Method for controlling a linear motor and actuator

Abstract

The application provides a linear motor control method and an actuator; in the linear motor control method, after the linear motor is powered on, a plurality of electric angles are selected by using electric angle selection logic in an electric angle region; a stator is controlled by using current control logic, so that the magnetic field of the stator changes to the electric angle, and the total stopping times of the stator are obtained; until the total stopping times meet a preset condition, the corresponding electric angle is determined as a theoretical stator electric angle corresponding to the power-on position of the linear motor; a target electric angle is determined according to a preset target displacement and the theoretical stator electric angle, and the stator is controlled according to the target electric angle, so that the mover moves at the preset target displacement. The above control method avoids the false phase search caused by the small displacement of the mover in the phase search process, thereby ensuring the phase search accuracy, avoiding the stall or flywheel of the mover in the linear motor control process, and further improving the control accuracy of the linear motor.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to control methods and actuators for linear motors. Background Technology

[0002] Existing actuators include linear motors and incremental encoders. When controlling a linear motor, since the incremental encoder cannot directly determine the absolute position of its mover, it cannot directly and accurately control the motor current. It is necessary to first determine the theoretical phase of the mover's energized position.

[0003] During phase-finding, because actuators are mainly used in industries such as electronics, 3C, and semiconductors, their mechanical stroke is relatively small, and the mechanical end may be loaded. Therefore, significant phase-finding displacement of the linear motor is not permitted before precise control, i.e., micro-phase-finding is performed. When the static friction of the guide rail, the spring force, or the external load is too large at certain mechanical positions, the output force provided by micro-phase-finding cannot overcome these resistances, causing the mover to fail to produce effective displacement. This can easily lead to a false judgment of successful phase-finding, resulting in mover stall or runaway during linear motor control. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a control method and actuator for a linear motor to alleviate the above-mentioned problems.

[0005] In a first aspect, embodiments of the present invention provide a control method for a linear motor, the linear motor including a stator and a mover, the electrical angle period of the stator being divided into multiple electrical angle regions; the control method includes: after the linear motor is powered on, selecting multiple electrical angles within an electrical angle region using electrical angle selection logic; controlling the stator using current control logic to make the change in the magnetic field of the stator equal to the electrical angle, and obtaining the total number of stops of the stator; wherein the total number of stops is the sum of the number of stops of the stator within the same electrical angle region; until the total number of stops meets a preset condition, determining the corresponding electrical angle as the theoretical stator electrical angle corresponding to the power-on position of the linear motor; obtaining a preset target displacement, determining the target electrical angle based on the preset target displacement and the theoretical stator electrical angle; controlling the stator according to the target electrical angle to make the mover move by the preset target displacement.

[0006] Optionally, the control method further includes: obtaining the total number of stator iterations, and determining whether the total number of stops meets a preset condition based on the total number of iterations; wherein the total number of iterations is the number of times the stator is controlled using different electrical angles.

[0007] Optionally, the preset conditions include: the total number of iterations is greater than the preset number of iterations, the total number of stops is not greater than a preset multiple of the total number of iterations, and the preset multiple is less than 1.

[0008] Optionally, the control method further includes: if the total number of stops cannot meet the preset condition within an electrical angle region, then switch to another electrical angle region and continue to select multiple new electrical angles using electrical angle selection logic; use current control logic to control the stator so that the magnetic field of the stator changes to a new electrical angle, and obtain the total number of stops of the stator.

[0009] Optionally, current control logic is used to control the stator so that the change in the stator's magnetic field is converted into an electrical angle, and the total number of stops of the stator is obtained. This includes: controlling the stator with a gradually increasing control current until it is increased to the target current, and keeping the stator's magnetic field at the current electrical angle; obtaining the displacement and displacement direction of the mover; if the displacement is not greater than a preset threshold, or if the current displacement direction of the mover is the same as the previous displacement direction, then obtaining the number of stops corresponding to the current electrical angle.

[0010] Optionally, the stator is controlled by current control logic so that the change in the magnetic field of the stator is an electrical angle, and the total number of stops of the stator is obtained. It also includes: if the displacement is greater than a preset threshold and the current displacement direction of the mover is different from the previous displacement direction, then the stator is controlled by the next electrical angle.

[0011] Optionally, the target electrical angle is determined based on the preset target displacement and the theoretical stator electrical angle, including: determining the electrical angle difference based on the preset target displacement; and determining the target electrical angle based on the electrical angle difference and the theoretical stator electrical angle.

[0012] Optionally, the electrical angle selection logic includes performing a bisection method with the electrical angle changing starting from the endpoint electrical angle of the electrical angle region; and / or, when the displacement direction of the mover corresponding to the electrical angle is opposite to the displacement direction of the mover corresponding to the previous electrical angle, the number of stops for the electrical angle is 1.

[0013] Secondly, embodiments of the present invention also provide an actuator, including a linear motor and a controller; wherein the controller is used to control the linear motor using the control method described in the first aspect.

[0014] Thirdly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the control method described in the first aspect.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] This invention provides a control method and actuator for a linear motor. The electrical angle period of the stator is divided into multiple electrical angle regions. After the linear motor is powered on, multiple electrical angles are first selected within one electrical angle region using electrical angle selection logic. Then, current control logic is used to control the stator so that the change in the stator's magnetic field is converted into electrical angles, and the total number of stator stops is obtained. When the total number of stops meets a preset condition, the corresponding electrical angle is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor. Finally, a preset target displacement is obtained. Based on the preset target displacement and the theoretical stator electrical angle, the target electrical angle is determined, and the stator is controlled according to the target electrical angle so that the mover moves by the preset target displacement. The above control method divides the stator's electrical angle period into multiple electrical angle regions and uses electrical angle selection logic to select multiple electrical angles within one electrical angle region, so that the change of the stator's magnetic field is converted into electrical angle. This allows the theoretical stator electrical angle corresponding to the energized position of the linear motor to be determined based on the total number of stator stops. This avoids incorrect phase finding due to small displacement of the mover during phase finding, thus ensuring phase finding accuracy and preventing the mover from stalling or running away during linear motor control, thereby improving the control accuracy of the linear motor.

[0017] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a linear motor provided in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of an electrical angle period division of an electrical angle region provided in an embodiment of the present invention;

[0022] Figure 3 A flowchart of a linear motor control method provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] To facilitate understanding of this embodiment, the embodiments of the present invention will be described in detail below.

[0025] This invention provides a control method for a linear motor; wherein the linear motor includes a stator and a mover, such as... Figure 1 As shown, the stator includes a magnet array with alternating N and N magnetic poles along a straight line, and the mover includes a power coil. By controlling the current flowing through the stator, the magnetic field of the stator is made to be at a specific electrical angle. Under the mutual attraction of the magnetic fields of the mover and the stator, the mover rotates to a position where the magnetic fields of the mover and the stator are completely attracted to each other.

[0026] Furthermore, for the stator, the electrical angle period is a continuous 360°, such as... Figure 2 As shown, the electrical angle period is set to [α, α+360°]. When α is 0°, the electrical angle period is [0°, 360°]. When α is 90°, the electrical angle period is [90°, 90°+360°]. Since the theoretical stator electrical angle corresponding to the power-on position (or zero point) P of the linear motor is unknown, it is necessary to determine the theoretical stator electrical angle corresponding to the power-on position of the linear motor within the electrical angle period. To improve the accuracy and efficiency of determining the theoretical stator electrical angle, this embodiment of the invention further divides the stator electrical angle period into multiple electrical angle regions. Here, multiple electrical angle regions refer to at least two electrical angle regions. For example, such as... Figure 2 As shown, [α, α+360°] is divided into four electrical angle regions. The number of electrical angle regions divided by the specific electrical angle period can be set according to the actual situation.

[0027] Based on the above-described multiple electrical angle regions, such as Figure 3 As shown, the linear motor control method provided in this embodiment of the invention includes the following steps:

[0028] Step S302: After the linear motor is powered on, multiple electrical angles are selected within an electrical angle range using electrical angle selection logic.

[0029] Specifically, after the linear motor is powered on, for the multiple pre-defined electrical angle regions, taking any given electrical angle region as an example, multiple electrical angles are selected within that region using electrical angle selection logic. In this logic, the electrical angles at the two endpoints of the region are used as the initial angles for control, and then a bisection method is performed to sequentially obtain different electrical angles. This process, by determining different electrical angles within each region through bisection, further improves the accuracy and efficiency of determining the theoretical stator electrical angles. It should be noted that the specific process of determining electrical angles using the bisection method can refer to existing bisection techniques, and will not be described in detail here.

[0030] Step S304: The stator is controlled by current control logic so that the magnetic field of the stator changes into an electrical angle, and the total number of times the stator stops is obtained.

[0031] For the aforementioned electrical angle region, after determining each electrical angle, such as the current electrical angle, using the bisection method, current control logic is employed to control the stator so that the stator's magnetic field changes to correspond to the current electrical angle. Simultaneously, the total number of stator stops is obtained. This total number of stops is the sum of the stator stops within the same electrical angle region. For example, starting from the endpoint electrical angle of the region and extending to the current electrical angle, the sum of the stator stops corresponding to each electrical angle is the total number of stops. If the next electrical angle is determined using the bisection method, current control logic is employed to control the stator so that the stator's magnetic field changes to correspond to the next electrical angle. The total number of stops is then updated based on the stator stops corresponding to the next electrical angle, yielding the updated total number of stops.

[0032] Specifically, when the displacement direction of the mover corresponding to the electrical angle is not opposite to the displacement direction of the mover corresponding to the previous electrical angle, the number of stops for the electrical angle is 1. For example, for the current electrical angle, if the displacement direction of the mover is not opposite to the displacement direction of the previous mover, the number of stops for the current electrical angle is 1. Thus, the order of electrical angles is determined according to the bisection method, obtaining the number of stops corresponding to the latest electrical angle and the updated total number of stops. This allows the theoretical stator electrical angle to be determined based on the updated total number of stops, improving the efficiency and accuracy of determining the theoretical stator electrical angle.

[0033] Step S306: When the total number of stops meets the preset condition, the corresponding electrical angle is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor.

[0034] Step S308: Obtain the preset target displacement and determine the target electrical angle based on the preset target displacement and the theoretical stator electrical angle.

[0035] Specifically, after determining the theoretical stator electrical angle corresponding to the energized position of the linear motor, in the subsequent control process of the linear motor, when the preset target displacement is obtained, the electrical angle difference is first determined based on the preset target displacement, and then the target electrical angle is determined based on the electrical angle difference and the theoretical stator electrical angle, so as to control the stator according to the target electrical angle, so that the mover moves with the preset target displacement, thereby improving the control accuracy of the linear motor.

[0036] It should be noted that the above-mentioned preset target displacement can be obtained directly, or the target position of the linear motor can be obtained, and the preset target displacement can be determined based on the target position and the power-on position. The specific method of obtaining the preset target displacement can be set according to the actual situation.

[0037] Step S310: Control the stator according to the target electrical angle so that the mover moves by a preset target displacement.

[0038] The linear motor control method provided in this invention divides the electrical angle period of the stator into multiple electrical angle regions and uses electrical angle selection logic to select multiple electrical angles within one electrical angle region, so that the change of the stator's magnetic field is converted into electrical angles. This allows the theoretical stator electrical angle corresponding to the energized position of the linear motor to be determined based on the total number of stator stops. This avoids incorrect phase finding due to small displacement of the mover during phase finding, thus ensuring phase finding accuracy and preventing the mover from stalling or running away during linear motor control, thereby improving the control accuracy of the linear motor.

[0039] In one embodiment, the control method further includes: obtaining the total number of iterations of the stator, and determining whether the total number of stops meets a preset condition based on the total number of iterations; wherein the total number of iterations is the number of times the stator is controlled using different electrical angles; thereby determining the theoretical stator electrical angle corresponding to the power-on position of the linear motor based on the total number of stops and the total number of iterations corresponding to the electrical angle region, further improving the accuracy of the determination of the theoretical stator electrical angle.

[0040] The preset conditions include: the total number of iterations is greater than a preset number of iterations, and the total number of stops is not greater than a preset multiple of the total number of iterations, where the preset multiple is less than 1. For example, the preset multiple is 0.5. That is, when the total number of iterations is greater than the preset number of iterations and the total number of stops is not greater than half of the total number of iterations, the total number of stops is determined to meet the preset conditions; otherwise, the total number of stops is determined not to meet the preset conditions. The specific values ​​of the preset number of iterations and the preset multiple can be set according to the actual situation.

[0041] Therefore, within an electrical angle region, if the total number of iterations is greater than the preset number of iterations and the total number of stops is not greater than a preset multiple of the total number of iterations, then the total number of stops meets the preset condition, and the phase finding in the electrical angle region is determined to be successful. The electrical angle corresponding to the total number of stops in the electrical angle region that meets the preset condition is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor.

[0042] Furthermore, if the total number of stops within an electrical angle region consistently fails to meet the preset condition, the system switches to another electrical angle region and continues to use electrical angle selection logic to select multiple new electrical angles. Current control logic is used to control the stator, causing the stator's magnetic field to change to the new electrical angle, and the total number of stops for the stator is obtained. For example, within an electrical angle region, if the total number of iterations is greater than the preset number of iterations, but the total number of stops consistently exceeds a preset multiple of the total number of iterations, it is determined that the total number of stops consistently fails to meet the preset condition. Therefore, the phase finding in that electrical angle region is deemed a failure, meaning the theoretical stator electrical angle is not within that region. The system then switches to another electrical angle region and continues to use electrical angle selection logic to select multiple new electrical angles. For instance, using the endpoint electrical angle of the next electrical angle region as the starting point for the change, a binary search method is used to sequentially redetermine multiple new electrical angles. Current control logic is used to control the stator, causing the stator's magnetic field to change to the new electrical angle, and the total number of stops for the stator in the next electrical angle region is obtained. The system then re-determines whether the total number of stops for the stator in the next electrical angle region meets the preset condition. The specific determination process can be found in the aforementioned embodiments, and will not be described in detail here.

[0043] If the total number of stator stops within the next electrical angle meets the preset condition, the electrical angle corresponding to the next electrical angle region is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor; otherwise, if the total number of stator stops within the next electrical angle cannot meet the preset condition, the next electrical angle region is selected again from the unselected electrical angle region until the theoretical stator electrical angle is determined.

[0044] Specifically, within an electrical angle region, if the total number of iterations is not greater than the preset number of iterations, it indicates that the number of electrical angles selected within that region is insufficient. In this case, a binary search method is used to continue selecting new electrical angles within that region, and current control logic is used to control the stator so that the stator's magnetic field changes to the new electrical angle, until the total number of iterations exceeds the preset number of iterations. Furthermore, based on the premise that the total number of iterations exceeds the preset number of iterations, it is determined whether the total number of stopping times meets the preset condition according to the preset multiple of the total number of stopping times and the total number of iterations.

[0045] In summary, this embodiment of the invention divides the stator's electrical angle period into multiple electrical angle regions and uses electrical angle selection logic to select multiple electrical angles within a single electrical angle region. This allows the change in the stator's magnetic field to be converted into electrical angles. Based on the total number of stator stops and preset conditions, the theoretical stator electrical angle corresponding to the energized position of the linear motor can be determined, thus achieving correct phase finding for the linear motor. Furthermore, compared to existing micro-motion phase finding schemes, this phase finding method, by dividing the electrical angle regions, ensures that the output force provided by phase finding can overcome resistance caused by excessive static friction of the guide rail, excessive spring force, or excessive external load at certain mechanical positions. This avoids incorrect phase finding due to small displacement of the mover during the phase finding process, thereby improving the phase finding accuracy and efficiency of the linear motor and preventing mover stalling or runaway during linear motor control, thus improving the control accuracy of the linear motor. Additionally, this phase finding method eliminates the need for additional sensors, reducing the phase finding cost of the linear motor.

[0046] In one embodiment, current control logic is used to control the stator so that the magnetic field of the stator changes to an electrical angle, and the total number of stops of the stator is obtained. This includes: controlling the stator with a gradually increasing control current until it is increased to the target current, and keeping the magnetic field of the stator at the current electrical angle; obtaining the displacement amount and displacement direction of the mover, and if the displacement amount is not greater than a preset threshold, or if the current displacement direction of the mover is the same as the previous displacement direction, then obtaining the number of stops corresponding to the current electrical angle.

[0047] When the stator is controlled using current control logic, the direction of the mover's displacement may change at the same electrical angle because the control current gradually increases within the current control logic. For the sake of clarity, this explanation will use the current electrical angle as an example to illustrate the multiple electrical angles within a given electrical angle region.

[0048] Specifically, the stator is controlled by a gradually increasing control current until it reaches the target current, maintaining the stator's magnetic field at the current electrical angle. At this point, the displacement and direction of the mover are acquired. If the mover's displacement is not greater than a preset threshold, or if the current displacement direction is the same as the previous displacement direction, the number of stops corresponding to the current electrical angle is acquired. This number is then used to update the total number of stops, and it is determined whether the updated total number of stops meets a preset condition. Furthermore, if the mover's displacement is greater than the preset threshold, and the current displacement direction is different from the previous displacement direction, the stator is controlled using the next electrical angle.

[0049] It should be noted that if the previous displacement direction does not exist, that is, when the mover is displaced for the first time, it is determined that the current displacement direction of the mover is not opposite to the previous displacement direction, and this is recorded as one stop count.

[0050] Based on the above method embodiments, this invention also provides an actuator; wherein the actuator includes a linear motor and a controller, and the controller is used to control the linear motor using the above method embodiments. The specific control process can be referred to the above embodiments, and will not be described in detail here.

[0051] The actuator provided in this embodiment of the invention has the same technical features as the linear motor control method provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0052] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the above-described linear motor control method.

[0053] The computer program product for the linear motor control method and actuator provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0054] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the actuator described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0055] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0056] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0057] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a linear motor, the linear motor comprising a stator and a mover, wherein the electrical angle period of the stator is divided into multiple electrical angle regions; characterized in that, The control method includes: After the linear motor is powered on, multiple electrical angles are selected within an electrical angle region using electrical angle selection logic; wherein, the electrical angle selection logic includes performing a binary search on the electrical angles that change starting from the endpoint electrical angles of the electrical angle region; The stator is controlled by current control logic to change the magnetic field of the stator to the electrical angle, and the total number of stops of the stator is obtained; wherein, the total number of stops is the sum of the number of stops of the stator within the same electrical angle region; the current control logic includes controlling the current to gradually increase until it increases to the target current; When the total number of stops meets the preset condition, the corresponding electrical angle is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor; Obtain a preset target displacement, and determine the target electrical angle based on the preset target displacement and the theoretical stator electrical angle; The stator is controlled according to the target electrical angle so that the mover moves by the preset target displacement.

2. The control method according to claim 1, characterized in that, The control method further includes: The total number of iterations of the stator is obtained, and the total number of stops is determined based on the total number of iterations to determine whether the total number of stops meets a preset condition; wherein, the total number of iterations is the number of times the stator is controlled using different electrical angles.

3. The control method according to claim 2, characterized in that, The preset conditions include: The total number of iterations is greater than the preset number of iterations, and the total number of stops is not greater than a preset multiple of the total number of iterations, wherein the preset multiple is less than 1.

4. The control method according to claim 2, characterized in that, The control method further includes: If the total number of stops cannot meet the preset condition within one electrical angle region, then switch to another electrical angle region and continue to use the electrical angle selection logic to select multiple new electrical angles; The stator is controlled using the current control logic so that the magnetic field of the stator changes to the new electrical angle, and the total number of times the stator stops is obtained.

5. The control method according to claim 1, characterized in that, The method of using current control logic to control the stator so that the magnetic field of the stator changes to the electrical angle, and obtaining the total number of stator stops, includes: The stator is controlled by a gradually increasing control current until it reaches the target current, and the magnetic field of the stator is maintained at the current electrical angle. The displacement and direction of the mover are obtained. If the displacement is not greater than a preset threshold, or if the current displacement direction of the mover is the same as the previous displacement direction, the number of stops corresponding to the current electrical angle is obtained.

6. The control method according to claim 5, characterized in that, The method of using current control logic to control the stator so that the magnetic field of the stator changes to the electrical angle, and obtaining the total number of stator stops, further includes: If the displacement is greater than the preset threshold, and the current displacement direction of the mover is different from the previous displacement direction, then the stator is controlled by the next electrical angle.

7. The control method according to claim 1, characterized in that, The step of determining the target electrical angle based on the preset target displacement and the theoretical stator electrical angle includes: The electrical angle difference value is determined based on the preset target displacement. The target electrical angle is determined based on the electrical angle difference and the theoretical stator electrical angle.

8. The control method according to claim 1, characterized in that, When the displacement direction of the mover corresponding to the electrical angle is opposite to the displacement direction of the mover corresponding to the previous electrical angle, the number of stops for the electrical angle is 1.

9. An actuator, characterized in that, It includes a linear motor and a controller; wherein the controller is used to control the linear motor using the control method described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps of the control method according to any one of claims 1-8.

Images