Mover control method of transmission line

Abstract

The embodiment of the invention relates to the technical field of transmission, in particular to a mover control method of a transmission line, which comprises the following steps: controlling a target mover in the transmission line to move according to a preset position and time trajectory diagram to obtain an actual position and time trajectory diagram; according to the actual position and time trajectory diagram and the preset position and time trajectory diagram, performing position ring adjustment processing on the target mover to obtain a target position and time trajectory diagram; controlling the target rotor to move according to the target position and the time trajectory diagram to obtain an actual speed and time trajectory diagram; according to the actual speed and time trajectory diagram and a preset speed and time trajectory diagram corresponding to the target rotor, performing speed ring adjustment processing on the target rotor to obtain a target speed and time trajectory diagram; and obtaining a first control parameter according to the target speed and the time trajectory diagram. According to the invention, through layered adjustment of the position ring and the speed ring, double optimization of the motion accuracy and smoothness of the rotor is realized, and finally, the control stability of the rotor under load change is improved.

Description

Technical Field

[0001] This application relates to the field of transmission technology, and in particular to a method for controlling the mover of a transmission line. Background Technology

[0002] In existing magnetic drive conveyor technology, the magnet on the mover is the key component for realizing the motion control of the mover.

[0003] However, due to potential issues such as inadequate magnetization or demagnetization during manufacturing or use, the magnetic force of the mover magnet may be unstable. This inconsistency directly affects the motion control performance of the mover. Specifically, if the magnetic force is too large or too small, the control system will struggle to precisely adjust the mover's motion, resulting in uneven movement and poor control stability. More seriously, the mover may fail to reach the designated position accurately at the predetermined time, impacting the overall efficiency of the conveyor line and product quality. Summary of the Invention

[0004] One objective of this application is to provide a method for controlling the mover of a transmission line, in order to solve the technical problem of inaccurate motion control caused by insufficient magnetic force or demagnetization of the mover.

[0005] In a first aspect, a method for controlling a mover in a transmission line is provided, applied to a transmission system. The method includes: controlling the movement of a target mover in the transmission line according to a preset position and time trajectory diagram to obtain an actual position and time trajectory diagram; performing a position loop adjustment process on the target mover according to the actual position and time trajectory diagram and the preset position and time trajectory diagram to obtain a target position and time trajectory diagram; controlling the movement of the target mover according to the target position and time trajectory diagram to obtain an actual velocity and time trajectory diagram; performing a velocity loop adjustment process on the target mover according to the actual velocity and time trajectory diagram and a preset velocity and time trajectory diagram corresponding to the target mover to obtain a target velocity and time trajectory diagram; and obtaining a first control parameter according to the target velocity and time trajectory diagram, wherein the first control parameter is used to control the target mover to achieve the target movement. Secondly, a mover control device for a transmission line is provided, applied to a transmission system. The device includes: a control unit, configured to control the movement of a target mover in the transmission line according to a preset position and time trajectory diagram to obtain an actual position and time trajectory diagram; an adjustment unit, configured to perform a position loop adjustment process on the target mover according to the actual position and time trajectory diagram and the preset position and time trajectory diagram to obtain a target position and time trajectory diagram; the control unit is further configured to control the movement of the target mover according to the target position and time trajectory diagram to obtain an actual speed and time trajectory diagram; the adjustment unit is further configured to perform a speed loop adjustment process on the target mover according to the actual speed and time trajectory diagram and a preset speed and time trajectory diagram corresponding to the target mover to obtain a target speed and time trajectory diagram; and a determination unit, configured to obtain a first control parameter according to the target speed and time trajectory diagram, the first control parameter being used to control the target mover to achieve the target movement.

[0006] In a third aspect, embodiments of the present invention provide a transmission system including a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, wherein when the processor executes the one or more computer programs, the computer device performs the method as described in the first aspect.

[0007] In a fourth aspect, embodiments of the present invention provide a computer device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described in the first aspect.

[0008] In a fifth aspect, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in the first aspect.

[0009] In the aforementioned method for controlling the mover in a transmission line, the following steps are implemented: First, based on a preset position and time trajectory diagram, the target mover in the transmission line is controlled to obtain an actual position and time trajectory diagram. Then, based on the actual position and time trajectory diagram and the preset position and time trajectory diagram, a position loop adjustment is performed on the target mover to obtain a target position and time trajectory diagram. Next, the target mover is controlled to obtain an actual velocity and time trajectory diagram. Then, based on the actual velocity and time trajectory diagram and a corresponding preset velocity and time trajectory diagram, a velocity loop adjustment is performed on the target mover to obtain a target velocity and time trajectory diagram. Finally, based on the target velocity and time trajectory diagram, a first control parameter is obtained. This first control parameter is used to control the target mover to achieve the target motion. This method achieves refined and closed-loop optimization of mover motion control by setting a hierarchical adjustment mechanism for the position and velocity loops. First, position loop adjustment ensures the mover can overcome its own magnetic force deviation and reach the target position on time and accurately, solving the fundamental problem of failure to reach the target position or position overshoot caused by excessive or insufficient magnetic force. Next, velocity loop adjustment smoothly corrects velocity fluctuations during motion, ensuring smooth movement of the mover between the starting and ending points. Combined with closed-loop adjustments of the position and velocity loops, precise correction of the mover's motion state is achieved. Finally, the target velocity and time trajectory diagram obtained from the adjustment generates the first control parameters, enabling the target mover to operate smoothly according to the preset target position, velocity, and time trajectory, significantly improving the accuracy and reliability of motion control. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A schematic diagram of the structure of a transmission system according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating a method for controlling the mover of a transmission line according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of the mover control device for a transmission line in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0013] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0014] The present invention will now be described in detail through specific embodiments.

[0015] Please see Figure 1 , Figure 1 This application provides a schematic diagram of the structure of a transmission system 10, which includes a mover 20, a stator 30, a position / displacement detection unit 40, and a control subsystem 50, as detailed below: The mover 20 is a moving carrier on the conveyor line, on which a power magnet (usually a permanent magnet) is installed. The mover carries the workpiece or material and moves along the conveyor track. The mover generates electromagnetic thrust through the interaction between the power magnet on it and the magnetic field generated by the stator, thereby achieving autonomous movement.

[0016] Each mover has a unique identification code. This code is a unique identifier for the mover and is used by the control system for identification and addressing, ensuring that each mover can be matched with and accessed with its own personalized control data.

[0017] The stator 30 is the fixed part of the conveyor line, laid along the conveying path. It integrates drive coils arranged according to a specific pattern. Based on instructions from the control subsystem, precisely controlled alternating currents are passed through the corresponding drive coils in the stator 30, thereby forming a movable traveling wave magnetic field on the stator surface. This traveling wave magnetic field interacts with the power magnet on the mover, generating a driving force that directly drives the mover's movement.

[0018] The conveyor line is divided into multiple minimum stator control regions, each of which can only accommodate one mover at any given time. This design avoids magnetic field interference from multiple movers in the same region and is the basis for achieving independent and precise control.

[0019] The position / displacement detection unit 40 typically consists of sensors such as an ABZ incremental encoder mounted on the conveyor line. The position / displacement detection unit 40 continuously and accurately detects the real-time position information of the mover on the conveyor line and feeds this position data back to the control subsystem.

[0020] The actual position-time trajectory diagram it provides is the most original and core data basis for diagnosing and adjusting the entire closed-loop control subsystem. The system can also obtain actual speed information by performing differential calculations on this data.

[0021] Among them, the control subsystem 50 is the brain of the entire transmission system, which is usually composed of an industrial computer, a PLC (programmable logic controller) or a dedicated motion controller and the software algorithms running inside it.

[0022] The control subsystem 50 stores preset position-time trajectory diagrams and velocity-time trajectory diagrams, and calculates the current command to be applied to the given sub-coil based on the actual position fed back by the detection unit, thereby controlling the movement of the mover. Before controlling the mover, its identification code is first read, and the corresponding control data (whether preset or adjusted) is retrieved from the database based on the code.

[0023] Closed-loop adjustment and optimization: Perform the first adjustment (position loop): compare the actual position with the preset position and adjust the control strategy to ensure that the mover arrives in place on time.

[0024] Perform the second adjustment (speed loop): compare the actual speed with the preset speed and adjust the control strategy to ensure smooth motion.

[0025] Perform the third adjustment (load adaptive): Based on the weight of the workpiece, compensate and fine-tune the control scheme to ensure accuracy under load.

[0026] When multiple movers work together, the master-slave follow logic is executed, and dynamic adjustments are made based on the position difference between the movers.

[0027] Therefore, the four components work together to form a complete closed-loop feedback control subsystem, which together ensures that high-precision and high-stability automated conveying can still be achieved even when there are differences in the magnetic force of the mover or changes in the load.

[0028] In view of this, this application proposes a mover control method for transmission lines to solve the above problems. The details are described below.

[0029] Please see Figure 2 , Figure 2 A flowchart illustrating a transmission line mover control method provided in an embodiment of the present invention, applied to a transmission system, the method comprising the following steps: S10. Based on the preset position and time trajectory diagram, control the movement of the target mover in the transmission line to obtain the actual position and time trajectory diagram.

[0030] The preset position and time trajectory diagram is a pre-defined motion plan for the mover on the conveyor line, specifically representing the precise position the mover should reach at each time point. It is a mapping relationship between time and position, similar to a trajectory curve, guiding how the mover moves over time.

[0031] For example, the preset trajectory may specify that the mover is located at the starting point at 0mm at 0 seconds, at 100mm at 1 second, at 200mm at 2 seconds, and so on.

[0032] Here, the target mover refers to a specific mover on the conveyor line that needs to be controlled. Each mover has a unique identification code, and the system identifies the target mover to be controlled by recognizing the code.

[0033] The actual position and time trajectory diagram is a data graph showing the change of the actual position of the mover over time, collected in real time by the position / displacement detection unit during the mover's motion. It reflects the actual motion state of the mover and may deviate from the preset trajectory.

[0034] Specifically, the system retrieves the preset position and time trajectory map for this task from the database. Simultaneously, sensors on the conveyor line detect the target mover entering the working area and read its identification code (e.g., Mover007). Using the preset position and time trajectory map as input, the drive coil on the stator generates a corresponding magnetic field, propelling the target mover along the conveyor line. This employs a position-based control mode, continuously adjusting the drive coil current to ensure the mover follows the preset trajectory. A position / displacement detection unit (e.g., an incremental encoder or sensor) monitors the target mover's position in real time, collecting data to form an actual position-time trajectory map. The actual trajectory is compared with the preset trajectory to determine if the mover's movement deviates from expectations, providing a basis for subsequent adjustments.

[0035] For example, suppose the preset position and time trajectory diagram specifies that the mover should reach 100mm on the conveyor line in the first second and 200mm in the second second. The control system starts driving the mover, and the position detection unit provides real-time feedback on the mover's position. If the actual time to reach 100mm is 1.2 seconds, it indicates that the mover is moving slowly and there is a time delay. If the mover only reaches 180mm in the second second, it indicates that the mover's position is lagging behind the preset position. At this time, the system records this actual data, forming an actual position-time trajectory diagram, providing data support for subsequent magnetic force adjustment and trajectory correction.

[0036] As can be seen, a real-time feedback control loop can be formed according to the description of S10 in this embodiment.

[0037] S20. Based on the actual position and time trajectory diagram and the preset position and time trajectory diagram, perform position loop adjustment processing on the target mover to obtain the target position and time trajectory diagram.

[0038] S201. In one possible example, the step of performing position loop adjustment processing on the target mover based on the actual position and time trajectory map and the preset position and time trajectory map to obtain the target position and time trajectory map includes: comparing the actual position and time trajectory map and the preset position and time trajectory map to obtain a first position difference between a first actual position in the actual position and time trajectory map and a first preset position in the preset position and time trajectory map; and / or comparing the actual position and time trajectory map and the preset position and time trajectory map to obtain a first time difference between a first actual time in the actual position and time trajectory map and a first preset time in the preset position and time trajectory map; if the absolute value of the first position difference is greater than a first preset threshold and / or the absolute value of the first time difference is greater than a second preset threshold, the step of performing position loop adjustment processing on the target mover to obtain the target position and time trajectory map.

[0039] S202. In one possible example, if the absolute value of the first position difference is greater than a first preset threshold and / or the absolute value of the first time difference is greater than a second preset threshold, the step of performing position loop adjustment processing on the target mover to obtain the target position and time trajectory diagram includes: if the first position difference is less than 0, determining that the mover's magnetic force is less than a preset standard magnetic force, then performing position loop adjustment processing on the target mover according to a first adjustment strategy to obtain a first adjustment parameter; or, if the first position difference is greater than 0, determining that the mover's magnetic force is greater than the preset standard magnetic force, then performing position loop adjustment processing on the target mover according to a second adjustment strategy to obtain a first adjustment parameter; The mover undergoes position loop adjustment processing to obtain a second adjustment parameter; or, if the first time difference is less than 0, it is determined that the mover's magnetic force is greater than the preset standard magnetic force, then according to the third adjustment strategy, the target mover undergoes position loop adjustment processing to obtain a third adjustment parameter; or, if the first time difference is greater than 0, it is determined that the mover's magnetic force is less than the preset standard magnetic force, then according to the fourth adjustment strategy, the target mover undergoes position loop adjustment processing to obtain a fourth adjustment parameter diagram; based on the first adjustment parameter and / or the second adjustment parameter and / or the third adjustment parameter and / or the fourth adjustment parameter, the target position and time trajectory diagram is obtained.

[0040] For a detailed description of S20, please refer to S201 and S202, which will not be repeated here.

[0041] Furthermore, S202 is a specific implementation of the step of performing position loop adjustment processing on the target mover to obtain the target position and time trajectory diagram when the absolute value of the first position difference is greater than the first preset threshold and / or the absolute value of the first time difference is greater than the second preset threshold in S201.

[0042] Therefore, please refer to the descriptions in A1-A7 for a detailed explanation of S20, S201 and S202.

[0043] A1. Compare the actual position and time trajectory map with the preset position and time trajectory map to obtain the first position difference between the first actual position in the actual position and time trajectory map and the first preset position in the preset position and time trajectory map. Determine whether the absolute value of the first position difference is greater than the first preset threshold (which can be 0). If not, proceed to step A2; if so, proceed to step A3.

[0044] A2. If the first position difference is less than 0, it is determined that the magnetic force of the mover is less than the preset standard magnetic force. Then, according to the first adjustment strategy, the target mover is subjected to position loop adjustment processing to obtain the first adjustment parameter. A3. If the first position difference is greater than 0, it is determined that the mover magnetic force of the mover is greater than the preset standard magnetic force. Then, according to the second adjustment strategy, the target mover is subjected to position loop adjustment processing to obtain the second adjustment parameter. And / or, A4. Compare the actual location and time trajectory map with the preset location and time trajectory map to obtain the first time difference between the first actual time in the actual location and time trajectory map and the first preset time in the preset location and time trajectory map. Determine whether the absolute value of the first time difference is greater than the second preset threshold (which can be 0). If not, proceed to step A5; if so, proceed to step A6.

[0045] A5. If the first time difference is less than 0, it is determined that the magnetic force of the mover is greater than the preset standard magnetic force. Then, according to the third adjustment strategy, the target mover is subjected to position loop adjustment processing to obtain the third adjustment parameter. A6. If the first time difference is greater than 0, it is determined that the magnetic force of the mover is less than the preset standard magnetic force. Then, according to the fourth adjustment strategy, the target mover is subjected to position loop adjustment processing to obtain the fourth adjustment parameter diagram.

[0046] A7. Finally, based on the first adjustment parameter and / or the second adjustment parameter and / or the third adjustment parameter and / or the fourth adjustment parameter, the target position and time trajectory diagram is obtained.

[0047] Optionally, the first adjustment strategy can be to calculate the difference between the actual position and the preset position to determine the degree of lag of the mover; while keeping the time of each stage unchanged, increase the velocity and acceleration parameters of the mover; by increasing the velocity / acceleration, make the mover reach the preset position as soon as possible; update the adjustment parameters to ensure that the position loop adjustment can reflect the new velocity / acceleration requirements.

[0048] Optionally, the second adjustment strategy can be to calculate the difference between the actual position and the preset position to determine the degree of movement advance; while keeping the time of each stage unchanged, reduce the velocity and acceleration parameters of the movement; by reducing the velocity / acceleration, avoid excessive movement position advance, ensure the accuracy and stability of the action, update the adjustment parameters, and ensure that the position loop adjustment can reflect the new velocity / acceleration requirements.

[0049] Optionally, the third adjustment strategy can be to calculate the difference between the actual completion time and the preset completion time. Based on the ratio of the difference to the preset time, the time length of each stage in the preset position-time trajectory diagram is proportionally increased. While increasing the time, the trajectory is adjusted to reduce the average speed of the mover, preventing the mover from moving too fast due to excessive magnetic force; an adjusted target position-time trajectory diagram is generated to ensure that the mover can complete the action smoothly.

[0050] Optionally, the fourth adjustment strategy can be to calculate the difference between the actual completion time and the preset completion time. Based on the ratio of the difference to the preset time, the time length of each stage in the preset position-time trajectory diagram is shortened proportionally. While shortening the time, the trajectory is adjusted to increase the average speed of the mover to adapt to the situation where the movement speed is too slow due to insufficient magnetic force, generating an adjusted target position-time trajectory diagram to ensure that the mover can complete the preset action in a shorter time.

[0051] Among them, the position difference refers to the difference between the actual position and the preset position at the same point in time, reflecting whether the mover is lagging behind or ahead of the preset position.

[0052] Furthermore, the first position difference refers to the difference between the preset position and the actual position at the same point in time.

[0053] The time difference refers to the difference between the actual time to reach a certain position and the preset time to reach that position, reflecting whether the motion of the mover is faster or slower than expected.

[0054] Furthermore, the first time difference refers to the difference between the actual time taken for the mover to reach the same target position and the preset time.

[0055] The first / second preset threshold refers to the allowable error range. It defines the boundary between acceptable deviation and deviation that needs adjustment. The first / second preset threshold can be set to 0 (pursuing perfect matching) or a very small positive number (allowing for minor fluctuations or errors); there is no single limitation here.

[0056] Among them, the moving magnet refers to the magnitude of the driving force generated by the moving magnet, which affects the moving speed and positional accuracy of the moving element.

[0057] Among them, position loop adjustment refers to the control adjustment process based on position feedback, which adjusts the motion trajectory of the mover by modifying parameters such as speed and acceleration to achieve preset requirements.

[0058] The target position and time trajectory diagram refers to the adjusted and optimized motion trajectory diagram of the mover, which clearly defines the specific position that the mover should reach at each time point. It is an ideal motion path formed after adjustment based on the preset trajectory and actual motion feedback, and is used to guide the motion control of the mover.

[0059] In step A1, the acquired actual position-time trajectory map is compared point by point with the preset trajectory map. For example, at time t=1 second, the preset position is 100mm, and the actual measured position is 90mm, then the position difference is 90mm - 100mm = -10mm. This difference reflects that the mover lagged behind by 10mm at this time point. Further, it is determined whether the absolute value of this position difference exceeds a first preset threshold (such as 0mm or other set values). If the difference is within the threshold, the position error is acceptable, and the process proceeds to step A2; if it exceeds the threshold, the process proceeds to step A3.

[0060] In step A2, if the position difference is less than 0, it indicates that the mover's position is lagging behind the preset position, and the magnetic force is insufficient to propel the mover forward at the expected speed. In other words, the mover's magnetic force is less than the preset standard, and the first adjustment strategy is executed. According to the first adjustment strategy, while keeping the time of each stage constant, the mover's speed and acceleration parameters are increased to accelerate the mover and catch up with the preset trajectory as quickly as possible. For example, the speed is increased from 100 mm / s to 110 mm / s and the acceleration from 10 mm / s² to 12 mm / s² within a certain time period. The adjustment parameters are updated and fed back to the position loop controller to ensure that the control system can reflect the new speed and acceleration requirements.

[0061] In step A3, a position difference greater than 0 indicates that the mover position is ahead of the preset position, and the excessive magnetic force causes the mover to move too fast, meaning the mover's magnetic force is greater than the preset standard. Therefore, the second adjustment strategy is executed. According to the second adjustment strategy, the time for each stage remains constant, while the mover's velocity and acceleration parameters are reduced to prevent excessive movement ahead and ensure the accuracy and stability of the motion. For example, the velocity is reduced from 120 mm / s to 110 mm / s, and the acceleration is reduced from 15 mm / s² to 12 mm / s². The adjustment parameters are then updated to ensure that the position loop controller reflects the new motion parameters.

[0062] In step A4, the actual time to reach a certain position is compared with the preset time to calculate the time difference. For example, the preset time for the mover to reach 100mm is 1 second, but it actually reaches it in 1.2 seconds, resulting in a time difference of 0.2 seconds. It is then determined whether the absolute value of the time difference exceeds a second preset threshold. If the time difference is within the threshold, proceed to step A5; if it exceeds the threshold, proceed to step A6.

[0063] If the time difference in step A5 is less than 0, it indicates that the mover completes its action ahead of the preset time, meaning the magnetic force is too strong (i.e., the mover's magnetic force exceeds the preset standard), and the third adjustment strategy is executed. According to the third adjustment strategy, the time length of each stage in the preset trajectory is proportionally increased, making the mover's motion time longer and the average speed lower. For example, if the preset completion time is 2 seconds and the actual completion time is 1.8 seconds, the time ratio is 1.8 / 2 = 0.9. Therefore, the time of each stage is multiplied by 1 / 0.9 ≈ 1.11, slowing down the mover's motion.

[0064] Furthermore, by amplifying the time duration, the average velocity of the mover is reduced, avoiding potential mechanical impacts or positioning errors caused by excessively fast movement of the mover due to excessive magnetic force. Based on the new adjustment parameters, an adjusted target position-time trajectory diagram is generated to ensure that the mover can smoothly and accurately complete the predetermined action.

[0065] For example, if a preset time is 0.5 seconds, it becomes 0.555 seconds after being enlarged, and the speed decreases accordingly, making the movement smoother.

[0066] In step A6, a time difference greater than 0 indicates that the time taken for the mover to complete the action is longer than the preset time. Insufficient magnetic force leads to a slower movement speed, meaning the mover's magnetic force is less than the preset standard. Therefore, the fourth adjustment strategy is executed. According to this strategy, the time length of each stage in the preset trajectory is shortened proportionally, reducing the mover's movement time and increasing its average speed. For example, if the preset completion time is 2 seconds and the actual completion time is 2.2 seconds, the time ratio is 2.2 / 2 = 1.1. Multiplying the time of each stage by 1 / 1.1 ≈ 0.91 increases the mover's speed. By increasing speed and acceleration, the mover can reach the preset position faster, compensating for the speed deviation caused by insufficient magnetic force. The adjustment parameters are updated, generating a new target position-time trajectory diagram to ensure the mover completes the preset action in a shorter time.

[0067] In step A7, based on the adjustment parameters (first, second, third, and fourth adjustment parameters) obtained in steps A2 to A6, a new target position and time trajectory diagram is generated through comprehensive calculation. This trajectory diagram serves as the input for subsequent motion control, ensuring that the motion state of the mover meets the preset requirements.

[0068] If only the position branch is triggered, the trajectory is redrawn with the new velocity / acceleration parameters.

[0069] If only a time branch is triggered, the trajectory plot is redrawn with the new time scaling factor.

[0070] If both branches are triggered (theoretically both pointing to the same magnetic problem), the system may choose one of the strategies or combine the two to ultimately generate a completely new target position and time trajectory map tailored to the magnetic characteristics of the mover.

[0071] For example, if the position loop adjustment requires increasing speed and acceleration, and the time loop adjustment requires appropriately amplifying or shortening the time interval, the system will balance these parameters to form the final control trajectory.

[0072] For example, suppose a mover's preset position is 100mm in the first second, but its actual position is 90mm (position difference -10mm, lagging), and it takes 1.2 seconds to actually reach 100mm (time difference +0.2 seconds, slow). The system determines that: if the absolute value of the position difference is greater than a threshold, it executes the first adjustment strategy, increasing speed and acceleration. If the absolute value of the time difference is greater than a threshold, it executes the fourth adjustment strategy, shortening the trajectory time and further increasing speed. Combining these two adjustment parameters, a new position-time trajectory diagram is generated, enabling the mover to reach the target position faster and more accurately.

[0073] As can be seen, in this embodiment, by comparing the time and position differences between the actual trajectory and the preset trajectory, and combining the magnitude of the mover's magnetic force, the control parameters are dynamically adjusted to ensure the accuracy and smoothness of the mover's motion, adapting to different loads and actual working conditions.

[0074] S30. Control the movement of the target mover according to the target position and time trajectory diagram to obtain the actual speed and time trajectory diagram.

[0075] The actual velocity versus time trajectory graph is a curve showing the change of the actual velocity of the mover over time, obtained from a velocity sensor or calculated using the rate of change of position. It reflects the velocity state of the mover during motion and accurately reflects the dynamics of the motion.

[0076] Specifically, the system uses the target position and time trajectory diagram as input, serving as the reference trajectory for the mover's motion. This trajectory diagram details the target position the mover should be at each time point. Based on the trajectory diagram and real-time position feedback, the system calculates the error between the current position and the target position, adjusting the driving force (such as electromagnetic force, servo motor drive, etc.) to drive the mover along the trajectory. The system measures the mover's speed in real time using speed sensors (such as encoders, tachometers, etc.) installed in the system, or calculates the speed (speed = position change / time interval) from continuously collected position data. The collected speed data is arranged in chronological order to form an actual speed-time trajectory diagram. This diagram shows the speed fluctuations, acceleration / deceleration phases, and stable operation phases of the mover during its motion.

[0077] For example, suppose the target position-time trajectory diagram specifies that the mover's position is 0mm at 0 seconds, 100mm at 1 second, and 200mm at 2 seconds. The control system drives the mover, and the position sensor provides real-time feedback on the mover's position. Velocity is calculated from the continuous position data, revealing that the mover's velocity is 80mm / s at 0.5 seconds, 100mm / s at 1 second, and 90mm / s at 1.5 seconds. This velocity data forms the actual velocity-time trajectory diagram, showing the mover's acceleration, constant speed, and deceleration processes. If the actual velocity curve differs from the expected velocity curve, the control parameters can be further adjusted based on this diagram to optimize the mover's motion.

[0078] As can be seen, in this embodiment, by controlling the target mover to move according to the target position-time trajectory and collecting actual speed data to form an actual speed-time trajectory diagram, the motion state of the mover can be comprehensively monitored and optimized, ensuring system performance and accuracy.

[0079] S40. Based on the actual speed and time trajectory diagram and the preset speed and time trajectory diagram corresponding to the target mover, perform speed loop adjustment processing on the target mover to obtain the target speed and time trajectory diagram.

[0080] S401. In one possible example, the step of performing velocity loop adjustment processing on the target mover based on the actual velocity and time trajectory diagram and the preset velocity and time trajectory diagram corresponding to the target mover to obtain the target velocity and time trajectory diagram includes: performing numerical difference processing on the actual velocity and time trajectory diagram to obtain a numerical data sequence of actual velocity and time corresponding to the actual velocity and time trajectory diagram; obtaining a preset velocity and time numerical data sequence in the preset velocity and time trajectory diagram corresponding to the target mover; calculating the difference between the numerical data sequence of actual velocity and time and the numerical data sequence of preset velocity and time at each time point to obtain a first difference at each time point; determining whether the mover magnetic force of the target mover meets the standard based on the first difference at each time point; if it does not meet the standard, then performing velocity loop adjustment processing on the target mover based on the first difference at each time point to obtain the target velocity and time trajectory diagram; or, if it meets the standard, then determining the actual velocity and time trajectory diagram as the target velocity and time trajectory diagram.

[0081] S402. In one possible example, determining whether the magnetic force of the target mover meets the standard based on the first difference at each time point includes: traversing the first difference at all time points to obtain a second difference, wherein the second difference is the first difference with the largest value; if the absolute value of the second difference is not within the range of a third threshold, determining that the magnetic force of the target mover does not meet the standard; or, performing a standard-compliant judgment based on the first difference at each time point, and determining that the magnetic force of the target mover does not meet the standard when a preset abnormal standard is reached.

[0082] S403. In one possible example, if the target is not met, the target mover is subjected to velocity loop adjustment processing based on the first difference at each time point to obtain a target velocity-time trajectory diagram, including: performing error analysis on the first difference at each time point to obtain error information at each time point; adjusting the error information at each time point to obtain a fifth adjustment parameter at each time point; controlling the movement of the target mover according to the fifth adjustment parameter at each time point to obtain the target velocity-time trajectory diagram.

[0083] For a detailed description of S40, please refer to S401 and S403, which will not be repeated here.

[0084] Furthermore, S402 is a specific implementation of S401 that determines whether the magnetic force of the target mover meets the standard based on the first difference at each time point.

[0085] Furthermore, S403 is a specific implementation method in which, if the target is not met in S401, the target mover is subjected to velocity loop adjustment processing based on the first difference at each time point to obtain the target velocity and time trajectory diagram.

[0086] Therefore, please refer to the descriptions in B1-B6 for a detailed explanation of S40, S401-S403.

[0087] B1. Perform numerical difference processing on the actual speed and time trajectory diagram to obtain the numerical data sequence of actual speed and time corresponding to the actual speed and time trajectory diagram; B2. Obtain the numerical data sequence of the preset velocity and time in the preset velocity and time trajectory diagram corresponding to the target mover; B3. Calculate the difference between the numerical data sequence of actual speed and time and the numerical data sequence of preset speed and time at each time point to obtain the first difference at each time point; B4. Based on the first difference at each time point, determine whether the magnetic force of the target mover meets the standard; B4 can be judged in two ways: b1 and b2.

[0088] b1. Iterate through the first difference at all time points to obtain the second difference, which is the first difference with the largest value; if the absolute value of the second difference is not within the range of the third threshold, it is determined that the magnetic force of the target mover is not up to standard. or, b2. Based on the first difference at each time point, a standard-compliant judgment is made. When the preset abnormal standard is reached, it is determined that the magnetic force of the target mover has not met the standard.

[0089] Optionally, in the specific implementation of determining that the magnetic force of the target mover has not met the standard based on the first difference at each time point, when a preset abnormal standard is reached: 1. Count the number of effective deviation points. Count how many time points the difference exceeds the effective range during the entire motion process. If this number accounts for too high a proportion of the total number of sampling points, it indicates that there is a deviation for most of the time and adjustment is needed. 2. Calculate the root mean square (RMSE) of all differences. RMSE can well reflect the level of the overall deviation. If RMSE exceeds the set threshold, adjustment is needed. 3. Calculate the area under the velocity difference-time curve (i.e., the integral over time). This integral value is actually the position error. If this integral area (absolute position error) is too large, it indicates that the continuous velocity deviation has led to a significant cumulative position error and adjustment is needed.

[0090] Furthermore, if it is determined that the magnetism of the target mover is insufficient, then proceed to step B5; if it is determined that the magnetism of the target mover is sufficient, then proceed to step B6.

[0091] B5. If the target is not met, perform error analysis on the first difference at each time point to obtain error information at each time point; adjust the error information at each time point to obtain the fifth adjustment parameter at each time point; control the target mover's motion according to the fifth adjustment parameter at each time point to obtain the target velocity and time trajectory diagram.

[0092] B6. If the target is met, the actual speed and time trajectory diagram shall be used as the target speed and time trajectory diagram.

[0093] Numerical difference processing calculates the derivative or rate of change by the difference between adjacent data points, which is used to extract dynamic features such as velocity or acceleration.

[0094] Numerical data sequences refer to data sets at discrete time points, such as the velocity value at each time point.

[0095] The first difference refers to the difference between the actual speed and the preset speed at the same point in time.

[0096] The second difference refers to the largest absolute value among the first differences at all time points, representing the maximum deviation.

[0097] The third threshold range is the set allowable range for speed deviation, used to determine whether the magnetic force meets the standard. For example, ±5 mm / s.

[0098] Among them, error information refers to the speed difference at each time point, reflecting the magnitude and direction of the deviation.

[0099] The fifth adjustment parameter refers to the control parameter calculated based on error information, which is used to adjust the motion of the mover so that the speed is closer to the preset value.

[0100] The target velocity-time trajectory diagram refers to an ideal, smooth velocity command curve generated for a specific target mover after the second adjustment (velocity loop adjustment), which serves as the final control basis. It describes the instantaneous velocity value that the mover should reach at each point in time.

[0101] In step B1, the actual velocity-time trajectory is typically composed of discrete data points. Numerical differencing is used to calculate the rate of change of velocity (acceleration) or to smooth the velocity signal. For example, given velocity data v(ti), the velocity change trend is obtained by calculating v(ti+1) - v(ti) through differencing. The processed data sequence facilitates subsequent comparison and analysis.

[0102] Specifically, B1 refers to converting the actual speed and time trajectory graph into an actual speed sequence = [vactual(t0), vactual(t1), ...]. B2 refers to obtaining the preset speed sequence corresponding to the preset speed and time trajectory graph = [vpreset(t0), vpreset(t1), ...].

[0103] In step B2, the preset velocity-time trajectory diagram represents the ideal velocity data designed during system development, typically stored as a numerical sequence. This sequence corresponds to the actual velocity data at specific time points, facilitating point-by-point comparison.

[0104] In step B3, the two sequences are aligned, and the difference is calculated point by point. A new sequence, the first difference sequence, is created, where each element is Δv(tᵢ) = vpreset(tᵢ) - vactual(tᵢ). This sequence is the data form of the "velocity difference-time graph" mentioned earlier.

[0105] In step B4, the magnetic force of the mover is determined based on the first difference. There are two methods for determining this: In method b1 (maximum difference judgment), the first difference at all time points is traversed to find the maximum absolute value (second difference). If the maximum difference exceeds the third threshold range (preset allowable deviation), it indicates that the mover magnetism is insufficient or abnormal and fails to meet the standard.

[0106] For example, if the third threshold range is ±5 mm / s, and the calculated Δvmax = -8.2 mm / s, then | -8.2 | > 5, which is considered as not meeting the standard. This indicates that at least at one instant, the speed was 8.2 mm / s faster than expected, resulting in excessive fluctuation.

[0107] In method b2 (outlier detection), the first difference at each time point is evaluated. If certain points reach a preset outlier standard (e.g., exceeding a certain range), the magnetic force is deemed substandard. This can be combined with statistical methods, such as the proportion of deviation points, root mean square error (RMSE), and the integral area of ​​the velocity difference, for a comprehensive judgment.

[0108] Specifically, count the number of valid deviation points: Calculate the number of points exceeding the threshold |Δv(tᵢ)|. If this number accounts for a percentage of the total number of sampling points (e.g., exceeding 10%), it is considered non-compliant. Calculate the root mean square error: RMSE = sqrt((Σ(Δv(tᵢ))²) / N). RMSE is more sensitive to larger errors. If the RMSE exceeds a set threshold, it is considered non-compliant. Calculate the integral area: Integrate the velocity difference-time plot (find the area under the curve). This integral value is the accumulated position error. If this area (absolute value) is too large, it indicates that the continuous velocity deviation has caused a significant positional shift, and it is considered non-compliant.

[0109] In step B5, if the magnetic force is not up to standard, a detailed error analysis is performed on the first difference at each time point to identify the cause and pattern of the deviation. Based on the error information, the fifth adjustment parameter (such as adjustment speed, acceleration, magnetic control signal, etc.) is calculated to correct the motion of the mover. The mover is then re-controlled using the adjustment parameter to generate a new target velocity-time trajectory diagram, with the aim of improving motion performance.

[0110] Specifically, the first difference sequence is directly regarded as the error information at each time point. Δv(tᵢ) is the velocity amount that needs to be compensated at time tᵢ.

[0111] In step B6, if the magnetic force meets the standard, it means that the motion of the mover is in line with expectations and the speed deviation is within the allowable range. No adjustment is needed, and the current trajectory can continue to be used as the control basis to ensure stable operation.

[0112] For example, B1-B3 calculates the first difference sequence and finds that at 0.4 seconds, the preset speed is 300 mm / s, but the actual speed is only 260 mm / s, Δv(0.4s) = 40 mm / s; at 0.45 seconds, the controller suddenly supplies power, and the actual speed spikes to 340 mm / s, Δv(0.45s) = -40 mm / s. B4 (b1): The system finds the maximum deviation Δv_max = ±40 mm / s. Assuming the third threshold is ±5 mm / s, 40>5, which is clearly not up to standard. B5 analyzes this error sequence and finds that a compensation of +40 mm / s is needed at 0.4s, and a compensation of -40 mm / s is needed at 0.45s. Therefore, these speed compensation requirements are converted into an increase of X amperes of current at 0.4s and a decrease of Y amperes of current at 0.45s (the fifth adjustment parameter).

[0113] As can be seen, in this embodiment, it is determined whether the magnetic force of the mover meets the motion requirements, and the insufficient magnetic force or abnormal situation is detected in time. Furthermore, based on the error analysis results, the control parameters are dynamically adjusted to optimize the movement trajectory of the mover, improve the motion accuracy and stability, and thus ensure that the mover can run according to the ideal speed trajectory during the production or transportation process, avoiding speed deviation and position error caused by insufficient magnetic force.

[0114] S50. Based on the target velocity and time trajectory diagram, a first control parameter is obtained. The first control parameter is used to control the target mover to achieve target motion.

[0115] S501. In one possible example, obtaining the first control parameter based on the target velocity and time trajectory diagram includes: controlling the target mover to move based on the acquired target workpiece weight, the target position and time trajectory diagram, and the target velocity and time trajectory diagram to obtain the first target motion parameter corresponding to the target mover; and adjusting the first target motion parameter to obtain the first control parameter.

[0116] S502. In one possible example, the step of controlling the movement of the target mover based on the acquired target workpiece weight, the target position and time trajectory diagram, and the target velocity and time trajectory diagram to obtain the first target motion parameters corresponding to the target mover includes: obtaining first current loop input data based on the target position and time trajectory diagram and the target velocity and time trajectory diagram; adjusting the first current loop input data based on the target workpiece weight to obtain second current loop input data; controlling the movement of the target mover based on the second current loop input data to obtain the first target motion parameters corresponding to the target mover, wherein the first target motion parameters include the target position and target velocity corresponding to each time point during the movement.

[0117] S503. In one possible example, adjusting the first target motion parameters to obtain the first control parameter includes: acquiring the reference motion parameters of the target mover, the reference motion parameters including the reference position and reference velocity at each time point during the motion; comparing the first target motion parameters with the reference motion parameters to obtain a comparison result; determining whether the mover magnetic force of the target mover meets the standard based on the comparison result; if it does not meet the standard, parsing the comparison result to obtain a first adjustment type and / or a second adjustment type; when it is the first adjustment type, performing a position loop adjustment on the first target motion parameters to obtain the second control parameter; or, when it is the second adjustment type, performing a velocity loop adjustment on the first target motion parameters to obtain the third control parameter; and combining the second control parameter and / or the third control parameter to obtain the first control parameter.

[0118] S504. In one possible example, obtaining the first control parameter by combining the second control parameter and / or the third control parameter includes: obtaining the actual position, velocity, and time trajectory diagram corresponding to the target mover according to the second control parameter and / or the third control parameter; if the trajectory error between the actual position, velocity, and time trajectory diagram and the preset velocity and time trajectory diagram is within a preset range, then it is determined that the adjustment termination condition has been met, and the first control parameter is obtained by combining the second control parameter and / or the third control parameter.

[0119] For a detailed description of S50, please refer to S501 and S504, which will not be repeated here.

[0120] Furthermore, S502 is a specific implementation of S501, which controls the movement of the target mover based on the obtained target workpiece weight, the target position and time trajectory diagram, and the target speed and time trajectory diagram, to obtain the first target motion parameters corresponding to the target mover.

[0121] Furthermore, S503 is a specific implementation of adjusting the motion parameters of the first target in S501 to obtain the first control parameters.

[0122] Furthermore, S504 is a specific implementation of S503 in which the first control parameter is obtained by combining the second control parameter and / or the third control parameter.

[0123] Therefore, please refer to the descriptions in C1-C11 for a detailed explanation of S50, S501-S504.

[0124] C1. Based on the target position and time trajectory diagram and the target velocity and time trajectory diagram, obtain the first current loop input data; C2. Adjust the first current loop input data according to the target workpiece weight to obtain the second current loop input data; C3. Control the movement of the target mover according to the input data of the second current loop to obtain the first target motion parameters corresponding to the target mover. The first target motion parameters include the target position and target velocity at each time point during the motion. C4. Obtain the reference motion parameters of the target mover, the reference motion parameters including the reference position and reference velocity at each time point during the motion; C5. Compare the first target motion parameters with the reference motion parameters to obtain the comparison result; C6. Determine whether the magnetic force of the target mover meets the standard based on the comparison results; C7. If the standard is not met, the comparison results are analyzed to obtain the first adjustment type and / or the second adjustment type; When the first adjustment type is obtained, proceed to step C8; when the second adjustment type is obtained, proceed to step C9. C8. When it is the first adjustment type, perform position loop adjustment processing on the first target motion parameters to obtain the second control parameters; C9. When it is the second adjustment type, the first target motion parameter is subjected to velocity loop adjustment processing to obtain the third control parameter; C10. Based on the second control parameter and / or the third control parameter, obtain the actual position, velocity, and time trajectory diagram corresponding to the target mover; C11. If the trajectory error between the actual position, velocity, and time trajectory diagram and the preset velocity and time trajectory diagram is within the preset range, then the adjustment termination condition is determined to be met. The first control parameter is obtained by combining the second control parameter and / or the third control parameter.

[0125] The first current loop input data is an idealized set of control commands that the system finally determines after the first two adjustments (position loop and speed loop). It is not a direct position or speed command, but a sequence of current (or force) commands required by the driver's underlying layer to produce the ideal motion effect.

[0126] Therefore, the input data of the first current loop is calculated from the target position and time trajectory diagram and the target velocity and time trajectory diagram, representing the force required to drive a standard mover to achieve perfect motion.

[0127] The target workpiece weight refers to the actual weight of the workpiece that the mover will carry. The target workpiece weight can be obtained through a host computer, by scanning a barcode (workpiece information includes weight), or by direct measurement using a weighing sensor. Increased weight means increased load inertia and potentially increased friction, requiring a larger thrust (current) to achieve the same acceleration.

[0128] The second current loop input data is a new current command sequence obtained by roughly compensating for the weight of the workpiece based on the first current loop input data.

[0129] Specifically, the simplest compensation is to increase it proportionally. For example, if the unloaded mover weighs 5kg and the workpiece weighs 5kg, doubling the total weight, then theoretically the current command for all acceleration phases should also double.

[0130] The first target motion parameter refers to the motion parameters actually collected by the system when using the second current loop input data to drive the loaded mover, including the position and velocity at each time point. This represents the result of the first attempt under load and serves as the basis for final evaluation and fine-tuning.

[0131] Among them, the reference motion parameters are the ideal motion standards that are ultimately to be achieved. They are the data contained in the target position and time trajectory diagram and the target velocity and time trajectory diagram that the mover ultimately achieves after two adjustments under no-load conditions.

[0132] Among them, the first adjustment type and the second adjustment type are classification diagnoses of problems that occur after loading.

[0133] Specifically, the first adjustment type refers to location-level issues. For example, a vehicle may fail to reach its destination on time after being loaded, or its final docking position may be off-target. This requires invoking the location loop adjustment logic to resolve.

[0134] Specifically, the second adjustment type refers to speed-related issues. For example, although the vehicle may arrive on time, the speed fluctuations during the process become larger, resulting in uneven motion. This requires invoking the speed loop adjustment logic to resolve.

[0135] The first control parameter is the final result of the entire adjustment process. It is a complete, verified, and production-ready customized set of control data for that mover. It may include the final current loop parameters, position loop parameters, and velocity loop parameters. The first control parameter is used to drive and regulate the motion of the target mover, enabling it to accurately run along a predetermined velocity-position-time trajectory to achieve the desired motion effect.

[0136] Optionally, when a specific mover is controlled to carry a specific workpiece using the first control parameter, the mover can perfectly realize the preset motion trajectory, achieving both timeliness and smoothness.

[0137] The target motion includes the motion state and trajectory of the mover moving to a predetermined position at a specified speed and along a specified path within a specified time, satisfying the design requirements. That is, by adjusting the first control parameter, the motion of the mover is ensured to accurately conform to this predetermined target, achieving the desired motion effect.

[0138] The second control parameter refers to the new control parameter obtained after adjusting the position loop. The third control parameter refers to the new control parameter obtained after adjusting the speed loop.

[0139] Among them, the adjustment termination condition refers to the condition under which the system determines that the adjustment is complete and the motion has reached the expected accuracy.

[0140] In step C1, based on the target position and target velocity trajectory, combined with the motor model and control algorithm, the current input signal required to drive the motor is calculated. This signal determines the magnitude of the motor output torque, thereby controlling the movement of the mover. Therefore, the ideal first current loop input data is calculated.

[0141] In step C2, the system acquires the weight of the target workpiece and, based on a preset physical model (such as F=ma), proportionally amplifies or adjusts the first current loop input data to generate the second current loop input data.

[0142] In step C3, the second current loop input data is used to drive the loaded mover, and at the same time, the position and velocity are recorded throughout the process by the position detection unit, that is, the target position and velocity corresponding to each time point are obtained, forming the first target motion parameters.

[0143] In step C4, the baseline motion parameters (i.e., the trajectory optimized under no-load conditions) are retrieved, including the baseline position and velocity at each time point.

[0144] In step C5, the first target motion parameters (measured under load) are compared point by point with the reference motion parameters (ideal standard) to obtain a comparison result regarding position and velocity.

[0145] In step C6, it is determined whether the errors in the comparison results (such as the final position difference, the maximum speed difference, etc.) are within the allowable preset range.

[0146] If the deviation exceeds the preset allowable range, it indicates insufficient magnetic force of the mover or poor control effect, and the standard is not met. Alternatively, if the deviation is within the allowable range, the magnetic force is considered to meet the standard.

[0147] In step C7, if the target is not met, it is determined whether position loop adjustment (first adjustment type) or speed loop adjustment (second adjustment type) is required based on the deviation characteristics.

[0148] If the final position error or the overall time error is found to be the main problem, it is determined to be the first type of adjustment (position problem).

[0149] If speed fluctuations (RMSE, maximum speed difference) are found to be the primary issue, then it is classified as a second type of adjustment (speed problem). Both problems may coexist, therefore they are related as "and / or".

[0150] In step C8, the logic from the first adjustment is reused. Based on the position difference under load, the control parameters are fine-tuned (for example, by adding a little more acceleration) to generate the second control parameters. That is, the position control loop parameters (such as proportional, integral, and derivative coefficients) are adjusted.

[0151] In step C9, the logic of the second adjustment is reused. Based on the speed difference sequence under load, it generates a more refined current compensation scheme to obtain the third control parameter, which is the adjustment speed control loop parameter. In step C10, the motion of the mover is recontrolled using the adjusted control parameters. Real-time data of the mover's actual motion is collected, and trajectory diagrams of the actual position versus time and velocity versus time are plotted. These trajectory diagrams reflect the motion performance of the mover after adjustment and are an important basis for judging the adjustment effect. For example, after adjustment, the position error is significantly reduced, the velocity curve is smoother, and the motion is more stable.

[0152] In step C11, the error between the actual trajectory and the preset trajectory is calculated. If the error meets the preset accuracy requirements, the adjustment is considered complete, and the termination condition is met. At this point, the current second control parameter and / or third control parameter is determined as the final first control parameter, serving as the standard configuration for subsequent motion control.

[0153] For example, the position error is controlled within ±1mm and the speed error is controlled within ±0.1mm / s, meeting production requirements.

[0154] This first control parameter is bound to the mover's identification code and the workpiece's weight information and stored. In the future, when this mover needs to carry a workpiece of the same weight, the system can directly call this parameter to achieve perfect motion without further adjustment.

[0155] For example, the target position and time trajectory show that the mover needs to move 1000mm within 10 seconds, with a smooth acceleration-constant speed-deceleration process. The target workpiece weighs 5kg. The system adjusts the current input based on this weight to ensure sufficient magnetic force. After calculating the first current loop input, the system adjusts it to a second current loop input suitable for a 5kg load. After the mover moves, the first target motion parameters are collected. Comparing them with the reference motion parameters reveals a position deviation exceeding 3mm, indicating insufficient magnetic force. The deviation type is analyzed as position error, and position loop adjustment is performed to obtain the second control parameter. The mover is re-controlled, and the actual trajectory is collected. The error is reduced to within 1mm, meeting the requirements, and the adjustment terminates. Finally, the first control parameter is determined to ensure stable and accurate subsequent movement of the mover.

[0156] As can be seen, this embodiment effectively reduces position and velocity errors in the movement of the mover by repeatedly comparing the target motion parameters with the reference parameters and dynamically adjusting the position and velocity loops based on the deviations, achieving high-precision motion control. Furthermore, adjusting the current input according to the target workpiece weight allows the system to adapt to motion requirements under different load conditions, ensuring stable operation of the mover under various load states and improving the system's adaptability and robustness. Moreover, by collecting and comparing motion parameters in real time, the system can quickly detect control deviations and automatically adjust control parameters, forming closed-loop adaptive control, improving control response speed and stability. Furthermore, by judging whether the mover's magnetic force meets the standard, it ensures that the current and magnetic force meet the motion requirements, avoiding motion loss of control or performance degradation due to insufficient magnetic force, improving system safety and reliability. Finally, after multiple rounds of adjustments, the mover's motion trajectory is highly consistent with the preset trajectory, ensuring motion stability and product quality consistency during the production process. In summary, the S50, through dynamic adjustment and feedback control, effectively improves the accuracy, stability, and adaptability of the mover's motion, enhances system reliability and production efficiency, and has significant engineering application value.

[0157] This method achieves refined and closed-loop optimization of mover motion control by setting up a hierarchical adjustment mechanism for position and velocity loops. First, position loop adjustment ensures the mover can overcome its own magnetic force deviation and reach the target position on time and accurately, solving the fundamental problem of failure to reach the target position or position overshoot caused by excessive or insufficient magnetic force. Then, velocity loop adjustment smoothly corrects velocity fluctuations during motion, ensuring smooth movement between the start and end points. Combined with the closed-loop adjustment of position and velocity loops, precise correction of the mover's motion state is achieved. Finally, the target velocity and time trajectory diagram obtained from the adjustment is used to generate the first control parameters, enabling the target mover to run smoothly according to the preset target position, velocity, and time trajectory, significantly improving the accuracy and reliability of motion control.

[0158] It should be noted that in the above embodiments, there is no necessarily a certain order between the steps. Those skilled in the art can understand from the description of the embodiments of this application that the above steps may have different execution orders in different embodiments, that is, they may be executed in parallel or in turn, etc.

[0159] As another aspect of the embodiments of this application, this application provides a method for controlling the mover of a transmission line. The method for controlling the mover of a transmission line can be a software module, which includes several instructions stored in a memory. A processor can access the memory, call the instructions, and execute them to complete the method for controlling the mover of the transmission line described in the various embodiments above.

[0160] See Figure 3 , Figure 3 This is a schematic diagram of the structure of a mover control device for a transmission line provided in an embodiment of this application. Figure 3 As shown, the mover control device for the transmission line includes: The control unit 301 is used to control the movement of the target mover in the transmission line according to the preset position and time trajectory diagram to obtain the actual position and time trajectory diagram; Adjustment unit 302 is used to perform position loop adjustment processing on the target mover according to the actual position and time trajectory diagram and the preset position and time trajectory diagram to obtain the target position and time trajectory diagram; The control unit 301 is also used to control the movement of the target mover according to the target position and time trajectory diagram to obtain the actual speed and time trajectory diagram; The adjustment unit 302 is further configured to perform a speed loop adjustment process on the target mover according to the actual speed and time trajectory diagram and the preset speed and time trajectory diagram corresponding to the target mover, so as to obtain the target speed and time trajectory diagram. The determining unit 303 is used to obtain a first control parameter based on the target velocity and time trajectory diagram. The first control parameter is used to control the target mover to achieve target motion.

[0161] This method achieves refined and closed-loop optimization of mover motion control by setting up a hierarchical adjustment mechanism for position and velocity loops. First, position loop adjustment ensures the mover can overcome its own magnetic force deviation and reach the target position on time and accurately, solving the fundamental problem of failure to reach the target position or position overshoot caused by excessive or insufficient magnetic force. Then, velocity loop adjustment smoothly corrects velocity fluctuations during motion, ensuring smooth movement between the start and end points. Combined with the closed-loop adjustment of position and velocity loops, precise correction of the mover's motion state is achieved. Finally, the target velocity and time trajectory diagram obtained from the adjustment is used to generate the first control parameters, enabling the target mover to run smoothly according to the preset target position, velocity, and time trajectory, significantly improving the accuracy and reliability of motion control.

[0162] The mover control method for the transmission line can also be built using hardware devices. For example, the mover control method for the transmission line can be built using one or more chips, which can work together to complete the mover control method for the transmission line described in the various embodiments above. Furthermore, the mover control method for the transmission line can also be built using various logic devices, such as general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontrollers, ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0163] It should be noted that the aforementioned transmission line mover control device can execute the transmission line mover control method provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the embodiments of the transmission line mover control device can be found in the transmission line mover control method provided in the embodiments of this application.

[0164] See Figure 4 , Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. The computer device includes one or more processors 41 and a memory 42. The memory 42 is connected to one or more processors 41, for example, via a bus.

[0165] Processor 41 is configured to support the computer device in performing the corresponding functions in the methods described in the above method embodiments. Processor 41 may be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0166] Memory 42 is used to store program code, etc. Memory 42 may include volatile memory (VM), such as random access memory (RAM); memory 42 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); memory 42 may also include combinations of the above types of memory.

[0167] The memory 42 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle diagnostic method in the embodiments of this application. The processor 41 executes various functional applications and data processing of the vehicle diagnostic method and computer device by running the non-volatile software programs, instructions, and modules stored in the memory, that is, it realizes the functions of the various modules or units of the vehicle diagnostic method and computer device provided in the above method embodiments.

[0168] The memory 42 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function. The data storage area may store data created based on the use of the vehicle diagnostic device, etc. In some embodiments, the memory 42 may optionally include memory remotely located relative to the processor, which can be connected to the vehicle diagnostic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0169] The one or more modules are stored in the memory. When executed by the one or more processors, they perform the transmission line mover control method in any of the above method embodiments. For example, they perform the method steps described in the above method embodiments to realize the functions of the modules described in the above device embodiments.

[0170] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the method described in the foregoing embodiments.

[0171] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0172] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A method of controlling a mover of a transmission line, characterized by, The method is applied to a transmission system, and comprises the following steps: According to a preset position-time trajectory, the motion of a target mover in a transmission line is controlled to obtain an actual position-time trajectory; According to the actual position-time trajectory and the preset position-time trajectory, a position loop adjustment process is performed on the target mover to obtain a target position-time trajectory; According to the target position-time trajectory, the motion of the target mover is controlled to obtain an actual velocity-time trajectory; According to the actual velocity-time trajectory and a preset velocity-time trajectory corresponding to the target mover, a velocity loop adjustment process is performed on the target mover to obtain a target velocity-time trajectory; According to the target velocity-time trajectory, a first control parameter is obtained, which is used to control the target mover to realize target motion.

2. The method of claim 1, wherein, The position loop adjustment process performed on the target mover according to the actual position-time trajectory and the preset position-time trajectory to obtain the target position-time trajectory comprises the following steps: The actual position-time trajectory and the preset position-time trajectory are compared to obtain a first position difference between a first actual position in the actual position-time trajectory and a first preset position in the preset position-time trajectory; and / or The actual position-time trajectory and the preset position-time trajectory are compared to obtain a first time difference between a first actual time in the actual position-time trajectory and a first preset time in the preset position-time trajectory; If the absolute value of the first position difference is greater than a first preset threshold and / or the absolute value of the first time difference is greater than a second preset threshold, the position loop adjustment process is performed on the target mover to obtain the target position-time trajectory.

3. The method of claim 2, wherein, If the absolute value of the first position difference is greater than a first preset threshold and / or the absolute value of the first time difference is greater than a second preset threshold, the position loop adjustment process is performed on the target mover to obtain the target position-time trajectory, which comprises the following steps: If the first position difference is less than 0, it is determined that the mover magnetic force of the mover is less than a preset standard magnetic force, and then a first adjustment parameter is obtained by performing a position loop adjustment process on the target mover according to a first adjustment strategy; or If the first position difference is greater than 0, it is determined that the mover magnetic force of the mover is greater than the preset standard magnetic force, and then a second adjustment parameter is obtained by performing a position loop adjustment process on the target mover according to a second adjustment strategy; or If the first time difference is less than 0, it is determined that the mover magnetic force of the mover is greater than the preset standard magnetic force, and then a third adjustment parameter is obtained by performing a position loop adjustment process on the target mover according to a third adjustment strategy; or If the first time difference is greater than 0, it is determined that the mover magnetic force of the mover is less than the preset standard magnetic force, and then a fourth adjustment parameter is obtained by performing a position loop adjustment process on the target mover according to a fourth adjustment strategy. According to the first adjustment parameter and / or the second adjustment parameter and / or the third adjustment parameter and / or the fourth adjustment parameter, the target position-time trajectory diagram is obtained.

4. The method of claim 1, wherein, The speed loop adjustment processing is performed on the target mover according to the actual speed-time trajectory diagram and the preset speed-time trajectory diagram corresponding to the target mover, so that a target speed-time trajectory diagram is obtained, which comprises: The actual speed-time trajectory diagram is subjected to numerical difference processing, so that an actual speed-time numerical data sequence corresponding to the actual speed-time trajectory diagram is obtained; A preset speed-time numerical data sequence in the preset speed-time trajectory diagram corresponding to the target mover is obtained; The actual speed-time numerical data sequence and the preset speed-time numerical data sequence are subjected to difference calculation at each time point, so that a first difference value at each time point is obtained; According to the first difference value at each time point, it is judged whether the mover magnetic force of the target mover meets the standard or not. If not, the target mover is subjected to speed loop adjustment processing according to the first difference value at each time point, so that a target speed-time trajectory diagram is obtained; or If yes, the actual speed-time trajectory diagram is determined as the target speed-time trajectory diagram.

5. The method of claim 4, wherein, According to the first difference value at each time point, it is judged whether the mover magnetic force of the target mover meets the standard or not, which comprises: The first difference values at all time points are traversed, so that a second difference value is obtained, the second difference value being the first difference value with the largest value; If the absolute value of the second difference value is not within a third threshold range, it is determined that the mover magnetic force of the target mover does not meet the standard; or According to the first difference value at each time point, it is judged whether the mover magnetic force of the target mover meets the standard or not, when a preset abnormal standard is reached, it is determined that the mover magnetic force of the target mover does not meet the standard.

6. The method of claim 4, wherein, If not, the target mover is subjected to speed loop adjustment processing according to the first difference value at each time point, so that a target speed-time trajectory diagram is obtained, which comprises: The first difference value at each time point is subjected to error analysis, so that error information at each time point is obtained; The error information at each time point is subjected to adjustment processing, so that a fifth adjustment parameter at each time point is obtained; The target mover is controlled to move according to the fifth adjustment parameter at each time point, so that the target speed-time trajectory diagram is obtained.

7. The method of claim 1, wherein, According to the target speed-time trajectory diagram, a first control parameter is obtained, which comprises: According to the obtained target workpiece weight, the target position-time trajectory diagram and the target speed-time trajectory diagram, the target mover is controlled to move, so that a first target motion parameter corresponding to the target mover is obtained; The first target motion parameter is subjected to adjustment processing, so that the first control parameter is obtained.

8. The method of claim 7, wherein, According to the target position-time trajectory diagram and the target speed-time trajectory diagram, a first current loop input data is obtained, which comprises: According to the target position-time trajectory diagram and the target speed-time trajectory diagram, a first current loop input data is obtained, which comprises: The first current loop input data is adjusted according to the target workpiece weight, and second current loop input data is obtained; The target mover is controlled according to the second current loop input data, and first target motion parameters corresponding to the target mover are obtained, the first target motion parameters including target positions and target speeds corresponding to each time point in a motion process.

9. The method of claim 7, wherein, The first target motion parameters are adjusted to obtain first control parameters, including: Reference motion parameters of the target mover are obtained, the reference motion parameters including reference positions and reference speeds corresponding to each time point in a motion process; The first target motion parameters and the reference motion parameters are compared to obtain a comparison result; It is determined whether a mover magnetic force of the target mover meets a standard according to the comparison result; If the standard is not met, a first adjustment type and / or a second adjustment type are obtained by analyzing the comparison result; When the first adjustment type is selected, position loop adjustment processing is performed on the first target motion parameters to obtain second control parameters; or When the second adjustment type is selected, speed loop adjustment processing is performed on the first target motion parameters to obtain third control parameters; The first control parameters are obtained by combining the second control parameters and / or the third control parameters.

10. The method of claim 9, wherein, The first control parameters are obtained by combining the second control parameters and / or the third control parameters, including: Actual position and speed and time trajectory graphs corresponding to the target mover are obtained according to the second control parameters and / or the third control parameters; If a trajectory error between the actual position and speed and time trajectory graphs and preset speed and time trajectory graphs is within a preset range, it is determined that an adjustment termination condition is met, and the first control parameters are obtained by combining the second control parameters and / or the third control parameters.

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