High-speed response linear motor motion platform

Abstract

The invention relates to the technical field of linear motors, and particularly discloses a high-speed response linear motor motion platform, which comprises an acquisition module, an analysis module and a control module, and is characterized in that the acquisition module is used for acquiring coordinates (x, y) of to-be-processed positions in a preset coordinate system, and grouping the to-be-processed positions; the analysis module is used for sorting the to-be-processed positions in the same group in an ascending order according to the sizes of the corresponding abscissas to obtain a first sequence, and connecting the to-be-processed positions on two adjacent sorting positions in the first sequence through a straight line to obtain a target section; the control module is used for determining the road section property of the target section based on the length of the target section and controlling the machining head to move on the target section based on the road section property. The performance of the linear motor can be guaranteed as much as possible while high-speed response of the linear motor is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motors, and particularly to a linear motor motion platform with high-speed response. Background Art

[0002] A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. It generates an alternating magnetic field between the stator and the mover, directly driving the mover to run along a linear trajectory, thereby achieving high-speed and precise positioning and motion control. Since the traditional rotation conversion link is omitted, the linear motor has the advantages of rapid response and high transmission efficiency, and is widely used in fields such as precision machining, automated assembly, and high-speed detection.

[0003] For a linear motor, high-speed response is one of its significant advantages, but it is also a technical challenge. The high-speed response of a linear motor means that the motor can reach a predetermined position within an extremely short time after receiving a control signal. However, too fast a response may cause large mechanical vibrations in the motor or the transmission structure, resulting in overshoot, oscillation, or instability phenomena, affecting the overall performance. Therefore, how to ensure the performance of the linear motor as much as possible while ensuring its high-speed response has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of the present invention is to provide a linear motor motion platform with high-speed response to solve the following technical problems: The high-speed response of a linear motor means that the motor can reach a predetermined position within an extremely short time after receiving a control signal. However, too fast a response may cause large mechanical vibrations in the motor or the transmission structure, resulting in overshoot, oscillation, or instability phenomena, affecting the overall performance.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A linear motor motion platform with high-speed response includes an acquisition module, an analysis module, and a control module. Specifically: Acquisition module: Obtain the position to be processed on the workpiece to be processed, obtain the coordinates (x, y) of the position to be processed in a preset coordinate system, where x and y respectively represent the abscissa and ordinate of the position to be processed in the coordinate system, group the positions to be processed, and the difference between the ordinates corresponding to any two positions to be processed in the same group is less than a preset value; Analysis module: Sort the positions to be processed in the same group in ascending order according to the corresponding abscissa to obtain a first sorting, and connect the positions to be processed at adjacent sorting positions in the first sorting by a straight line to obtain a target segment; Control module: Obtain the length of the target segment, determine the road segment property of the target segment based on the length, where the road segment property includes a slow speed segment and a high speed segment, and control the movement of the processing head on the target segment based on the road segment property of the target segment, where the processing head is used to process the position to be processed.

[0006] As a further solution of the present invention: In the acquisition module, the process of setting the coordinate system includes: Obtain the minimum circumscribed rectangle of the area composed of all the positions to be processed, obtain the four vertices of the minimum circumscribed rectangle, mark the vertex at the upper left corner of the minimum circumscribed rectangle as a1, and in clockwise order, mark the remaining three vertices as a2, a3, and a4 in sequence; Taking vertex a4 as the origin, the side where vertex a4 and vertex a3 are located as the x-axis, and the side where vertex a4 and vertex a1 are located as the y-axis, with the positive direction of the x-axis pointing from vertex a4 to vertex a3 and the positive direction of the y-axis pointing from vertex a4 to vertex a1, obtain the coordinate system.

[0007] As a further solution of the present invention: In the control module, controlling the movement of the processing head on the target segment based on the road segment property of the target segment includes: When the length is less than a preset length threshold, mark the corresponding target segment as a slow speed segment; when the length of the target segment is greater than or equal to the preset length threshold, mark the corresponding target segment as a high speed segment; Obtain two positions to be processed corresponding to a single target segment, and mark them as position i and position i + 1 respectively, where the position to be processed corresponding to position i + 1 is on the right side of the position to be processed corresponding to position i in the first sorting; Control the processing head to move from position i to position i + 1 based on the road segment property of the target segment.

[0008] As a further solution of the present invention: Controlling the processing head to move from position i to position i + 1 based on the road segment property of the target segment includes: When the target segment is a slow speed segment, set the optimal acceleration A1, keep the acceleration of the processing head as the optimal acceleration A1, so that the processing head starts to move from position i until the processing head reaches the midpoint of the target segment, and adjust the acceleration of the processing head to -A1 until the processing head reaches position i + 1; When the target segment is a high-speed segment, set the maximum acceleration A2, and A2 > A1. Keep the acceleration of the processing head as the maximum acceleration A2, so that the processing head starts to move from the position i until the processing head reaches the midpoint of the target segment. Adjust the acceleration of the processing head to -A2 until the processing head reaches the position i + 1. As a further solution of the present invention: Controlling the processing head to move from the position i to the position i + 1 based on the road segment property of the target segment further includes: When the target segment is a high-speed segment, calculate the duration for the processing head to reach the midpoint of the target segment from the position i. , D represents the distance between the position i and the midpoint of the target segment. Calculate the time difference Δt = tys - t1, where tsy represents the preset duration. Set a time difference threshold Δt'. When the time difference Δt = tys - t1 ≥ Δt', obtain a new maximum acceleration A2' = A2 - A2 y , A2 y represents the preset acceleration correction value. Calculate the new time difference, and repeat the above steps until the time difference C < Δt'. Obtain the time difference C - 1 in the previous round of iteration adjacent to the time difference C. Obtain the maximum acceleration A3 corresponding to the time difference C - 1. Control the processing head to move from the position i to the position i + 1 according to the maximum acceleration A3.

[0009] As a further solution of the present invention: In the acquisition module, the position to be processed is pre-marked manually.

[0010] The beneficial effects of the present invention: Compared with the prior art: 1) By grouping the positions to be processed and sorting them in ascending order of the abscissa within the same group, the repeated round-trip movement or ineffective movement process can be reduced, and the overall efficiency of the processing process is improved. At the same time, by grouping according to the difference in the ordinate, the frequent rapid movement caused by the overly discrete distribution of workpieces can be effectively avoided, further reducing the motor vibration and energy consumption. 2) The present invention divides the target segment into a slow-speed segment and a high-speed segment. For different lengths of the target segment, the optimal acceleration and the maximum acceleration are respectively set, and the acceleration is quickly adjusted to a negative acceleration after reaching the midpoint, forming a symmetric acceleration-deceleration curve. This two-way symmetric acceleration-deceleration mode can not only avoid large impacts within a short distance, but also give full play to the maximum acceleration characteristic of the motor within a long distance, and stably control the speed within the target segment range through the midpoint switching, reducing overshoot. 3) For slow-speed segments with relatively close adjacent positions, positioning can be completed in a short time without using excessively high acceleration and deceleration. Since the acceleration and deceleration amplitudes are relatively small, mechanical vibration and impact can be effectively controlled, energy consumption and wear can be reduced. At the same time, high-speed response and accurate landing can be smoothly achieved within a limited space, further improving the reliability and service life of the whole machine; 4) When in the high-speed segment, if it is found through calculation that the response speed corresponding to the current acceleration is higher than the expected target, the acceleration is reduced through iteration until the running time of the processing head meets the predetermined requirements. This adaptive regulation can effectively avoid unnecessary impacts and energy consumption caused by excessive acceleration, and at the same time reduce the wear risk of the mechanical structure under high-load conditions. By only reaching the expected speed, the entire system can achieve an efficient balance of time and energy consumption while ensuring high-speed response. Description of the Drawings

[0011] The present invention will be further described below in conjunction with the drawings.

[0012] Figure 1 It is a schematic structural diagram of a linear motor motion platform with high-speed response of the present invention. Specific Embodiments

[0013] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the 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 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.

[0014] Please refer to Figure 1 As shown, the present invention is a linear motor motion platform with high-speed response, including an acquisition module, an analysis module, and a control module. Specifically: Acquisition module: Obtain the to-be-processed position on the workpiece to be processed, obtain the coordinates (x, y) of the to-be-processed position in a preset coordinate system, where x and y respectively represent the abscissa and ordinate of the to-be-processed position in the coordinate system, and group the to-be-processed positions. The difference between the ordinates corresponding to any two to-be-processed positions in the same group is less than a preset value; In a preferred embodiment of the present invention, obtain the minimum circumscribed rectangle of the area composed of all the to-be-processed positions, obtain the four vertices of the minimum circumscribed rectangle, mark the vertex at the upper left corner of the minimum circumscribed rectangle as a1, and in a clockwise order, mark the remaining three vertices as a2, a3, and a4 in sequence; Taking vertex a4 as the origin, the side where vertex a4 and vertex a3 are located as the x-axis, and the side where vertex a4 and vertex a1 are located as the y-axis, with the positive direction of the x-axis pointing from vertex a4 to vertex a3 and the positive direction of the y-axis pointing from vertex a4 to vertex a1, the coordinate system is obtained; It should be noted that assume there is a workpiece on the production line with multiple points to be processed distributed on its surface. Through preliminary measurement, it is found that these points to be processed are generally distributed within a rectangular area. For the convenience of subsequent grouping and motion control, methods such as visual detection or manual measurement can be used to find the smallest circumscribed rectangle that can enclose all the positions to be processed, and the four vertices of this rectangle are sequentially marked as a1, a2, a3, and a4 in a clockwise direction. Among them, assume a1 is the upper left vertex. For the convenience of subsequent processing, taking a4 (the lower left corner) as the origin, the side between a4 and a3 as the x-axis, the positive direction of the x-axis pointing from a4 to a3 (i.e., to the left), and the side between a4 and a1 as the y-axis, the positive direction of the y-axis pointing from a4 to a1 (i.e., upward), thus establishing the coordinate system; In order to improve the processing efficiency and reduce unnecessary repeated lateral movement, the present invention proposes to group according to the principle that "the difference in the ordinate between any two positions in the same group is less than a certain preset value". For example, when the preset value is ΔY = 5mm, then within the same group, the difference in the y-coordinates of any two points does not exceed 5mm; if some points to be processed are far apart in the height direction of the workpiece, they will be automatically assigned to different groups to avoid excessive vertical movement in a round-trip process; In another preferred embodiment of the present invention, in the acquisition module, the positions to be processed are pre-marked manually; Under the already set coordinate system, all the positions to be processed on the workpiece are obtained through means such as manual marking, or can also be carried out by means of visual detection or automatic measurement. The types of positions to be processed include but are not limited to dispensing positions, etc., which can be specifically set according to the actual situation; Analysis module: Sort the positions to be processed in the same group in ascending order according to the corresponding abscissa to obtain the first sorting, and connect the positions to be processed at adjacent sorting positions in the first sorting with a straight line to obtain the target segment; It can be understood that each target segment represents the single movement path that the processing head needs to complete. Subsequently, it can be determined whether it is a "deceleration segment" or a "high-speed segment" according to the length of each target segment, and then the corresponding acceleration and deceleration control can be executed. For example, a short-distance segment can be set as a deceleration segment to quickly reach with a small acceleration and suppress mechanical vibration; a long-distance segment can be set as a high-speed segment to shorten the movement time with the maximum acceleration; Control module: Obtain the length of the target segment, determine the road segment property of the target segment based on the length, where the road segment property includes a deceleration segment and a high-speed segment, and control the movement of the processing head on the target segment based on the road segment property of the target segment, where the processing head is used to process the position to be processed; In a preferred embodiment of the present invention, in the control module, controlling the movement of the processing head on the target segment based on the road segment property of the target segment includes: When the length is less than a preset length threshold, mark the corresponding target segment as a deceleration segment; when the length of the target segment is greater than or equal to the preset length threshold, mark the corresponding target segment as a high-speed segment; Obtain two positions to be processed corresponding to a single target segment, and mark them as position i and position i + 1 respectively, where the position to be processed corresponding to position i + 1 is on the right side of the position to be processed corresponding to position i in the first sorting; Control the processing head to move from position i to position i + 1 based on the road segment property of the target segment; In a preferred case of this embodiment, controlling the processing head to move from position i to position i + 1 based on the road segment property of the target segment includes: When the target segment is a deceleration segment, set the optimal acceleration A1, keep the acceleration of the processing head as the optimal acceleration A1, so that the processing head starts to move from position i until the processing head reaches the midpoint of the target segment, and adjust the acceleration of the processing head to -A1 until the processing head reaches position i + 1; When the target segment is a high-speed segment, set the maximum acceleration A2, and A2 > A1, keep the acceleration of the processing head as the maximum acceleration A2, so that the processing head starts to move from position i until the processing head reaches the midpoint of the target segment, and adjust the acceleration of the processing head to -A2 until the processing head reaches position i + 1; It should be noted that, assuming a workpiece needs to process several points in sequence, and the distances between adjacent points are 80mm, 120mm, 95mm, 130mm, etc. For the sake of illustration, we set the length threshold at 100mm. For the two target segments of 80mm and 95mm, since their lengths are less than 100mm, they are determined as deceleration segments, and a smaller optimal acceleration A1 (such as 0.15g, where g represents the acceleration due to gravity on Earth) is selected. When the processing head starts from position i, it quickly rises to near the midpoint of the target segment with acceleration A1, then switches to -A1 for symmetric deceleration, and finally reaches position i + 1 smoothly; at this time, due to the short distance and relatively small acceleration, it can not only ensure reaching quickly but also avoid overshoot and reduce mechanical vibration. For target segments such as 120mm and 130mm, since their lengths are greater than or equal to 100mm, they are determined as high-speed segments, and the system sets a higher maximum acceleration A2 (such as 0.25g). After the processing head starts from position i, it first accelerates to the midpoint of the target segment with A2 and then decelerates to position i + 1 with -A2, so as to make full use of the large acceleration to exert the high-speed response ability of the linear motor over a long distance; for short-distance segments, a smaller acceleration can be used to complete positioning smoothly, avoiding unnecessary impacts or energy consumption; for long-distance segments, a higher acceleration can be used to obtain a significant speed increase, and at the same time, it can be flexibly adjusted according to time requirements to achieve a comprehensive balance between high-speed response and mechanical performance; Another preferred case of this embodiment, controlling the movement of the processing head from the position i to the position i + 1 based on the road segment nature of the target segment further includes: When the target segment is a high-speed segment, calculate the duration for the processing head to reach the midpoint of the target segment from the position i , D represents the distance between the position i and the midpoint of the target segment, calculate the time difference Δt = tys - t1, where tsy represents the preset duration; Set a time difference threshold Δt'. When the time difference Δt = tys - t1 ≥ Δt', obtain a new maximum acceleration A2' = A2 - A2 y , A2 y represents the preset acceleration correction value; Calculate the new time difference and repeat the above steps until the time difference C < Δt'. Obtain the time difference C - 1 in the previous iteration process adjacent to the time difference C, obtain the maximum acceleration A3 corresponding to the time difference C - 1, and control the movement of the processing head from the position i to the position i + 1 according to the maximum acceleration A3; It is worth noting that by correcting the initially set maximum acceleration in sequence when the target segment is a high-speed segment, when it is detected that the difference between the travel time of the machining head from position i to the midpoint of the target segment and the preset time still exceeds the preset threshold, the acceleration is gradually reduced and recalculated until the difference is less than the threshold, and then the most appropriate acceleration value in the previous round of iteration results is traced back to ensure that the overall time of the machining head meets the requirements while avoiding energy waste and mechanical shock caused by excessive acceleration as much as possible. Through this process, the acceleration can be adaptively adjusted in the high-speed segment, fully considering the demand for response speed and the stability of the mechanical structure, so that the machining head can maintain high reliability and efficiency while moving quickly to the next position; In the above formula for calculating the duration t1, the dimension of D is millimeter, and the dimension of A2 is meter divided by the square of time. This is a modified formula of Newton's second law and will not be repeated here.

[0015] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A linear motor motion platform with high-speed response, characterized in that It includes a collection module, an analysis module and a control module. Specifically: Collection module: Obtain the to-be-processed positions on the workpiece to be processed, obtain the coordinates (x, y) of the to-be-processed positions in a preset coordinate system, where x and y respectively represent the abscissa and ordinate of the to-be-processed positions in the coordinate system, group the to-be-processed positions, and the difference between the ordinates corresponding to any two to-be-processed positions in the same group is less than a preset value; Analysis module: Sort the to-be-processed positions in the same group in ascending order according to the corresponding abscissa to obtain a first sorting, and connect the to-be-processed positions at adjacent sorting positions in the first sorting by a straight line to obtain a target segment; Control module: Obtain the length of the target segment, determine the road segment nature of the target segment based on the length, where the road segment nature includes a slow-speed segment and a high-speed segment, and control the movement of the processing head on the target segment based on the road segment nature of the target segment, and the processing head is used to process the to-be-processed positions.

2. A linear motor motion platform with high-speed response according to claim 1, characterized in that, In the collection module, the process of setting the coordinate system includes: Obtain the minimum circumscribed rectangle of the area composed of all the to-be-processed positions, obtain the four vertices of the minimum circumscribed rectangle, mark the vertex at the upper left corner of the minimum circumscribed rectangle as a1, and in clockwise order, mark the remaining three vertices as a2, a3, and a4 in turn; Taking vertex a4 as the origin, the side where vertex a4 and vertex a3 are located as the x-axis, and the side where vertex a4 and vertex a1 are located as the y-axis, with the positive direction of the x-axis pointing from vertex a4 to vertex a3 and the positive direction of the y-axis pointing from vertex a4 to vertex a1, obtain the coordinate system.

3. A linear motor motion platform with high-speed response according to claim 1, characterized in that, In the control module, controlling the movement of the processing head on the target segment based on the road segment nature of the target segment includes: When the length is less than a preset length threshold, mark the corresponding target segment as a slow-speed segment; when the length of the target segment is greater than or equal to the preset length threshold, mark the corresponding target segment as a high-speed segment; Obtain two to-be-processed positions corresponding to a single target segment, and mark them as position i and position i + 1 respectively, and the to-be-processed position corresponding to position i + 1 is on the right side of the to-be-processed position corresponding to position i in the first sorting; Control the processing head to move from position i to position i + 1 based on the road segment nature of the target segment.

4. A linear motor motion platform with high-speed response according to claim 3, characterized in that, Controlling the processing head to move from position i to position i + 1 based on the road segment nature of the target segment includes: When the target segment is a slow-speed segment, set the optimal acceleration A1, keep the acceleration of the processing head as the optimal acceleration A1, so that the processing head starts to move from position i until the processing head reaches the midpoint of the target segment, and adjust the acceleration of the processing head to -A1 until the processing head reaches position i + 1; When the target segment is a high-speed segment, set the maximum acceleration A2, and A2 > A1. Keep the acceleration of the processing head as the maximum acceleration A2, so that the processing head starts to move from the position i until the processing head reaches the midpoint of the target segment, and then adjust the acceleration of the processing head to -A2 until the processing head reaches the position i + 1.

5. A linear motor motion platform with high-speed response according to claim 4, characterized in that, Controlling the movement of the processing head from the position i to the position i + 1 based on the road segment property of the target segment further includes: When the target segment is a high-speed segment, calculate the duration for the processing head to reach the midpoint of the target segment from the position i , D represents the distance between the position i and the midpoint of the target segment, calculate the time difference Δt = tys - t1, where tsy represents the preset duration; Set a time difference threshold Δt'. When the time difference Δt = tys - t1 ≥ Δt', obtain a new maximum acceleration A2' = A2 - A2 y , A2 y represents a preset acceleration correction value; Calculate a new time difference, and repeat the above steps until the time difference C < Δt'. Obtain the time difference C - 1 in the previous iteration adjacent to the time difference C, obtain the maximum acceleration A3 corresponding to the time difference C - 1, and control the movement of the processing head from the position i to the position i + 1 according to the maximum acceleration A3.

6. A linear motor motion platform with high-speed response according to claim 1, characterized in that In the acquisition module, the position to be processed is pre-marked manually.

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