnetic drive systems, obtain the deviation value between the actual position and the target position of each moving component during the synchronous movement, calculate the ratio of the deviation value to the current number of moving components, set it as the proportional coefficient, and set the label BL; set the position deviation preset coefficient based on the position deviation value at the current moment, and set the label P; the preset coefficient represents the error correction coefficient set in the actual control scenario; At the same time, perform integral operation on the deviation value during the synchronous movement stage until the deviation value is zero, then stop the integral operation, and obtain the deviation integral coefficient through the integral operation. The expression is: ; t represents the synchronous movement time of the moving component; Calculate the change rate according to the floating interval amount of the deviation value corresponding to each moment during the synchronous movement period, and obtain the floating coefficient through average value calculation, and set the label as FD; Substitute into the formula to obtain the output control coefficient during the synchronous movement stage. The formula is: , where G(t) is the output control coefficient; Compare the output control coefficient with the control coefficient threshold: If the output control coefficient exceeds the control coefficient threshold, it is inferred that there is a deviation abnormality in the synchronous movement of the moving components of multiple magnetic drive systems during the synchronous movement stage, generate a deviation corresponding regulation signal and send the deviation corresponding regulation signal to the administrator terminal. After receiving the deviation corresponding regulation signal, the administrator terminal adjusts the distance deviation value of the moving components of each magnetic drive system, and performs corresponding proportional regulation range according to the ratio of the distance deviation value of the corresponding moving component to the cumulative value at the current moment, that is, the regulation value setting proportional regulation range belongs to the low impact range; If the output control coefficient does not exceed the control coefficient threshold, it is inferred that the synchronous movement deviation of the moving components of multiple magnetic drive systems during the synchronous movement stage is normal, and continue to monitor the synchronous movement of multiple magnetic drive systems; The process of multiple magnetic drive collaborative control is as follows: Conduct conveying control on the coordinated movement of multiple moving components corresponding to multiple magnetic drive systems. When adjacent moving components operate in cooperation, obtain the excess amount of the distance between the corresponding trajectory endpoints of the adjacent moving components entering the cooperative coordination position and the set point distance of the cooperative coordination position at the running moment, and at the same time obtain the increased span of the frequency deviation of the moving components moving to the trajectory endpoints when the adjacent moving components cooperate. Mark the excess amount of the distance between the corresponding trajectory endpoints of the adjacent moving components entering the cooperative coordination position and the set point distance of the cooperative coordination position at the running moment, and the increased span of the frequency deviation of the moving components moving to the trajectory endpoints when the adjacent moving components cooperate as the cooperative distance influence information and the cooperative frequency deviation information respectively, and compare them with the distance excess amount threshold and the frequency deviation increased span threshold respectively: If the excess amount of the distance between the corresponding trajectory endpoints of the adjacent moving components entering the cooperative coordination position and the set point distance of the cooperative coordination position at the running moment exceeds the distance excess amount threshold, or the increased span of the frequency deviation of the moving components moving to the trajectory endpoints when the adjacent moving components cooperate exceeds the frequency deviation increased span threshold, it is inferred that there is a cooperative lag effect in the multi-magnetic-drive coordinated movement conveying, generate a cooperative regulation signal and send the cooperative regulation signal to the administrator terminal. After receiving the cooperative regulation signal, the administrator terminal coordinates the trajectory point regulation of the moving components in the cooperative movement and fixes it at the moment of actually reaching the cooperative trajectory point, reducing the influence brought by the floating of the cooperative moments of different conveyed items reaching the cooperative trajectory point; If the excess amount of the distance between the corresponding trajectory endpoints of the adjacent moving components entering the cooperative coordination position and the set point distance of the cooperative coordination position at the running moment does not exceed the distance excess amount threshold, and the increased span of the frequency deviation of the moving components moving to the trajectory endpoints when the adjacent moving components cooperate does not exceed the frequency deviation increased span threshold, it is inferred that the cooperation of the multi-magnetic-drive coordinated movement conveying is qualified, and continue to monitor the moving components in the cooperative coordination; The above formulas are all obtained by collecting a large amount of data for software simulation and selecting a formula close to the true value. The coefficients in the formula are set by those skilled in the art according to the actual situation; When the present invention is in use, single magnetic drive linear movement recognition: when a single magnetic drive system is transporting, the movement recognition of the linear movement of the moving component is carried out during the transportation action of linear movement, the floating data of the linear trajectory and the stable data of the linear trajectory are collected, and the linear movement control is carried out according to the data comparison; single magnetic drive non-linear movement recognition: when a single magnetic drive system is transporting, the movement recognition and detection of the movement action are carried out when the moving component makes a non-linear movement, the conveying influence information and the trajectory influence information are collected, and the non-linear movement control is carried out according to the information analysis; multiple magnetic drive feedback control: when multiple magnetic drive systems are transporting, when the multiple magnetic drive systems are synchronously moving and transporting, the feedback control is carried out, the current control parameters are obtained through the feedback control, and the magnetic drive system is adjusted in time according to the control parameters; multiple magnetic drive collaborative control: when multiple magnetic drive systems are transporting, when the multiple magnetic drive systems are collaboratively moving and transporting, the collaborative control is carried out, the influence information of the cooperation spacing and the deviation information of the cooperation frequency are collected, and the collaborative control analysis is carried out according to the information processing.

[0022] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments only. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principle and practical application of the present invention, so that those skilled in the art in the technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A control method for a mobile component of an intelligent magnetic drive system, characterized in that: The control method is as follows: S101, single magnetic drive linear movement identification, when a single magnetic drive system is transporting, the movement identification of the transport action of the moving component in linear movement is performed, the linear trajectory floating data and the linear trajectory stable data are collected, and the linear movement control is performed according to the data comparison; S102, single magnetic drive nonlinear movement identification, when a single magnetic drive system is transporting, when the mobile component is performing nonlinear movement, the moving action is identified and detected, the transportation influence information and trajectory influence information are collected, and nonlinear movement control is performed based on the information analysis; S103, multiple magnetic drive feedback control, when multiple magnetic drive systems are transported, feedback control is performed on multiple magnetic drive systems when they are synchronously moved and transported, and current control parameters are obtained through feedback control, and the magnetic drive systems are regulated in time according to the control parameters; S104, collaborative control of multiple magnetic drives. When multiple magnetic drive systems are transported, collaborative control is performed on the multiple magnetic drive systems during collaborative movement and transportation, and coordination spacing influence information and coordination frequency deviation information are collected, and collaborative control analysis is performed based on information processing.

2. The control method of a mobile component of an intelligent magnetic drive system according to claim 1, characterized in that: The linear trajectory floating data and the linear trajectory stable data are respectively the offset distance of the moving trajectory when the moving component moves linearly corresponding to the weight switching, and the interval between the floating moment of the item transportation acceleration and the speed control moment of the transportation mode.

3. The control method of a mobile component of an intelligent magnetic drive system according to claim 2, characterized in that: If the linear trajectory floating data exceeds the trajectory offset distance threshold, or the linear trajectory stable data exceeds the control interval time threshold, a component speed adaptation control signal is generated; if the linear trajectory floating data does not exceed the trajectory offset distance threshold, and the linear trajectory stable data does not exceed the control interval time threshold, the current linear movement continues to be monitored.

4. The control method of a mobile component of an intelligent magnetic drive system according to claim 1, characterized in that: The transport impact information and trajectory impact information are respectively the maximum deviation value of the shaking amplitude corresponding to the transported items of different weights when the nonlinear moving trajectory of the mobile component changes, and the maximum deviation value of the floating slope of the same trajectory position corresponding to the actual nonlinear moving trajectory of the mobile component and the preset nonlinear moving trajectory.

5. The control method of a mobile component of an intelligent magnetic drive system according to claim 4, characterized in that: If the transport impact information exceeds the maximum deviation threshold of the sway and float, or the trajectory impact information exceeds the maximum deviation threshold of the slope, a nonlinear control signal is generated; if the transport impact information does not exceed the maximum deviation threshold of the sway and float, and the trajectory impact information does not exceed the maximum deviation threshold of the slope, the nonlinear movement trajectory monitoring of the moving components of the magnetic drive system continues.

6. The control method of a mobile component of an intelligent magnetic drive system according to claim 1, characterized in that: The process of S103 multiple magnetic drive feedback control is as follows: The synchronous movement of the corresponding mobile components of the multiple magnetic drive systems is controlled, and the deviation value between the actual position and the target position of each mobile component in the synchronous movement process is obtained, and the ratio of the deviation value to the current number of mobile components is calculated and set as the proportional coefficient, and the label is set BL; the position deviation preset coefficient is set according to the position deviation value at the current moment, and the label is set P; the preset coefficient is expressed as the error correction coefficient set in the actual control scenario; At the same time, the deviation value of the synchronous movement stage is integrated until the deviation value reaches zero, then the integration operation is stopped, and the deviation integral coefficient is obtained through the integration operation, and the expression is: ; t represents the synchronous movement time of the mobile component; the change rate is calculated according to the floating interval of the corresponding deviation value at each moment in the synchronous movement period, and the floating coefficient is obtained by the average value calculation, and the label is set as FD; Substitute the formula to obtain the output control coefficient in the synchronous movement stage. The formula is: , where G(t) is the output control coefficient.

7. The control method of a mobile component of an intelligent magnetic drive system according to claim 6, characterized in that: Compare the output control coefficient to the control coefficient threshold: If the output control coefficient exceeds the control coefficient threshold, a deviation corresponding control signal is generated and sent to the administrator terminal. After receiving the deviation corresponding control signal, the administrator terminal controls the distance deviation value of the mobile components of each magnetic drive system, and performs a corresponding proportional control range according to the distance deviation value of the corresponding mobile component and the accumulated ratio at the current moment; if the output control coefficient does not exceed the control coefficient threshold, the synchronous movement of multiple magnetic drive systems continues to be monitored.

8. The control method of a mobile component of an intelligent magnetic drive system according to claim 1, characterized in that: The coordination spacing influence information and coordination frequency deviation information are respectively the excess of the distance between the corresponding trajectory end points of the adjacent moving components entering the coordination position at run time and the distance between the set points of the coordination position, and the increased span of the frequency deviation of the moving components moving to the trajectory end points when the adjacent moving components coordinate.

9. The control method of a mobile component of an intelligent magnetic drive system according to claim 8, characterized in that: If the coordinated spacing impact information exceeds the spacing excess threshold, or the coordinated frequency deviation information exceeds the frequency deviation increase span threshold, a collaborative control signal is generated; if the coordinated spacing impact information does not exceed the spacing excess threshold, and the coordinated frequency deviation information does not exceed the frequency deviation increase span threshold, the coordinated mobile components continue to be monitored.

Images