Magnetic drive control method and system, computer equipment, medium and program product

Abstract

The invention relates to a magnetic drive control method and system, computer equipment, a computer readable storage medium and a computer program product. The method is applied to a control device of the magnetic drive control system. The magnetic drive control system comprises a main shaft, a plurality of auxiliary shafts connected with the main shaft through electronic cams and the control device. The method comprises the steps that in response to a motion control instruction, spindle motion data and cam control data of a spindle are obtained; wherein the cam control data comprises a corresponding relation between the motion data of the main shaft and the cooperative motion data of each slave shaft; according to a motion control parameter carried by the motion control instruction, determining a motion mode of each slave axis; for each slave shaft, determining collaborative motion data matched with the motion mode according to the main shaft motion data and the cam control data; and according to the cooperative motion data, each slave shaft is controlled by an electronic cam to complete magnetic drive motion. By adopting the method, the control accuracy of the complex master-slave axis cooperative motion can be improved.

Description

Technical Field

[0001] This application relates to the field of magnetic drive motion control technology, and in particular to a magnetic drive control method, device, computer equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] Currently, for motion control of magnetic drive conveyor systems, traditional solutions have long relied on electronic gear synchronization technology as the core means of master-slave shaft coordination. The basic principle of electronic gear synchronization technology is to rigidly couple the master and slave shafts by setting a fixed master-slave gear ratio, enabling the slave shaft to follow the master shaft at a speed linearly proportional to its speed. This technology can directly define the speed ratio between the master and slave shafts by adjusting the numerator and denominator parameters of the gear ratio, thereby achieving basic synchronization control requirements.

[0003] However, as magnetic drive conveyor systems are increasingly used in complex production scenarios, the limitations of electronic gear synchronization technology are becoming more and more apparent. Electronic gear synchronization can only achieve a linear relationship between the position of the driven shaft and the master shaft, and cannot support the driven shaft to perform complex nonlinear motion trajectories. When the production process requires the driven shaft to perform complex actions, the control accuracy of traditional electronic gear synchronization technology can no longer meet the actual needs. Summary of the Invention

[0004] Therefore, it is necessary to provide a magnetic drive control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the control accuracy of complex master-slave axis coordinated motion in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a magnetic drive control method, the method being applied to a control device of a magnetic drive control system, the magnetic drive control system including a spindle, a plurality of slave axes connected to the spindle via electronic cams, and the control device; the method includes:

[0006] In response to motion control commands, the spindle motion data and cam control data of the main spindle are acquired; wherein, the cam control data includes the correspondence between the spindle motion data and the coordinated motion data of each slave axis;

[0007] The motion mode of each slave axis is determined based on the motion control parameters carried by the motion control command;

[0008] For each of the slave axes, based on the spindle motion data and the cam control data, cooperative motion data matching the motion mode is determined;

[0009] Based on the coordinated motion data, the electronic cam controls each of the slave axes to complete the magnetic drive motion.

[0010] In one embodiment, the cam control data further includes a cam mapping table set; the step of determining, for each slave axis, cooperative motion data matching the motion mode based on the master axis motion data and the cam control data includes:

[0011] For each of the slave axes, a target mapping table is selected from the cam mapping table set according to the motion mode; the target mapping table is used to record the mapping relationship between the main shaft motion data and the target displacement data of each of the slave axes.

[0012] Search the target entry in the target mapping table that corresponds to the spindle motion data;

[0013] Extract the cooperative motion data corresponding to the slave axis from the target table entry.

[0014] In one embodiment, the method further includes:

[0015] If there is no target entry in the target mapping table corresponding to the spindle motion data, the target data range is determined based on the spindle motion data and the values ​​of each entry in the target mapping table.

[0016] Based on the spindle motion data and the target data range, calculate the corresponding cooperative motion data of the slave axis.

[0017] In one embodiment, the cam control data further includes cam curve data; the step of determining, for each of the slave axes, cooperative motion data matching the motion mode based on the master spindle motion data and the cam control data includes:

[0018] For each of the slave axes, a target calculation curve is selected based on the motion mode and the cam curve data;

[0019] Based on the target calculation curve and the main axis motion data, calculate the cooperative motion data.

[0020] In one embodiment, the motion mode includes a cyclic motion mode and a clutch motion mode, the cyclic motion mode and the clutch motion mode being executed alternately; the step of controlling each of the slave shafts to complete the magnetic drive motion through the electronic cam based on the coordinated motion data includes:

[0021] When the motion mode is a cyclic motion mode, cyclic motion control parameters are calculated based on the coordinated motion data; the cyclic motion control parameters include at least one of round-trip motion amplitude data, round-trip motion cycle data, and motion synchronization phase data.

[0022] Based on the cyclic motion control parameters, a cyclic configuration instruction is generated and sent to the electronic cam to control each of the slave axes to complete the magnetic drive motion;

[0023] When the motion mode is the clutch motion mode, clutch motion control parameters are calculated based on the coordinated motion data; the clutch motion control parameters include at least one of disengagement trigger position data, reconnection trigger position data, and independent motion trajectory data.

[0024] Based on the clutch motion control parameters, a clutch configuration command is generated and sent to the electronic cam to control each slave shaft to complete the magnetic drive motion.

[0025] In one embodiment, after controlling each of the slave shafts to complete the magnetic drive motion via the electronic cam based on the cooperative motion data, the method further includes:

[0026] The motion control parameters are updated according to the motion completion status of each slave axis.

[0027] Based on the motion control parameters, an unbinding command is generated and sent to the electronic cam to control the unbinding of each slave axis from the main axis.

[0028] Secondly, this application also provides a magnetic drive control system, including:

[0029] The spindle is used to complete spindle movement in response to motion control commands;

[0030] Control device, configured to respond to the motion control command, execute the magnetic drive control method as described in the first aspect, and generate cam control command;

[0031] An electronic cam is used to receive the cam control command and control the corresponding slave axis to complete the coordinated motion according to the cam control command;

[0032] Multiple slave axes are connected to the main shaft via the electronic cam.

[0033] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps described in the first aspect.

[0034] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps described in the first aspect.

[0035] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps described in the first aspect.

[0036] The aforementioned magnetic drive control method, apparatus, computer equipment, computer-readable storage medium, and computer program product are described. The method is applied to the control device of a magnetic drive control system. The magnetic drive control system includes a main spindle, multiple slave shafts connected to the main spindle via electronic cams, and a control device. The electronic cam serves as the connection mechanism between the main and slave shafts, replacing the fixed gear ratio connection in traditional schemes. This fundamentally changes the connection method between the main and slave shafts in traditional electronic gear synchronization. The synchronization reference of the electronic cam is the position of the main spindle rather than its instantaneous speed; therefore, the acceleration and deceleration process of the main spindle does not affect the positional accuracy of the slave shafts, making the synchronization relationship more stable and the control more precise. By responding to motion control commands, the system obtains… The system acquires the spindle motion data and cam control data. The cam control data includes the correspondence between the spindle motion data and the coordinated motion data of each slave axis. Based on the motion control parameters carried by the motion control command, the motion mode of each slave axis is determined, realizing the dynamic determination of the motion mode. For each slave axis, based on the spindle motion data and cam control data, coordinated motion data matching the motion mode is determined. Based on the coordinated motion data, each slave axis is controlled by an electronic cam to complete the magnetic drive motion, enabling multiple slave axes to coordinate with a single spindle. This achieves the calculation and execution control of complex motion trajectories and improves the control accuracy of complex master-slave axis coordinated motion. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the magnetic drive control system architecture in one embodiment;

[0039] Figure 2 This is a flowchart illustrating a magnetic drive control method in one embodiment;

[0040] Figure 3 This is a flowchart illustrating step S206 of the magnetic drive control method in one embodiment;

[0041] Figure 4 This is an example diagram illustrating a slave-axis application scenario in a magnetic drive control system according to one embodiment;

[0042] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0043] 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.

[0044] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0045] The magnetic drive control method provided in this application embodiment can be applied to, for example... Figure 1 The magnetic drive control system shown may include: a spindle, used to complete spindle movement in response to motion control commands; a control device, used to execute the magnetic drive control method provided in this embodiment in response to motion control commands and generate cam control commands; an electronic cam, used to receive cam control commands and control the corresponding slave axis to complete cooperative movement according to the cam control commands; and multiple slave axes connected to the spindle through the electronic cam.

[0046] In practical applications, the spindle can be a servo motor-driven transmission shaft device, providing the main power source and motion reference for the entire magnetic drive conveyor system, enabling displacement or rotational motion. The control device can be an industrial controller, a programmable logic controller (PLC), or a dedicated motion controller, etc., used to receive motion control commands from a host computer or operation panel, execute motion trajectory planning and collaborative control algorithms, and generate corresponding cam control commands to send to each electronic cam unit.

[0047] As an intelligent transmission mechanism between the master and slave shafts, the electronic cam can employ an electronic transmission module with programmable transmission ratio or a software-defined virtual cam controller. It can dynamically adjust transmission characteristics based on received cam control commands, establishing a flexible and variable motion relationship between the master and slave shafts. In practical applications, multiple slave shafts can correspond to multiple carriage units in a magnetically driven conveyor system. Each carriage can be equipped with an independent magnetic drive device and position detection sensor. Through the electronic cam establishing a collaborative control relationship with the master shaft, it can perform various complex process actions while following the master shaft's movement, such as material gripping, precise positioning, and cyclic reciprocating motion.

[0048] In one exemplary embodiment, such as Figure 2 As shown, a magnetic drive control method is provided, which is applied to... Figure 1 Taking the control device in the middle as an example, the description includes the following steps S202 to S208. Wherein:

[0049] Step S202: In response to the motion control command, acquire the spindle motion data and cam control data.

[0050] The spindle motion data can be positional information describing the absolute position of the spindle. Unlike traditional electronic gear synchronization, which focuses on instantaneous speed and angle information, electronic cams use position reference control. For example, in a linear magnetic drive system, the spindle motion data might be that the spindle is 300 mm from the starting point; in a rotary magnetic drive system, it might be that the spindle is at the 150th degree absolute position point in its rotation cycle. This synchronization reference based on absolute position ensures that the coordinated motion of the slave shaft is unaffected by the instantaneous speed of the spindle. Once the spindle reaches a specific absolute position point, the slave shaft must precisely reach the corresponding position specified in the cam control data, thus achieving stable and reliable position synchronization control. In addition, the spindle motion data can also include data such as spindle speed, acceleration, and travel distance, which can help determine or predict position information.

[0051] In the aforementioned position reference synchronization mode, the cam control data includes the correspondence between the absolute position of the master shaft and the target positions of each slave shaft. The cam control data also includes the correspondence between the master shaft motion data and the coordinated motion data of each slave shaft, describing the position state that each slave shaft should achieve when the master shaft is in any given absolute position. For example, when the master shaft is at an absolute position of 100 mm, the first slave shaft carriage should be located 50 mm from its starting point, and the second slave shaft carriage should be located 80 mm from its starting point in a specific working posture. This position correspondence allows the electronic cam to easily achieve arbitrarily complex motion control such as acceleration, constant speed, deceleration, and dwell, because regardless of how the master shaft changes its speed, the position of the slave shaft is always strictly controlled according to the position correspondence in the cam control data, ensuring high stability and positional accuracy of the synchronization relationship.

[0052] For example, after receiving a motion control command, the control device can directly acquire the target displacement data of the spindle as the spindle motion data. In some embodiments, the current absolute position data of the spindle can also be acquired in real time as the spindle motion data through a high-precision position detection system, which can be obtained through an absolute encoder, linear grating ruler, or other high-precision position measurement devices. Further, the control device can load corresponding position correspondence data from a pre-established cam control database according to the task identifier in the motion control command. The cam control data can be constructed based on position mapping relationships, where each data item defines the correspondence between a specific absolute position of the spindle and the target position of each slave axis, enabling the control device to directly determine the target position that each slave axis should reach based on the current position of the spindle, without considering the speed or motion process of the spindle reaching that position. The control device can verify the integrity and consistency of the position correspondence when loading the cam control data, ensuring coverage of all position points within the entire motion stroke range, and checking whether the position changes between adjacent position points are within the motion capability range of the slave axis mechanical system.

[0053] In some embodiments, the control device can also implement a multi-dimensional position synchronization control scheme. The spindle motion data can include not only one-dimensional position information, but also composite position state information of the spindle in multi-dimensional space. For complex magnetic drive systems with multi-degree-of-freedom motion, the control device can acquire the absolute position coordinates and rotation angle position of the spindle in the XYZ three-dimensional space, establish a composite correspondence between the multi-dimensional position and the slave axis position, and realize spatial position synchronization control.

[0054] Step S204: Determine the motion mode of each slave axis according to the motion control parameters carried by the motion control command.

[0055] Motion control parameters refer to the set of digital parameters carried in motion control commands to describe specific positional motion requirements or process positional requirements. For example, in an electronic product assembly line, motion control parameters may include parameters based on absolute position definitions, such as spindle motion stroke, position amplitude of slave axis cyclic motion, data on the relationship between the disengagement trigger position point and the spindle position, and data on the relationship between the reconnection trigger position point and the spindle position. They may also include parameter identifiers representing preset specific motion modes.

[0056] The motion modes can include several basic types such as Loop motion mode, Clutch motion mode, and Unbind motion mode. For example, Loop motion mode refers to the slave axis following the position change of the master axis and performing periodic reciprocating position changes based on the absolute position of the master axis, achieving cyclic reciprocating position movement during the master axis's forward movement; Clutch motion mode refers to the slave axis disengaging from position synchronization when the master axis reaches a specific absolute position, executing an independent process position sequence, and re-establishing position synchronization when the master axis reaches another specific position; Unbind motion mode refers to the slave axis completely dissynchronizing from the master axis after completing one position movement cycle, moving to a safe position and remaining stationary.

[0057] For example, the control device can automatically determine the type of position control mode required for the current motion task by analyzing the position sequence characteristics, position change patterns, and position triggering conditions in the motion control parameters. The control device can directly determine the motion mode based on the aforementioned preset parameter identifiers, or it can analyze position-related information in the motion control parameters, including the start and end points of the spindle's motion stroke, the range of change in the slave axis's target position, the accuracy requirements for position synchronization, and the setting conditions for position triggering events. Through combined analysis of these position characteristic parameters, the most suitable motion mode can be determined. For instance, when the motion control parameters include characteristic parameters such as reciprocating position amplitude, position cycle interval, and position phase offset, the control device can identify a Loop motion mode requirement. In this mode, the slave axis needs to perform superimposed periodic reciprocating position movements based on the absolute position of the spindle while following the position changes of the spindle. When the motion control parameters include characteristic parameters such as disengagement position points, independent motion position sequences, and reconnection position points, the control device identifies a Clutch motion mode requirement. In this mode, the slave axis needs to disengage from the spindle at a specific spindle position point and execute an independent position movement sequence. When the motion control parameters include characteristic parameters such as unbinding trigger position, safe stop position, and position holding requirements, the control device recognizes it as an Unbind motion mode requirement.

[0058] Furthermore, the control device can establish position constraint verification during the motion mode determination process to ensure that the determined motion mode can be executed safely and reliably under given position range and mechanical constraints. The control device can analyze the position movement capability, position accuracy limit, mechanical travel range, and other constraints of each slave axis to verify whether the selected motion mode is within the allowable range of these constraints. For multiple slave axes that need to work collaboratively, the control device can uniformly plan the position movement sequence to ensure that no spatial conflict or positional interference occurs during the position movement of each slave axis, thus guaranteeing the safe and coordinated operation of the multi-slave axis system.

[0059] For example, when motion control parameters indicate that the slave axis carriage needs to perform periodic reciprocating position movements, the control device can activate the Loop motion mode. The control device can analyze the reciprocating position amplitude setting in the parameters to determine the maximum offset distance of the slave axis relative to the base following position in the vertical or horizontal direction; analyze the position cycle interval setting to determine the range of the main shaft position for the slave axis to perform reciprocating motion; and analyze the position synchronization phase setting to determine the initial offset relationship of the slave axis's reciprocating motion relative to the main shaft position. The control device can determine the specific type of cyclic motion based on these position characteristic parameters. When motion control parameters indicate that the slave axis carriage needs to disengage from the main shaft at a specific position point to perform independent process actions, the control device will activate the Clutch motion mode. The control device can analyze the disengagement trigger position setting in the parameters to determine the precise position point at which the slave axis begins to disengage from the main shaft position synchronization; it can analyze the independent motion position sequence setting to determine the various position points and position change trajectories that the slave axis needs to reach during disengagement; and it can also analyze the reconnection trigger position setting to determine the position point at which the slave axis re-establishes position synchronization with the main shaft after completing the independent action.

[0060] For grasping-type processes, the independent motion position sequence can include positional change processes such as moving from the current position to the workpiece position, performing a grasping action at the workpiece position, and carrying the workpiece to a designated position; for placement-type processes, the independent motion position sequence includes positional change processes such as moving to the target position, performing a workpiece placement action, and returning to the synchronous position; for detection-type processes, the independent motion position sequence includes positional change processes such as moving to the detection position, maintaining the position for detection, and moving to the corresponding position based on the detection result.

[0061] Furthermore, when processing the Unbind motion mode, the control device can analyze the setting requirements related to the unbinding position in the motion control parameters. The control device can determine the positional conditions for triggering the unbinding, which may be the main spindle reaching a specific position point, the slave axis completing a movement, or the slave axis completing a specific positional movement sequence. Then, it can determine the safe position that the slave axis needs to move to during the unbinding process, ensuring that after unbinding, the slave axis is in a positional state that will not affect system safety and the next movement.

[0062] For example, taking the use of a PLC as the control device to implement the above steps, three independent PLC programs can be used to implement the three actions of Loop cyclic motion, Clutch engagement / disengagement motion, and Unbind disengagement motion, respectively. A scheduling mechanism is used to achieve a cyclic control flow of "Loop → Unbind → Clutch → Unbind → Loop". The control device can schedule each motion mode through one or more preset control registers. These registers can record information such as the motion mode or type of the previous action, and the current action trigger state. A motion mode can include multiple motion types, and the motion displacement and direction may differ for different motion types. The control device can use an action completion signal to indicate whether the current motion has ended. The trigger condition for the action completion signal can be set according to the spindle motion completion state.

[0063] In some embodiments, for complex process requirements that simultaneously incorporate multiple positional motion characteristics within a single motion cycle, the control device can also support the determination of hybrid positional motion modes. For example, while performing basic position following, the slave axis superimposes cyclic reciprocating motion within a specific position range and performs a brief disengagement action at another position point, forming a Loop-Clutch-Follow composite positional motion mode. The control device can analyze the parametric characteristics of this composite positional motion requirement to determine the corresponding hybrid motion mode execution strategy.

[0064] In some embodiments, the control device can also implement an adaptive position motion mode optimization function, dynamically adjusting the motion mode selection strategy based on real-time position execution effect and process quality feedback. When it is detected that the position accuracy or execution efficiency of a certain motion mode cannot meet the process requirements, or the result of the previous collaborative motion of the slave axis does not meet the inspection pass conditions, the control device can automatically switch to a more suitable motion mode, or optimize and adjust the position parameters of the current motion mode.

[0065] Through the above steps, pattern recognition based on position parameters enables the system to intelligently select the most suitable motion control strategy according to specific positional motion requirements, greatly improving the adaptability and flexibility of the magnetic drive control system to different process positional requirements. Diverse positional motion mode options and support for hybrid motion modes allow the system to meet various application needs, from simple linear position following to complex spatial position coordination, thus enhancing positional control capabilities.

[0066] Step S206: For each slave axis, determine the coordinated motion data that matches the motion mode based on the spindle motion data and cam control data.

[0067] Among them, the cooperative motion data refers to the target position state parameters that the slave axis needs to achieve in a specific motion mode, which may include position-related information such as the target displacement position of the slave axis, the target arrival time, and the position holding requirements.

[0068] The cam control data may also include a set of cam mapping tables. In the position synchronization control mode, the set of cam mapping tables refers to a collection of multiple cam mapping tables stored in the control device. Each mapping table establishes a correspondence between the absolute position of the master shaft and the target absolute position of the slave shaft. Different mapping tables can correspond to different motion modes and process requirements. For example, the cyclic motion mapping table defines the specific position requirements for the slave shaft to perform cyclic reciprocating motion at various position points when the master shaft is at each position point. The clutch motion mapping table defines the position sequence in which the slave shaft disengages from synchronization and performs independent actions within a specific position range.

[0069] For example, the control device can select a target mapping table from the cam mapping table set for each slave axis according to the motion mode; the target mapping table is used to record the mapping relationship between the main axis motion data and the target displacement data of each slave axis; the target table is searched for the target table entry corresponding to the main axis motion data; and the cooperative motion data corresponding to the slave axis in the target table entry is extracted.

[0070] The control device can construct a standardized mapping table library. The cam mapping table set contains multiple mapping tables with different functions, each recording the correspondence between the master axis position and the target displacement of the slave axis. Based on the loop motion parameters, four mapping tables can be constructed, namely cam mapping tables 1-4. Each cam mapping table can record the relationship between the master axis motion displacement and the corresponding slave axis motion displacement, and also record the position ratio between the two. Different cam mapping tables can record different data. Furthermore, two mapping tables can be constructed for the clutch motion, namely cam mapping tables 5-6, used for clockwise and counterclockwise motion respectively, which can also record the correspondence between the master axis displacement and the slave axis displacement.

[0071] Furthermore, the control device can select the corresponding target mapping table based on the current motion mode. During the execution of the Loop action, the control device can read the value of the register to determine the mode of the previous Loop action, and then select the corresponding target mapping table for each slave axis according to the current loop state. For example, when executing Loop 1, the slave axis moving from station group 1 to station group 2 selects cam mapping table 1 as the target mapping table, the slave axis moving from station group 2 to station group 3 selects cam mapping table 2, the slave axis moving from station group 3 to station group 4 selects cam mapping table 3, and the slave axis moving from station group 4 to station group 1 selects cam mapping table 4. When the state machine switches to Loop 2, the target mapping table selection rules for all slave axes are adjusted accordingly to ensure that each slave axis can select a target mapping table that matches its current motion requirements.

[0072] During the execution of the Clutch action, such as Figure 5 As shown, the control device can determine the mode of the previous Loop action based on the register value, and then determine the Clutch mode to be executed now. Taking Clutch1 as an example, when the trolley 3, which needs to perform separation motion, moves counterclockwise, cam mapping table 6 is selected as the target mapping table; when the trolley 4 moves clockwise, cam mapping table 5 is selected. When the trolley 7, which needs to perform closing motion, moves clockwise, cam mapping table 5 is selected; when the trolley 8 moves counterclockwise, cam mapping table 6 is selected. Trolley groups 1 and 3, which are located in the arc segment, do not need to be bound to the main shaft, so no mapping table is selected.

[0073] Furthermore, after determining the target mapping table, when the spindle position data precisely matches a certain index value in the mapping table, the control device can directly extract the slave axis target displacement data recorded in that entry.

[0074] In some embodiments, the extracted cooperative motion data may include not only the target displacement value of the slave axis, but also the displacement change rate and motion direction information. The control device can calculate the motion velocity and acceleration parameters of the slave axis by analyzing the displacement difference between adjacent entries, ensuring the smoothness and continuity of the slave axis motion. For counterclockwise motion in the Clutch operation, the displacement data extracted by the control device is marked with a negative sign, indicating that the slave axis needs to perform reverse motion.

[0075] Furthermore, if no target entry corresponding to the spindle motion data exists in the target mapping table, the control device can determine the target data range based on the spindle motion data and the values ​​of each entry in the target mapping table; and calculate the corresponding cooperative motion data for the slave axis based on the spindle motion data and the target data range. The control device can use various interpolation algorithms to calculate accurate cooperative motion data. For basic application scenarios, a linear interpolation algorithm can be used: Slave axis target displacement = preceding displacement + (subsequent displacement - preceding displacement) × (current spindle position - preceding position) / (subsequent position - preceding position).

[0076] Furthermore, the control device can also employ cubic spline interpolation to ensure continuity of the interpolation results across position, velocity, and acceleration. Cubic spline interpolation constructs a piecewise cubic polynomial function, maintaining the continuity of the function and its first and second derivatives within each data interval, eliminating potential abrupt changes and oscillations during interpolation. For specific process requirements, the control device can also employ Hermite interpolation and Bézier curve interpolation algorithms. Hermite interpolation considers not only the numerical values ​​of the position data points but also the derivative information at each point, better preserving the smoothness of the motion trajectory; Bézier curve interpolation, through adjustment of control points, enables more flexible trajectory shape control.

[0077] In some embodiments, the control device can also achieve adaptive accuracy adjustment, dynamically selecting the interpolation algorithm and calculation accuracy according to the accuracy requirements of different motion stages. During the high-speed motion stage of the Loop motion, a linear interpolation algorithm with high computational efficiency can be preferentially selected to improve real-time response performance while ensuring basic accuracy. During the precise positioning stage of the Clutch motion, a high-precision cubic spline interpolation algorithm can be automatically switched to ensure that the driven axis can accurately reach the target position. In addition, the control device can also select the calculation method according to the characteristics of different cam mapping tables. For cam mapping table 1 with a large position ratio, a higher interpolation accuracy can be used to ensure motion quality. For cam mapping table 6 with small position changes, a moderate interpolation accuracy can be used to balance computational efficiency and control accuracy.

[0078] After completing the interpolation calculation, the control device can also verify and correct the results. The verification process can include numerical rationality checks, physical constraint verification, and continuity analysis. Numerical rationality checks ensure that the interpolation results are within the expected numerical range, avoiding erroneous results caused by algorithm anomalies; physical constraint verification ensures that the displacement data obtained by interpolation does not exceed the mechanical travel limit of the slave axis; continuity analysis checks whether the interpolation results maintain a smooth transition with the data at previous and subsequent time points. When an anomaly in the interpolation result is detected, the control device can initiate an automatic correction program to obtain reliable coordinated motion data by reselecting the interpolation algorithm, adjusting calculation parameters, or using redundant data points.

[0079] In addition to the position coordination data determination method based on cam mapping tables, the control device can also implement a coordinated motion data calculation scheme based on continuous position functions. The control device can establish a continuous mathematical function relationship between the absolute position of the master axis and the target position of the slave axis. By substituting real-time master axis position data into a preset position function expression, the coordinated position data of the slave axis can be directly calculated. The position function can adopt various mathematical forms such as polynomial functions, piecewise linear functions, and spline functions, which can accurately describe various complex position correspondences.

[0080] Through the above steps, the control device can accurately determine the coordinated motion data matching the motion mode based on the absolute position of the spindle and cam control data, completely solving the fundamental problem that traditional electronic gear synchronization technology cannot achieve complex position trajectory control. The data determination mechanism based on absolute position mapping makes the position control of the slave axis completely independent of the spindle's speed changes. Regardless of whether the spindle moves quickly or slowly to a certain position, the slave axis can accurately reach the preset corresponding position, achieving truly stable and reliable position synchronization control and significantly improving the system's position accuracy and synchronization stability. Determining position data based on a cam mapping table set supports rapid switching and precise execution of various motion modes, achieving accurate position control from simple position following to complex cyclic reciprocating motion and independent movement, greatly improving the process adaptability and application range of the magnetic drive control system.

[0081] Step S208: Based on the coordinated motion data, the magnetic drive motion is completed by controlling each slave axis through electronic cams.

[0082] The motion mode can include a cyclic motion mode and a clutch motion mode, which are executed alternately.

[0083] For example, when the motion mode is a cyclic motion mode, the control device can calculate cyclic motion control parameters based on the coordinated motion data; the cyclic motion control parameters include at least one of reciprocating motion amplitude data, reciprocating motion cycle data, and motion synchronization phase data; based on the cyclic motion control parameters, a cyclic configuration command is generated and sent to the electronic cam to control each slave axis to complete the magnetic drive motion.

[0084] Among them, the cyclic motion control parameters refer to the set of dedicated parameters used to control the slave axis to perform cyclic reciprocating position motion based on the absolute position of the master axis. Based on the positional relationship definition, they include elements such as reciprocating motion amplitude data, reciprocating motion position cycle data, and motion synchronization phase data. For example, in a packaging production line, the reciprocating motion amplitude data may be set as the absolute position range of offset upward and downward from the reference following position by a preset offset amount. The reciprocating motion position cycle data is set as the slave axis completes one complete reciprocating position cycle for every preset distance moved by the master axis. The motion synchronization phase data is set as the slave axis starts to perform reciprocating position motion when the master axis is at a specific absolute position point.

[0085] For example, in this embodiment, the control device can analyze the current loop state and the positional relationship of the trolley based on the coordinated motion data to calculate the various control parameters required for the cyclic motion. The control device can calculate the reciprocating motion amplitude data based on the positional change characteristics in the coordinated motion data. Furthermore, the control device can intelligently calculate the reciprocating motion cycle data based on the spindle travel and process cycle requirements. The control device can design the reciprocating motion cycle data as a proportional relationship associated with the spindle travel, analyze the periodic change patterns in the coordinated motion data, identify the number of repetitions of the reciprocating motion in the spindle travel, determine the optimal reciprocating motion frequency based on production cycle requirements and motion smoothness requirements, and obtain the reciprocating motion cycle data by dividing the spindle travel by the number of reciprocating motions.

[0086] In some embodiments, the control device can also adaptively adjust the cycle. When it detects a need to improve production efficiency, it can automatically decrease the cycle data and increase the reciprocating frequency; when it detects an increase in motion quality requirements, it can automatically increase the cycle data and decrease the reciprocating frequency, achieving a dynamic balance between efficiency and quality. The control device can also calculate motion synchronization phase data based on multi-axis coordination requirements and process timing needs. Based on the coordinated motion requirements of the trolley group, the control device can assign unique phase offset parameters to each slave axis to ensure that the reciprocating motion between slave axes does not interfere with or collide with each other. The control device can analyze the relative positional relationship of each slave axis in the workstation group to determine the spatial safety interval requirements; then, based on the amplitude and cycle parameters of the reciprocating motion, it can calculate the optimal timing offset for each slave axis to begin its reciprocating motion; finally, it can convert the timing offset into phase data relative to the main axis position.

[0087] Furthermore, the control device can generate standardized cyclic configuration commands based on the calculated cyclic motion control parameters and send them to the electronic cam. The cyclic configuration commands can adopt a structured data format, comprising three parts: a command header, a parameter area, and a verification area. The command header can include information such as command type identifier, slave axis number, and priority; the parameter area can include parameters such as reciprocating motion amplitude data, reciprocating motion cycle data, and motion synchronization phase data; the verification area can include data integrity verification and communication error detection codes.

[0088] The control device can send cyclic configuration commands to the corresponding electronic cams via high-speed industrial Ethernet. The transmission protocol uses real-time Ethernet to ensure timely arrival and reliable reception of commands.

[0089] For example, when the motion mode is clutch motion mode, the control device can calculate clutch motion control parameters based on the coordinated motion data; the clutch motion control parameters include at least one of disengagement trigger position data, reconnection trigger position data, and independent motion trajectory data; based on the clutch motion control parameters, a clutch configuration command is generated and sent to the electronic cam to control each slave shaft to complete the magnetic drive motion.

[0090] Among them, the clutch motion control parameters refer to a set of special parameters used to control the slave axis to perform disengagement and independent position movements based on the absolute position of the master axis. These parameters include elements such as disengagement trigger position data, reconnection trigger position data, and independent motion trajectory data. For example, in an assembly line, the disengagement trigger position data may be set to the slave axis to start disengaging from synchronization when the master axis reaches the first preset absolute position, the reconnection trigger position data may be set to the slave axis to re-establish synchronization when the master axis reaches the second preset absolute position, and the independent motion trajectory data may be set to the complete position sequence in which the slave axis moves to the workpiece gripping position during disengagement and maintains that position to perform gripping actions.

[0091] For example, the control device can calculate the disengagement trigger position data based on the coordinated motion data and process timing requirements. Based on the Clutch motion description, the control device can analyze the position distribution of the trolley assembly in different loop states to determine the optimal spindle position point where the disengagement action needs to be performed. The control device can identify the timing indicators in the coordinated motion data where the slave axis needs to perform independent motion; then analyze the timing relationship between the spindle motion stroke and the slave axis process actions to determine the safe starting position for the disengagement action; finally, considering the dynamic characteristics and position accuracy requirements of the disengagement process, it sets precise trigger position data.

[0092] Furthermore, the control device can calculate the reconnection trigger position data based on the completion time of the independent action and the progress of the spindle motion. The determination of the reconnection trigger position can consider the execution duration of the independent action, the preparation time for slave axis return synchronization, and the continuity requirements of the spindle motion. The control device can analyze the independent action trajectory data to estimate the time required for the slave axis to complete the independent action; predict the expected position of the spindle when the slave axis completes the independent action based on the spindle motion speed and stroke arrangement; and determine the reconnection trigger position data by adding a safety margin to the expected position. Furthermore, the control device can encapsulate the calculated clutch motion control parameters into a clutch configuration command and send it to the corresponding electronic cam for execution. The clutch configuration command can include three parts: a disengagement control sub-command, an independent motion sub-command, and a reconnection control sub-command, ensuring the complete execution of the entire clutch action.

[0093] Furthermore, the control device can update motion control parameters based on the completion status of each slave axis; based on the motion control parameters, it generates unbinding commands and sends these commands to the electronic cams to control the unbinding of each slave axis from the main spindle. The control device can track the motion execution status of each slave axis in real time. For example, it can monitor the status changes of the main spindle motion completion signal to determine whether the current loop or clutch action has been completed. The control device can dynamically update motion control parameters based on the motion completion status and the requirements of the next action. The control device can clear all cam binding relationships for the current action, releasing electronic cam resources; recalibrate the position reference of each slave axis to eliminate accumulated errors; and preload the cam table and control parameters required for the next action based on the updated parameters.

[0094] For example, the control device can generate unbinding commands based on updated motion control parameters to ensure that each slave axis is safely and reliably unbound from the master axis. The unbinding command may include three parts: a position movement sub-command, a binding release sub-command, and a status reset sub-command. The position movement sub-command can control each slave axis to move to a preset safe position. The safe position is determined based on the workstation layout and the requirements of the next action, and can be the standard stopping position for each workstation group.

[0095] In addition to basic cyclic and clutch position motion control, the control device can also implement hybrid position motion mode electronic cam control, supporting composite control that simultaneously executes multiple position motion characteristics within a single position motion cycle. The control device can generate hybrid position configuration commands, enabling the electronic cam to superimpose brief disengagement actions on top of cyclic reciprocating position motion, achieving more precise and complex position process operation control. The hybrid configuration commands can include multiple position transmission parameter settings, allowing the electronic cam to switch position transmission characteristics according to different spindle position stages, adding additional position motion functions while maintaining the basic position motion mode. Furthermore, the control device can also implement adaptive electronic cam position control, dynamically adjusting the parameter settings of the position control commands based on real-time position execution effects and process quality feedback. When a systematic deviation or insufficient position accuracy is detected in the driven axis position motion, the control device can automatically correct the position control parameters and regenerate optimized position configuration commands, enabling the electronic cam to automatically compensate for the influence of various position interference factors.

[0096] Through the above steps, the control device can precisely control the electronic cam to execute various complex magnetic drive motion modes based on position synchronization according to the cooperative motion data, solving the fundamental problem that traditional electronic gear synchronization technology cannot achieve stable and precise position control. The precise calculation of cyclic motion control parameters based on position relationships and the accurate execution of cyclic configuration commands enable the slave shaft to complete precise displacement motion while following the position movement of the master shaft, meeting the multi-dimensional positional motion requirements of complex production processes and significantly improving the positional process adaptability and application range of the magnetic drive conveyor system.

[0097] In the aforementioned magnetic drive control method, the method is applied to the control device of the magnetic drive control system. The magnetic drive control system includes a spindle, multiple slave axes connected to the spindle via electronic cams, and a control device. The electronic cam serves as the connection mechanism between the spindle and slave axes, replacing the fixed gear ratio connection in traditional schemes. This fundamentally changes the connection method between the spindle and slave axes in traditional electronic gear synchronization. The synchronization reference of the electronic cam is the spindle position rather than instantaneous velocity; therefore, the acceleration and deceleration process of the spindle will not affect the positional accuracy of the slave axes, making the synchronization relationship more stable and the control more precise. By responding to motion control commands, the method acquires the spindle motion data and the cam... Control data; among which, cam control data includes the correspondence between the spindle motion data and the coordinated motion data of each slave axis; based on the motion control parameters carried by the motion control command, the motion mode of each slave axis is determined, realizing the dynamic determination of the motion mode; for each slave axis, based on the spindle motion data and cam control data, the coordinated motion data matching the motion mode is determined; based on the coordinated motion data, each slave axis is controlled by the electronic cam to complete the magnetic drive motion, enabling multiple slave axes to coordinate with one spindle, realizing the calculation and execution control of complex motion trajectories, and improving the control accuracy of complex master-slave axis coordinated motion.

[0098] In one exemplary embodiment, such as Figure 3 As shown, the cam control data may also include cam curve data; step S206 includes steps S302 to S306. Wherein:

[0099] Step S302: For each slave axis, select the target calculation curve based on the motion mode and cam curve data.

[0100] Cam curve data refers to a set of data that describes the relationship between the absolute position of the master axis and the target position of the slave axis in the form of continuous mathematical functions. Unlike discrete cam mapping tables, cam curve data can use mathematical expressions such as polynomial functions, trigonometric functions, and spline functions to establish a continuous position mapping relationship between the master and slave axes, enabling infinitely smooth position trajectory control. For example, in precision assembly applications, cam curve data can use cubic polynomial functions... This describes the continuous change of the slave axis position with respect to the absolute position x of the principal axis, where x represents the absolute position coordinate of the principal axis rather than an angle.

[0101] The target calculation curve refers to a specific mathematical function expression selected from the cam curve data set based on the current motion mode and process requirements. This curve can contain a complete description of the master-slave axis position relationship required for the current motion task. For example, when the motion mode is cyclic motion, the target calculation curve may be a composite function expression containing sine function components. , is used to describe the reciprocating position features superimposed on the follow-up motion of the slave axis in the base position, where x is the absolute position of the master axis, L is the cycle length of the cyclic position, A is the reciprocating position amplitude, and B is the base follow-up position coefficient.

[0102] For example, when selecting a target calculation curve, the control device can determine the most suitable position function type and parameter configuration by analyzing the position requirements and process parameters of the current motion mode. For applications requiring high-precision smooth position motion, a high-order position spline function or position Bézier curve can be used as the target calculation curve; for applications requiring periodic reciprocating position motion, a composite function containing position trigonometric function components is selected as the target calculation curve; for simple motion scenarios requiring fast position response, a low-order position polynomial function is selected as the target calculation curve. The control device can also perform position feasibility assessment and safety verification on candidate cam curves based on the position motion capability and position accuracy constraints of the slave axis, ensuring that the selected target calculation curve can achieve safe and reliable position control under current hardware conditions. The control device can pre-store standard position curve templates and parameterized position curve generation algorithms corresponding to various position motion modes. When encountering new position motion mode requirements, the control device can adjust parameters and combine functions based on existing position curve templates to quickly generate a target calculation curve that meets specific position requirements. The control device can also perform position curve optimization and adaptive adjustment in real time, dynamically correcting curve parameters based on feedback from the position motion execution effect, achieving continuous optimization and improvement of the target calculation curve.

[0103] For example, in Loop motion mode, the control device can select a target calculated curve containing periodic reciprocating position characteristics from the cam curve dataset. For cyclic position motion mode, the target calculated curve can be a composite form of a sine function and a linear function, such as... Where x represents the absolute position of the spindle, the sinusoidal component describes the reciprocating position characteristics, and the linear component describes the base following position characteristics. The control device can determine the specific values ​​of each coefficient in the target calculation curve based on parameters such as the reciprocating position amplitude, reciprocating position period, and position phase offset specified in the process requirements, enabling the curve to accurately describe the position characteristics of the current cyclic position motion task.

[0104] When the motion mode is Clutch motion mode, the control device can select a piecewise continuous position function as the target calculation curve. This curve can use different mathematical expressions to describe the slave axis position movement in different master axis position intervals. In the synchronous position movement interval, the target calculation curve can use a simple linear position function or a low-order position polynomial function to describe the positional relationship between the slave axis and the master axis; in the disengagement transition position interval, the target calculation curve can use a smooth position transition function to ensure the continuity of the position state; in the independent position movement interval, the target calculation curve can use a preset process position trajectory function to describe the independent position movement path of the slave axis; in the reconnection transition position interval, the target calculation curve can again use a smooth position transition function to achieve a smooth switch from the independent position state back to the synchronous position state.

[0105] Step S304: Determine the calculation parameters based on the target calculation curve and spindle motion data.

[0106] For example, when determining calculation parameters, the control device can analyze the mathematical structure and position parameter requirements of the target calculation curve, and identify all position parameter items in the curve function that require numerical determination, including position function coefficients, the range of position independent variables, and the boundary of the position function domain. The control device can determine the position variable values ​​as function inputs based on the current spindle position data, using the absolute position of the spindle as the primary input variable. The control device can also determine auxiliary parameters required during position function calculation, such as position integral constants, position differential accuracy, and position numerical calculation step size, based on the characteristics of the target calculation curve and the position requirements of the motion mode. The control device can establish adaptive adjustment of position parameters, dynamically optimizing the calculation parameter settings based on real-time position motion execution effects and quality feedback. When a deviation is detected between the position calculation results of the cooperative motion data and the actual position motion requirements, the control device can automatically adjust the relevant position calculation parameters, including correcting the position function coefficients, adjusting the position calculation accuracy, and optimizing the position boundary conditions, to ensure the accuracy and applicability of the position calculation results.

[0107] Step S306: Calculate the spindle motion data according to the calculation parameters to obtain the corresponding cooperative motion data of the slave axis.

[0108] For example, the control device can calculate the spindle motion data based on the calculation parameters to obtain the corresponding cooperative motion data of the slave axis. For simple position polynomial functions, the direct position substitution calculation method can be used, and the calculation speed and accuracy can be improved by using efficient position numerical calculation techniques such as the Horner algorithm. For complex position composite functions, the hierarchical position calculation and intermediate result caching method can be used to reduce redundant calculations and improve position calculation efficiency. For position expressions containing transcendental functions, high-precision position numerical approximation methods and error control techniques can be used to ensure the reliability of the position calculation results.

[0109] For example, when performing position calculation in Loop motion mode, the control device can substitute the current absolute position x of the spindle and the determined position calculation parameters into the target calculation curve of the cyclic position motion. In this process, the target position data of the slave axis is calculated. The control device can perform calculations according to the position function, without involving the calculation of the time derivatives of velocity and acceleration, focusing on the accurate establishment of the position correspondence, ensuring the integrity and accuracy of the slave axis position movement.

[0110] In Clutch motion mode, the control device can select the appropriate position calculation function based on the range to which the current absolute position of the spindle belongs. Within the synchronous position motion range, a simple linear position function can be used for calculation; within the disengagement and reconnection transition position range, a smooth transition position function can be used to ensure the continuity of the position motion state; within the independent position motion range, a preset process position trajectory function can be used to achieve independent position motion control of the slave axis. The control device can perform continuity checks and boundary condition verification during position range switching to ensure smooth transitions of the segmented position functions at connection points.

[0111] Through the above steps, the control device establishes a complete cooperative motion data determination system based on the position cam curve, effectively solving the technical limitations of traditional electronic gear synchronization in terms of position motion smoothness and computational flexibility.

[0112] This application provides a magnetic drive control system, such as... Figure 1 As shown, it includes a spindle, a control device, an electronic cam, and multiple slave axes. The spindle is used to complete spindle movement in response to motion control commands; the control device is used to execute the magnetic drive control method provided in this embodiment in response to motion control commands and generate cam control commands; the electronic cam is used to receive cam control commands and control the corresponding slave axes to complete cooperative movement according to the cam control commands; multiple slave axes are connected to the spindle through the electronic cam.

[0113] The spindle can be implemented using a high-precision servo motor-driven linear or rotary motion mechanism, and can be equipped with high-precision position detection devices such as absolute position encoders or linear encoders, providing absolute position information with a resolution of 0.01 mm or 0.01 degrees. The spindle can receive motion control commands from the host system to execute predetermined motion trajectories and speed changes. The spindle's position information can be transmitted to the control device in real time via a high-speed digital communication interface, ensuring the real-time performance and accuracy of the position data meet the requirements of electronic cam position synchronization control.

[0114] The control device, as the intelligent control center of the entire magnetic drive control system, executes the magnetic drive control method in the above embodiments. It can be implemented using industrial-grade programmable logic controllers (PLCs), motion controllers, or embedded computers, and has powerful data processing capabilities and real-time control functions.

[0115] The electronic cam, serving as the intelligent transmission interface between the master and slave axes, can be implemented using an electronic control module with programmable transmission characteristics. It can dynamically adjust the internal position mapping relationship and transmission parameters based on received cam control commands. Each electronic cam unit is equipped with an independent position control algorithm and communication interface, enabling real-time monitoring of master axis position changes, calculation of the slave axis target position based on preset cam control data, and precise driving of the corresponding slave axis to the target position via a high-precision position control system. The electronic cam supports dynamic switching of multiple motion modes, including position following mode, cyclic motion mode, clutch motion mode, and unclutch motion mode, meeting the diverse position control needs of complex processes.

[0116] Among them, such as Figure 4 As shown, multiple slave axes in the magnetic drive control system correspond to actual process execution units, which can be magnetically driven carriages, or in different embodiments, slides or rotary mechanisms. Each slave axis is equipped with an independent magnetic drive device, position detection sensor, and execution mechanism. The slave axes can establish a position synchronization relationship with the main shaft through electronic cams, and can perform corresponding coordinated movements according to changes in the main shaft position, including various movement modes such as basic position following, cyclic reciprocating motion, and independent disengagement motion. The slave axes can also be equipped with process execution devices, such as gripping mechanisms, detection devices, and machining tools, which can complete specific production process operations during coordinated motion.

[0117] For example, the magnetic drive control system can use three independent PLC programs to implement the three core actions: loop motion, clutch engagement / disengagement motion, and unbind motion. A precise scheduling mechanism achieves a cyclical control flow of "Loop → Unbind → Clutch → Unbind → Loop". The control device can schedule each motion mode through one or more preset control registers. These registers can record information such as the motion mode or type of the previous action and the current action trigger status. A single motion mode can include multiple motion types, and different motion types may correspond to different displacements and directions. The control device can use an action completion signal to indicate whether the current motion has ended. The trigger condition for the action completion signal can be set according to the spindle motion completion status.

[0118] During Loop action execution, the Loop action's state machine implementation can adopt a 1-2-3-4-1 cyclic pattern. The PLC can determine the cam meter number that each cart needs to be bound to based on the register values. When the spindle starts moving, the Loop action ends based on the spindle completion signal. The Clutch action maintains the same state machine cycle as the Loop action; once the Clutch's initial state is fixed, the Clutch state machine can also be determined. For example, after the first Loop action, cart group 4 moves to the position of workstation group 1. At this time, cart group 4 needs to perform a closed motion, i.e., cart number 7 moves clockwise and cart number 8 moves counterclockwise, completing one closed motion. The Clutch action requires two cam meters: one for clockwise cam meter 5 and one for counterclockwise cam meter 6. The distance all carts move during the Clutch action can be a preset distance. The state machine cycle can be a Loop1→Clutch1→Loop2→Clutch2→Loop3→Clutch3→Loop4→Clutch4→Loop1 cyclic pattern. For example, the Clutch1 state is as follows: Cart group 1 and car group 3 move to the arc segment and do not need to be bound to the main shaft; Cart group 2 needs to perform separation movement, that is, car 3 moves counterclockwise and is bound to cam meter 6, car 4 moves clockwise and is bound to cam meter 5, and both are bound to motor No. 9 as the main shaft; Cart group 4 needs to perform closing movement, that is, car 7 moves clockwise and is bound to cam meter 5, car 8 moves counterclockwise and is bound to cam meter 6.

[0119] In some embodiments, the system can also integrate a predictive maintenance system based on digital twin technology. By constructing a complete digital model of the magnetic drive control system, real-time monitoring of equipment status and fault prediction can be achieved. The digital twin model includes the physical characteristics and motion features of the spindle, driven shaft, electronic cam, and all transmission mechanisms, enabling real-time synchronization of the physical system's operating status. The predictive maintenance system can employ time series analysis, anomaly detection, and machine learning algorithms to analyze multi-dimensional sensor data such as driven shaft position deviation, vibration signals, and current waveforms to identify early signs of equipment performance degradation. When the system detects abnormalities such as decreased cam dial indicator accuracy, reduced driven shaft positioning repeatability, or accelerated wear of the transmission mechanism, it can automatically generate maintenance suggestions and fault warnings.

[0120] In some embodiments, the system can also support the collaborative operation of multiple magnetic drive control systems, achieving cross-device production coordination and load balancing through an industrial internet platform. The multi-machine collaborative system can adopt a master-slave control architecture, with one device as the master controller responsible for scheduling and allocating overall production tasks, and other devices as slave controllers executing specific motion control tasks. The master controller can be extended based on state machine cyclic logic to implement a multi-machine version of the Loop-Unbind-Clutch-Unbind control flow. When the production workload increases, the master controller can assign different stages of Loop 1-Loop 4 to different slave controllers for parallel execution, ensuring synchronization of actions between devices through timing coordination. For example, device A executes Loop 1 and Loop 3, while device B executes Loop 2 and Loop 4, achieving a doubling of production efficiency through precise timing control. The multi-machine collaborative system can also support dynamic load balancing; when a device fails or requires maintenance, other devices can automatically take over its tasks, ensuring continuous operation of the production line. The system can synchronize the state variables of each device in real time through a shared state information database, ensuring the consistency and reliability of multi-machine collaboration.

[0121] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0122] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and databases. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media to run. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a magnetic drive control method.

[0123] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0124] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0125] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0126] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0127] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0128] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0130] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A magnetic drive control method, characterized in that, The method is applied to a control device of a magnetic drive control system, the magnetic drive control system including a main spindle, multiple slave axes connected to the main spindle via electronic cams, and the control device; the method includes: In response to motion control commands, the spindle motion data and cam control data of the main spindle are acquired; wherein, the cam control data includes the correspondence between the spindle motion data and the coordinated motion data of each slave axis; The motion mode of each slave axis is determined based on the motion control parameters carried by the motion control command; For each of the slave axes, based on the spindle motion data and the cam control data, cooperative motion data matching the motion mode is determined; Based on the coordinated motion data, the electronic cam controls each of the slave axes to complete the magnetic drive motion.

2. The method according to claim 1, characterized in that, The cam control data also includes a cam mapping table set; the step of determining, for each slave axis, cooperative motion data matching the motion mode based on the master axis motion data and the cam control data includes: For each of the slave axes, a target mapping table is selected from the cam mapping table set according to the motion mode; the target mapping table is used to record the mapping relationship between the main shaft motion data and the target displacement data of each of the slave axes. Search the target entry in the target mapping table that corresponds to the spindle motion data; Extract the cooperative motion data corresponding to the slave axis from the target table entry.

3. The method according to claim 2, characterized in that, The method further includes: If there is no target entry in the target mapping table corresponding to the spindle motion data, the target data range is determined based on the spindle motion data and the values ​​of each entry in the target mapping table. Based on the spindle motion data and the target data range, calculate the corresponding cooperative motion data of the slave axis.

4. The method according to claim 1, characterized in that, The cam control data also includes cam curve data; the step of determining, for each slave axis, cooperative motion data matching the motion mode based on the master spindle motion data and the cam control data includes: For each of the slave axes, a target calculation curve is selected based on the motion mode and the cam curve data; Based on the target calculation curve and the main axis motion data, calculate the cooperative motion data.

5. The method according to any one of claims 1 to 4, characterized in that, The motion mode includes a cyclic motion mode and a clutch motion mode, and the cyclic motion mode and the clutch motion mode are executed alternately. The step of controlling each of the slave axes to complete the magnetic drive motion via the electronic cam based on the coordinated motion data includes: When the motion mode is a cyclic motion mode, the cyclic motion control parameters are calculated based on the coordinated motion data; The cyclic motion control parameters include at least one of the following: round-trip motion amplitude data, round-trip motion cycle data, and motion synchronization phase data; Based on the cyclic motion control parameters, a cyclic configuration instruction is generated and sent to the electronic cam to control each of the slave axes to complete the magnetic drive motion; When the motion mode is the clutch motion mode, clutch motion control parameters are calculated based on the coordinated motion data; the clutch motion control parameters include at least one of disengagement trigger position data, reconnection trigger position data, and independent motion trajectory data. Based on the clutch motion control parameters, a clutch configuration command is generated and sent to the electronic cam to control each slave shaft to complete the magnetic drive motion.

6. The method according to any one of claims 1 to 4, characterized in that, After controlling each of the slave shafts to complete the magnetic drive motion via the electronic cam based on the coordinated motion data, the method further includes: The motion control parameters are updated according to the motion completion status of each slave axis. Based on the motion control parameters, an unbinding command is generated and sent to the electronic cam to control the unbinding of each slave axis from the main axis.

7. A magnetic drive control system, characterized in that, The system includes: The spindle is used to complete spindle movement in response to motion control commands; Control device, configured to, in response to the motion control command, execute the magnetic drive control method as described in any one of claims 1 to 6 to generate cam control command; An electronic cam is used to receive the cam control command and control the corresponding slave axis to complete the coordinated motion according to the cam control command; Multiple slave axes are connected to the main shaft via the electronic cam.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images