Magnetic levitation conveyor and speed control method

Abstract

This invention discloses a magnetic levitation conveying device and speed control method. The device includes: a mounting base; a carrier base with a connecting block movably connected to the mounting base at its bottom; a motor mounted on the mounting base and a magnet mounted on the carrier base for driving the carrier base to move relative to the mounting base; and slidingly fitted first / second guide portions, one of which is mounted on the mounting base and the other on the carrier base, for restricting the carrier base to move along a set track. The mounting base includes a base plate, a support block, and support side plates, with the support side plates located on both sides of the base plate in a first direction. First rotating wheels are mounted on both sides of the carrier base, abutting against and movable relative to their respective support side plates. A second rotating wheel is mounted on the connecting block and can move on the upper surface of the support block. This invention can reduce the occurrence of detachment between the suspended tray and the guide rail, ensuring the safe and stable operation of the magnetic levitation conveying device.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to a magnetic levitation conveyor and speed control method. Background Technology

[0002] Magnetic levitation conveying technology, as an emerging flexible conveying system, offers advantages such as ease of operation and flexibility, and has gained widespread attention in high-end applications. A typical magnetic levitation conveyor consists of a long stator track with an embedded drive module and electromagnetic coils, and a permanent magnet mover slider equipped with guide and support pulleys. The power output of the drive module generates an alternating magnetic field on the track surface using the stator coils, thereby driving the permanent magnet mover on the track at high speed, achieving the transfer and conveying of materials on the production line.

[0003] Existing magnetic levitation conveyor systems are prone to derailment during transport, resulting in unstable operation and affecting the normal transport function of the magnetic levitation system. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problem that existing magnetic levitation conveyor devices are prone to detachment from the suspension tray and guide rail, thus affecting the normal transport function of the magnetic levitation device. To solve the above problem, this invention provides a magnetic levitation conveyor device and speed control method, which can reduce the occurrence of detachment between the suspension tray and guide rail, and ensure the safe and stable operation of the magnetic levitation conveyor device.

[0005] To address the aforementioned technical problems, embodiments of the present invention disclose a magnetic levitation transport device, comprising:

[0006] Mounting base;

[0007] A support base is mounted on a mounting base. Several connecting blocks are provided at the bottom of the support base, and each connecting block is movably connected to the mounting base.

[0008] The electromagnetic element includes a motor disposed on the mounting base and a magnet disposed on the carrier base. The electromagnetic element is used to drive the carrier base to move relative to the mounting base through electromagnetic induction.

[0009] The guiding mechanism includes a first guiding part and a second guiding part that slide together. One of the first guiding part and the second guiding part is disposed on the mounting base and the other is disposed on the bearing base. The guiding mechanism is used to restrict the movement of the bearing base along a set track.

[0010] The mounting base includes a base plate, a support block, and support side plates. The support side plates are disposed on both sides of the base plate in a first direction. The bearing base is provided with first rotating wheels on the surfaces of both sides in the first direction. The first rotating wheels abut against their corresponding support side plates and can move relative to the support side plates. The connecting block is provided with second rotating wheels, which can move on the upper surface of the support block.

[0011] By adopting the above technical solution, and by adding matching wheels and grooves on the basis of setting a guiding mechanism, the connection between the mounting base and the bearing base is further stabilized, thereby improving the stability of the conveying tray on the guide rail and further ensuring the stability of the magnetic levitation device.

[0012] Accordingly, one embodiment of the present invention also provides a speed control method for a magnetic levitation transport device, comprising:

[0013] Determine the setting parameters of the magnetic levitation transport device. The setting parameters include: setting the upper limit of speed, setting the upper limit of acceleration, setting the time, and setting the distance.

[0014] Based on the set acceleration limit, determine the shortest distance that can accelerate to the set speed limit, and set twice the shortest distance as the distance threshold;

[0015] A time threshold is determined, wherein when the distance threshold is greater than or equal to the set distance, the time threshold is determined based on the set distance and the set acceleration upper limit; when the distance threshold is less than the set distance, the time threshold is determined based on the set distance, the set acceleration upper limit, and the set speed upper limit.

[0016] The target speed parameters should be determined based at least on a time threshold and a set time.

[0017] Based on the target velocity parameter value at the current moment and the actual velocity parameter value collected at the current moment, update the target velocity parameter value for the next moment.

[0018] By adopting the above scheme, in a conveying scenario where the speed threshold, acceleration threshold, motion duration, and motion displacement of the magnetic levitation conveyor are all given, the speed curve planning is optimized, the actual values ​​are compared with the set values, and the speed parameters are adjusted in real time to ensure that the speed parameters of the conveyor are in the optimal state, ensuring smooth conveying motion. At the same time, it can also reduce the conveying time, improve the overall conveying efficiency, reduce motor heat generation, and extend the motor's service life, so as to meet the needs of modern industry and transportation for high-performance conveying systems. Attached Figure Description

[0019] Figure 1 This diagram shows a schematic representation of the mounting base of the magnetic levitation transport device provided in an embodiment of the present invention.

[0020] Figure 2 This diagram illustrates the structure of the mounting base and the bearing base cooperating in the magnetic levitation conveyor provided in an embodiment of the present invention.

[0021] Figure 3 Show Figure 2 A magnified view of part A in the middle;

[0022] Figure 4 The flowchart illustrates the speed control method for a magnetic levitation conveyor provided in an embodiment of the present invention. Figure 1 ;

[0023] Figure 5 The flowchart illustrates the speed control method for a magnetic levitation conveyor provided in an embodiment of the present invention. Figure 2 ;

[0024] Figure 6 This diagram shows a structural block diagram of the processing device provided in an embodiment of the present invention;

[0025] Figure 7 This diagram illustrates the structural block diagram of a system-on-a-chip provided in an embodiment of the present invention. Detailed Implementation

[0026] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0027] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0029] One embodiment of the present invention provides a magnetic levitation conveyor device. For example... Figures 1 to 3 As shown, the magnetic levitation conveyor includes a mounting base 1, a bearing base 2, an electromagnetic component 3, a guiding mechanism, and a control system.

[0030] Specifically, the mounting base includes a base plate 11, symmetrically arranged support blocks 12, and symmetrically arranged support side plates 13. The support blocks 12 and support side plates 13 are symmetrically arranged on the base plate to provide lateral support for the carrier 2, preventing it from tilting during transport. The bottom of the carrier 2 is provided with several connecting blocks 21, which are equally spaced on both sides of the bottom of the carrier 2. Second rotating wheels 212 are rotatably mounted on each connecting block 21, and these second rotating wheels 212 can move within the second groove 121 on the upper surface of the support block 12.

[0031] The support base 2 has steps 22 on both sides along the first direction, which can reduce the weight of the support base. The support base 2 also includes a connecting plate 14, which is mounted on the support base 2. The connecting plate 14 has a first groove 141 formed on it. First rotating wheels 23 are equally spaced on corresponding positions on both sides of the support base 2. The first rotating wheels 23 are rotatably disposed in the first groove 141, and the diameter of the first rotating wheels 23 is greater than the depth of the first groove 141. When the second rotating wheel 212 mounted on the connecting block 21 slides on the support block 12, the first rotating wheel 23 disposed in the first groove 141 abuts against the connecting plate 14 and slides on the connecting plate 14, thereby limiting the support base 2 and preventing it from sliding off the specific track and detaching from the mounting base 1, thus increasing the stability of operation.

[0032] Furthermore, the guiding mechanism includes a guide plate disposed above the support 2 and a guide seat mounted on the mounting base 1. The guide plate is slidably connected to the mounting base 1 via the guide seat to guide the movement trajectory of the support 2. The guide plate is provided with several guide grooves to accommodate guide wheels, which are mounted on both sides of the support. The cooperation of the guide grooves further improves the stability of the conveying.

[0033] Furthermore, the electromagnetic element 3 includes a motor mounted on the mounting base 1 and a magnet mounted on the bottom of the carrier 2. The electromagnetic element drives the carrier 2 to move on the mounting base 1 through the principle of electromagnetic induction. The motor can be driven by a permanent magnet, and the mounting base is driven to rotate in a ring shape through a driving element such as an electric cylinder or a pneumatic cylinder, thereby realizing the return of the carrier. This eliminates the need for manual intervention or the addition of handling devices such as robotic arms, further simplifying the conveying method.

[0034] Furthermore, the control system includes a motion controller and an electromagnetic controller. The motion controller controls the start, stop, and speed of the motor, while the electromagnetic controller controls the start, stop, and magnetic intensity of the electromagnetic components, achieving precise control of the carrier. The control system also includes an air supply system and a power supply system, providing air and power to the magnetic levitation actuator, overcoming the limitations of passive operation in traditional magnetic levitation conveyor systems.

[0035] There are two main methods for speed planning in existing magnetic levitation conveyor systems: one is to directly set the speed parameters using the maximum speed and maximum acceleration. While this method can complete the journey faster, it can cause excessive acceleration and deceleration of the mover, leading to excessive impact on the mover, resulting in excessive local heat generation and increased energy consumption in the motor, which is detrimental to the motor's lifespan. The other method is to use an iterative approach, dividing the acceleration into dozens or even more parts and calculating the displacement achievable with each part of acceleration. Although this method avoids the problem of excessive impact, its repeated iterations require a large amount of computing power and time, resulting in wasted computing resources.

[0036] To solve the above problems, such as Figure 4 and Figure 5 As shown, the present invention also provides a speed control method for the above-mentioned magnetic levitation transport device, comprising:

[0037] Step S1: Determine the setting parameters of the magnetic levitation transport device. The setting parameters include: setting the upper speed limit. Set the upper limit of acceleration. Set time and set route .

[0038] In a magnetic levitation conveyor system, there are requirements for the mover's speed, acceleration, total running time, and total travel distance. Therefore, it is necessary to input the process requirements for the mover into the control system of the magnetic levitation conveyor: the maximum speed (i.e., the set speed limit). Maximum acceleration (i.e., setting the upper limit of acceleration) Total exercise time (i.e., set time) Total distance traveled (i.e., the set distance) Then, the magnetic levitation system plans the appropriate motion speed curve for the mover based on the algorithm we set.

[0039] Step S2: Based on the set acceleration upper limit It is confirmed that it can accelerate to the set speed limit. Find the shortest path and set twice the shortest path as the distance threshold. .

[0040] Known maximum speed Maximum acceleration Total running time Total travel distance Solve for the S-shaped velocity curve of the mover. First, solve for the mover at maximum acceleration. Down, the speed accelerates from zero to maximum speed The time is If the mover moves along a two-stage velocity curve, that is, the mover first accelerates at its maximum speed... Accelerate to maximum speed Then immediately begin to accelerate at the same magnitude. Decelerate until the speed reaches zero, then maintain maximum speed for the specified time. Zero, the time required to accelerate to maximum speed for The distance required to accelerate to maximum speed is Then, twice the aforementioned displacement stroke is determined as the distance threshold, thus obtaining the distance threshold. Subsequently, the distance threshold will be determined. Total travel distance Based on the relationship, proceed with the next calculation.

[0041] Step S3: Determine the time threshold Among them, in the distance threshold Greater than or equal to the set distance In the case of time threshold Based on the set route and setting an acceleration limit Determined; within the distance threshold Less than the set distance In the case of time threshold Based on the set route Set the upper limit of acceleration. and setting a speed limit It's confirmed.

[0042] Time threshold For the mover to complete the set distance The shortest required time can be solved in two cases: one is the distance threshold. Greater than or equal to the set distance Another solution is the distance threshold. Less than the set distance Solving under the given conditions.

[0043] Specifically, at the distance threshold Greater than or equal to the set distance Even with acceleration Use a set acceleration upper limit The set distance at this time It is also impossible to accelerate the actuator to the set speed limit. The time to maintain maximum speed at this point Set to zero, and set the route identifier to zero. Set to zero. In this case, the time threshold... and set route Satisfy the following relation

[0044]

[0045] The time threshold can be obtained by solving the problem.

[0046] At the distance threshold Less than the set distance In this case, set the route Able to accelerate the actuator to the set speed limit The time to maintain maximum speed , route identifier Set to 1. In this case, the time of the mover acceleration process is... and the time of deceleration Equal, both are The time to maintain maximum speed The time threshold in this case The following relationship must be satisfied:

[0047]

[0048] Right now .

[0049] Step S4: At least based on time thresholds and set time Determine the target velocity parameters .

[0050] Specifically, compare the time thresholds separately. and set time and distance threshold and set route The magnitude relationship, within the time threshold Greater than or equal to the set time And distance threshold Greater than or equal to the set distance In this case, determine the target velocity parameters The first velocity parameter is the velocity that first accelerates uniformly and then decelerates uniformly over time; within the time threshold... Greater than or equal to the set time And distance threshold Less than the set distance In the case of uniform acceleration followed by uniform deceleration and then uniform deceleration over time, the velocity parameter is determined to be the second velocity parameter; within the time threshold... Less than the set time And distance threshold Greater than or equal to the set distance In this case, the set allocation coefficient and the first theoretical allocation coefficient are obtained, and based on the set allocation coefficient and the first theoretical allocation coefficient, the speed parameter is determined to be either a third speed parameter combining variable acceleration and variable deceleration or a fourth speed parameter combining variable acceleration, uniform acceleration, uniform deceleration and variable deceleration; within the time threshold Less than the set time And distance threshold Less than the set distance In the case of uniform motion, the time value of uniform motion and the difference between the set time and the time threshold are obtained, as well as the second theoretical allocation coefficient. Based on the uniform motion time value and the difference, the set allocation coefficient and the second theoretical allocation coefficient, the speed parameters are determined.

[0051] Furthermore, the determination of velocity based on the uniform motion time value and the difference, as well as the set distribution coefficient and the second theoretical distribution coefficient, includes the following steps:

[0052] When the time value of uniform motion is greater than the difference and the set distribution coefficient is greater than or equal to the second theoretical distribution coefficient, the velocity parameter is determined to be the fifth velocity parameter consisting of five segments: acceleration, deceleration, uniform motion, acceleration / deceleration, and deceleration / deceleration.

[0053] When the time value of uniform motion is greater than the difference and the set distribution coefficient is less than the second theoretical distribution coefficient, the speed parameter is determined to be the sixth speed parameter consisting of seven segments: acceleration, uniform acceleration, deceleration, uniform speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration.

[0054] When the time value of uniform motion is less than or equal to the difference and the set distribution coefficient is greater than or equal to the second theoretical distribution coefficient, the speed parameter is determined to be the seventh speed parameter consisting of four segments: acceleration, deceleration, acceleration / deceleration, and deceleration / deceleration.

[0055] When the time value of uniform motion is less than or equal to the difference and the set distribution coefficient is less than the second theoretical distribution coefficient, the velocity parameter is determined to be the eighth velocity parameter consisting of six segments: acceleration, uniform acceleration, deceleration, acceleration / deceleration, uniform deceleration, and deceleration / deceleration.

[0056] When designing the control program for the dynamic subsystem, to improve the machine's efficiency in recognizing various situations, identifiers can be used to simplify condition judgments and thus improve system operating efficiency. For example, distance identifiers can be set separately. and time identifier , to represent the distance threshold respectively and set route Size relationship and time threshold and set time The size relationship is as follows: when When, define ;when ≥ ,definition ;when When, define ;when ≥ ,definition .

[0057] Specifically, according to and The value of can be analyzed for step S4 in the following four cases:

[0058] 1) When and When both values ​​are 0, the set distance is insufficient to accelerate the mover to the set speed limit. Therefore, in this case, the target speed curve of the mover can be set as a two-segment speed curve that only includes acceleration and deceleration (the target speed parameter at this time is defined as the first speed parameter, because the mover control system controls the motor speed based on the numerical value of the speed. Therefore, the first speed parameter set here and the second to eighth speed parameters below only include the numerical value of the speed and do not cover its direction). In this case, the set time will be... Assigned value .

[0059] First speed parameter The following relationship must be satisfied:

[0060]

[0061] 2) When and In this case, the set distance is sufficient to accelerate the mover to the set speed limit and maintain it at the set speed limit for a certain period of time. Therefore, in this case, the target speed curve of the mover is set to a three-segment speed curve including acceleration, constant speed, and deceleration (the target speed parameter at this time is defined as the second speed parameter), and the set time is... Assigned value ,

[0062] Second speed parameter The following relationship must be satisfied:

[0063]

[0064] 3) When and In this situation, the set distance is insufficient for the mover to accelerate to its maximum speed limit, but the set time exceeds the distance the mover can complete. The minimum required time means that the moving part does not include a constant speed phase during operation. However, by planning the acceleration changes within different time periods, more optimized energy consumption and operating performance can be achieved, avoiding damage to the motor due to excessive moving part speed variables.

[0065] Furthermore, the mover can buffer drastic speed changes by setting at least the following motion processes: acceleration (acceleration phase with gradually increasing acceleration value), deceleration (acceleration phase with gradually decreasing acceleration value), acceleration / deceleration (deceleration phase with gradually increasing acceleration value), and deceleration / deceleration (deceleration phase with gradually decreasing acceleration value). Simultaneously, to achieve a smooth transition of acceleration at critical points in each time period, allocation parameters can be introduced to constrain the operation process. This ensures that the T-shaped curve transitions to an S-shaped curve with continuous tangency, preventing discontinuities in the speed curve caused by the tangent point between the variable acceleration / deceleration segment and the uniform acceleration straight line segment exceeding the critical point, which could lead to sudden acceleration changes and motor burnout.

[0066] Specifically, this can be achieved by introducing the first theoretical allocation parameter. Based on the set allocation parameters and the first theoretical allocation parameters The magnitude of the first theoretical distribution coefficient determines whether to introduce uniform acceleration / deceleration motion. Greater than the set allocation parameters (generally) When the speed changes are not constant, uniform acceleration and deceleration are additionally set to buffer the speed change; otherwise, uniform acceleration / deceleration is not set. The first theoretical allocation parameter... for .

[0067] 3.1) When At this point, the target velocity curve is a third velocity parameter consisting of four segments: acceleration, deceleration, acceleration / deceleration, and deceleration / deceleration. Third speed parameter The following relationship must be satisfied:

[0068]

[0069] in,

[0070] ;

[0071] .

[0072] 3.2) When At this point, the target velocity curve is a fourth velocity parameter consisting of six segments: acceleration, uniform acceleration, deceleration, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. Specifically, in this case, the maximum speed will be set to... Reduce maximum speed to At this time, the fourth velocity parameter The following relationship must be satisfied:

[0073]

[0074] in,

[0075] ;

[0076]

[0077] .

[0078] 4) When and When both values ​​are 1, the set distance is sufficient to accelerate the mover to the set speed limit, and the set time also exceeds the time required for the mover to complete the set distance. To minimize the required time, the mover can buffer drastic speed changes by at least setting acceleration (acceleration phase with gradually increasing acceleration), deceleration (acceleration phase with gradually decreasing acceleration), acceleration / deceleration (deceleration phase with gradually increasing acceleration), and deceleration (deceleration phase with gradually decreasing acceleration). Simultaneously, to ensure a smooth transition of acceleration at critical points in each time period, allocation parameters can be introduced to constrain the operation, ensuring a continuous tangency between the T-shaped and S-shaped curves. This prevents discontinuities in the speed curve caused by sudden acceleration changes exceeding the critical point between the variable acceleration / deceleration segment and the uniform acceleration straight line segment, which could lead to motor burnout.

[0079] Specifically, this can be determined by judging the duration of the rotor's uniform motion. With time threshold and set time difference The magnitude of the value determines whether the motion of the mover includes a uniform motion segment, where... , ;when At this time, setting the distance allows the mover to achieve uniform motion for a certain period of time; this uniform motion segment can be set. Simultaneously, to further allocate... The motion state within a time period determines whether uniform acceleration or deceleration is needed to buffer the drastic changes in acceleration across different velocity segments. A second theoretical distribution parameter can also be introduced. The magnitude of the set distribution parameter and the second theoretical parameter determines whether uniform acceleration / deceleration should be introduced. When the second theoretical distribution coefficient is greater than the set distribution parameter (generally...),... When the speed changes are not uniform, additional uniform acceleration and deceleration are set to buffer the speed change; otherwise, uniform acceleration / deceleration is not set. The second theoretical allocation parameter can be the same as the first theoretical allocation parameter. for .

[0080] Similarly, in order to improve the machine's... and Size relationship identification and second theoretical allocation parameters and To improve the efficiency of size recognition, similar to the distance identifier mentioned above, speed and acceleration identifiers can be used to simplify the judgment of the two conditions, thereby improving system operating efficiency. For example, speed identifiers can be set separately. and acceleration identifier , to represent the duration of uniform motion respectively. With time threshold and set time difference Size relationship and second theoretical allocation parameters and setting allocation parameters (generally) The size relationship of ().

[0081] Specifically, when hour, ,when hour, ;when hour, ,when hour, .

[0082] based on and The target velocity parameter under case 4) can be analyzed in the following four cases:

[0083] 4.1) and At this point, the target velocity curve is the sixth velocity parameter, which consists of seven segments: acceleration, uniform acceleration, deceleration, constant speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. Specifically, the sixth speed parameter The following relationship must be satisfied:

[0084]

[0085] in, ;

[0086]

[0087] .

[0088] 4.2) and At this point, the target velocity curve is the eighth velocity parameter, consisting of six segments: acceleration, uniform acceleration, deceleration, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. Specifically, in this case, the maximum speed will be set to... Reduce maximum speed to , making The time for uniform movement of the internally planned T-shaped velocity curve and The magnitudes are equal. At this time, the eighth velocity parameter... The following relationship must be satisfied:

[0089]

[0090] in,

[0091] ;

[0092]

[0093] .

[0094] 4.3) and At this point, the target velocity curve is the fifth velocity parameter, consisting of five segments: acceleration, deceleration, constant speed, acceleration / deceleration, and deceleration / deceleration. Specifically, the fifth speed parameter The following relationship must be satisfied:

[0095]

[0096] in, ;

[0097]

[0098] 4.4) and At this point, the target velocity curve is the seventh velocity parameter, consisting of four segments: acceleration, deceleration, acceleration / deceleration, and deceleration / deceleration. Specifically, the seventh speed parameter The following relationship must be satisfied:

[0099]

[0100] in,

[0101] ;

[0102] .

[0103] It should be noted that in some embodiments, the fourth and eighth speed parameters are the same speed curve parameters, and the third and seventh speed parameters are the same speed curve parameters. Therefore, in some embodiments, step S4 can be understood as, under the conditions of a given displacement and a given time, based on the limitations of speed upper limits, acceleration upper limits, etc., the mover speed is planned into 6 types of speed curves, of which 4 types of curves can be further subdivided according to speed and acceleration. The maximum speed running time and the total time minus the maximum speed running time are compared to determine the magnitude of the reduction in maximum acceleration, or the maximum speed is reduced first, and then the maximum acceleration is reduced. This minimizes the maximum speed and maximum acceleration, thereby reducing the impact of the mover movement, avoiding excessive local heat generation in the motor that could damage the motor's lifespan, and reducing energy consumption, achieving smooth and efficient operation of the mover.

[0104] Step S5: Based on the target velocity parameter value at the current moment and the actual velocity parameter value collected at the current moment, update the target velocity parameter value for the next moment.

[0105] Specifically, step S5 can employ a PID algorithm. The system collects the target speed parameter value and the actual speed parameter value at the current moment in real time, calculates the difference between the two, and then inputs the actual speed parameter value, the target speed parameter value, and the difference into the PID controller to determine the target speed parameter value for the next moment. PID control algorithm:

[0106] Specifically, the PID algorithm is a relatively mature algorithm that has been applied in many fields, and will not be elaborated on here.

[0107] The speed control method for a magnetic levitation device provided by this invention optimizes the speed curve by minimizing the maximum speed and maximum acceleration of the planned mover during actual operation. It also reduces vibration and impact during operation through smooth acceleration transitions, enhancing the stability of the mover system. Furthermore, it can flexibly change the speed curve parameters according to different operating conditions and requirements, greatly improving adaptability and flexibility. The speed control algorithm of this invention has a simple calculation process, reducing the design difficulty and implementation complexity of the control system.

[0108] Accordingly, one embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when loaded by a computer, cause the computer to execute the speed control method of the magnetic levitation transport device described above.

[0109] Now for reference Figure 6The diagram shows a block diagram of an electronic device 400 according to one embodiment of the present application. The electronic device 400 may include one or more processors 401 coupled to a controller hub 403. In at least one embodiment, the controller hub 403 communicates with the processor 401 via a multi-branch bus such as a Front Side Bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or a similar connection 406. The processor 401 executes instructions controlling general-type data processing operations. In one embodiment, the controller hub 403 includes, but is not limited to, a Graphics & Memory Controller Hub (GMCH) (not shown) and an Input / Output Hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0110] Electronic device 400 may also include a coprocessor 402 and a memory 404 coupled to a controller hub 403. Alternatively, one or both of the memory and GMCH may be integrated within the processor (as described in this application), with memory 404 and coprocessor 402 directly coupled to processor 401 and controller hub 403, which is located on a single chip with IOH.

[0111] Memory 404 may be, for example, Dynamic Random Access Memory (DRAM), Phase Change Memory (PCM), or a combination of both. Memory 404 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of those instructions. The instructions may include, when executed by at least one of the processors, causing the electronic device 400 to perform, as... Figure 1 The instructions for the method are shown. When executed on a computer, the instructions cause the computer to perform the method disclosed in any or a combination of the above embodiments.

[0112] In one embodiment, coprocessor 402 is a dedicated processor, such as, for example, a high-throughput MIC (Many Integrated Core) processor, a network or communication processor, a compression engine, a graphics processor, a GPGPU (General-purpose computing on graphics processing units), or an embedded processor, etc. Optional properties of coprocessor 402 are indicated by dashed lines. Figure 6 middle.

[0113] In one embodiment, electronic device 400 may further include a network interface (NIC, Network Interface Controller) 406. Network interface 406 may include a transceiver for providing a radio interface for electronic device 400 to communicate with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, network interface 406 may be integrated with other components of electronic device 400. Network interface 406 can implement the functions of the communication unit in the above embodiments.

[0114] Electronic device 400 may further include input / output (I / O) devices 405. I / O 405 may include: a user interface designed to enable a user to interact with electronic device 400; a peripheral component interface designed to enable peripheral components to also interact with electronic device 400; and / or sensors designed to determine environmental conditions and / or location information related to electronic device 400.

[0115] It is worth noting that, Figure 6 This is merely an example. That is, although... Figure 6 The electronic device 400 shown includes multiple devices such as a processor 401, a controller hub 403, and a memory 404. However, in practical applications, devices using the methods of this application may include only a portion of the devices in the electronic device 400. For example, it may include only the processor 401 and the network interface 406. Figure 6 The properties of the optional devices are shown by dashed lines.

[0116] Now for reference Figure 7 The diagram shown is a block diagram of a SoC (System on Chip) 500 according to an embodiment of this application. Figure 7 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 7In this SoC 500, the following components are included: an interconnect unit 550 coupled to the processor 510; a system proxy unit 580; a bus controller unit 590; an integrated memory controller unit 540; a group or one or more coprocessors 520, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random-access memory (SRAM) unit 530; and a direct memory access (DMA) unit 560. In one embodiment, the coprocessor 520 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU (General-purpose computing on graphics processing units), a high-throughput MIC processor, or an embedded processor.

[0117] Static Random Access Memory (SRAM) cell 530 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of those instructions. These instructions may include: instructions that, when executed by at least one processor, cause the SoC to perform the method shown in Figure 1. When the instructions are executed on a computer, they cause the computer to perform the methods disclosed in the above embodiments.

[0118] All methods and implementations of this application can be implemented in the form of software, magnetic files, firmware, etc.

[0119] Program code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0120] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this paper are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0121] One or more aspects of at least one embodiment can be implemented by representational instructions stored on a computer-readable storage medium, the instructions representing various logics in a processor, which, when read by a machine, cause the machine to create logic for performing the techniques described herein. These representations, referred to as “IP (Intellectual Property) cores,” can be stored on a tangible computer-readable storage medium and provided to multiple customers or production facilities for loading into manufacturing machines that actually manufacture the logic or processor.

[0122] In some cases, an instruction translator can be used to translate instructions from a source instruction set to a target instruction set. For example, an instruction translator can transform (e.g., using static binary transformation, including dynamically compiled dynamic binary transformation), morph, emulate, or otherwise translate instructions into one or more other instructions that will be processed by the core. Instruction translators can be implemented in software, hardware, firmware, or a combination thereof. Instruction translators can be on the processor, off-processor, or partially on and partially off-processor.

[0123] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. A speed control method for a magnetic levitation conveyor, characterized in that, The magnetic levitation transport device includes: Mounting base; A support base is disposed on the mounting base, and a plurality of connecting blocks are provided at the bottom of the support base, each of the connecting blocks being movably connected to the mounting base; An electromagnetic element includes a motor disposed on the mounting base and a magnet disposed on the support base. The electromagnetic element is used to drive the support base to move relative to the mounting base through electromagnetic induction. The guiding mechanism includes a first guiding part and a second guiding part that slide together, one of the first guiding part and the second guiding part being disposed on the mounting base and the other being disposed on the bearing base. The guiding mechanism is used to restrict the movement of the bearing base along a set track. The mounting base includes a base plate, a support block, and a support side plate. The support side plates are disposed on both sides of the base plate in a first direction. The bearing seat has a first rotating wheel disposed on the surface of each side in the first direction. The first rotating wheel abuts against its corresponding support side plate and can move relative to the support side plate. The connecting block is provided with a second rotating wheel, which can move on the upper surface of the support block. Speed ​​control methods include: Determine the setting parameters of the magnetic levitation transport device, including: setting upper speed limit, setting upper acceleration limit, setting time, and setting distance; Based on the set acceleration limit, the shortest distance that can be accelerated to the set speed limit is determined, and twice the shortest distance is set as the distance threshold; A time threshold is determined based on the distance threshold and the set distance, wherein, when the distance threshold is greater than or equal to the set distance, the time threshold is determined based on the set distance and the set acceleration upper limit; when the distance threshold is less than the set distance, the time threshold is determined based on the set distance, the set acceleration upper limit, and the set speed upper limit. The target speed parameters are determined based at least on the time threshold and the set time; Update the target velocity parameter value for the next moment based on the target velocity parameter value at the current moment and the actual velocity parameter value collected at the current moment. The determination of the target speed parameters, based at least on the time threshold and the set time, includes: Compare the time threshold with the set time; When the time threshold is greater than or equal to the set time, the target speed parameter is determined to be a speed parameter whose speed changes with time by first uniform acceleration and then uniform deceleration or by first uniform acceleration, then uniform speed and then uniform deceleration. If the time threshold is less than the set time, the target velocity parameter is determined to be either a velocity parameter whose velocity decreases with time first by the maximum acceleration or a velocity parameter whose velocity decreases first by the maximum speed and then by the maximum acceleration. Specifically, based on the target velocity parameter value at the current moment and the actual velocity parameter value collected at the current moment, the target velocity parameter value for the next moment is updated, including: Obtain the target velocity parameter value and the actual velocity parameter value at the current moment, and calculate the difference between the two; The actual speed parameter value at the current moment, the target speed parameter value at the current moment, and the difference are input into the PID controller to determine the target speed parameter value at the next moment.

2. The speed control method for a magnetic levitation conveyor as described in claim 1, characterized in that, The upper surface of the support block is provided with a second groove, and the second rotating wheel is disposed in the second groove.

3. The speed control method for a magnetic levitation conveyor as described in claim 1, characterized in that, It also includes a connecting plate installed on the support base, the support base having steps on both sides of the first direction, the steps and the connecting plate forming a first groove for accommodating part of the first wheel.

4. The speed control method for a magnetic levitation conveyor as described in claim 3, characterized in that, The diameter of the first rotating wheel is greater than the depth of the first groove.

5. The speed control method for a magnetic levitation conveyor as described in claim 1, characterized in that, It also includes a control system, which includes a motion controller and an electromagnetic controller. The motion controller is used to control the start, stop and speed of the motor, and the electromagnetic controller is used to control the magnetic strength of the magnet to control the support.

6. The speed control method for a magnetic levitation conveyor as described in claim 1, characterized in that, Determining the target velocity parameter as a velocity parameter that changes with time through uniform acceleration followed by uniform deceleration, or uniform acceleration followed by uniform speed followed by uniform deceleration, includes: Compare the distance threshold with the set distance; if the distance threshold is greater than or equal to the set distance, determine the target speed parameter as a first speed parameter where the speed first accelerates uniformly and then decelerates uniformly over time; if the distance threshold is less than the set distance, determine the speed parameter as a second speed parameter where the speed first accelerates uniformly, then moves at a constant speed, and then decelerates uniformly over time. And / or, Determining the target velocity parameter as either a velocity parameter that decreases with time first at the maximum acceleration or a velocity parameter that first decreases at the maximum velocity and then at the maximum acceleration includes: The distance threshold and the set distance are compared; if the distance threshold is greater than or equal to the set distance, a first theoretical allocation coefficient is obtained, and the speed parameter is determined to be a third speed parameter composed of variable acceleration and variable deceleration or a fourth speed parameter composed of variable acceleration, uniform acceleration, uniform deceleration and variable deceleration based on the set allocation coefficient and the first theoretical allocation coefficient; if the distance threshold is less than the set distance, the uniform motion time value, the difference between the set time and the time threshold, and the second theoretical allocation coefficient are obtained, and the speed parameter is determined based on the uniform motion time value and the difference, as well as the set allocation coefficient and the second theoretical allocation coefficient.

7. The speed control method for a magnetic levitation conveyor as described in claim 6, characterized in that, The velocity parameters are determined based on the uniform motion time value and the difference, as well as the set allocation coefficient and the second theoretical allocation coefficient, including: If the time value of the uniform motion is greater than the difference and the set allocation coefficient is greater than or equal to the second theoretical allocation coefficient, the speed parameter is determined to be the fifth speed parameter consisting of five segments: acceleration, deceleration, uniform speed, acceleration / deceleration, and deceleration / deceleration. When the time value of uniform motion is greater than the difference and the set allocation coefficient is less than the second theoretical allocation coefficient, the speed parameter is determined to be a sixth speed parameter consisting of seven segments: acceleration, uniform acceleration, deceleration, uniform speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. When the time value of the uniform motion is less than or equal to the difference and the set allocation coefficient is greater than or equal to the second theoretical allocation coefficient, the speed parameter is determined to be a seventh speed parameter consisting of four segments: acceleration, deceleration, acceleration / deceleration, and deceleration / deceleration. If the time value of the uniform motion is less than or equal to the difference and the set allocation coefficient is less than the second theoretical allocation coefficient, the speed parameter is determined to be the eighth speed parameter consisting of six segments: acceleration, uniform acceleration, deceleration, acceleration / deceleration, uniform deceleration, and deceleration / deceleration.

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