Method for controlling a mover of a magnetic drive conveying system and related device

Abstract

The mover control method of the magnetic drive conveying system and the related equipment are provided, the magnetic drive conveying system comprises a magnetic drive conveying track and a mover, the magnetic drive conveying track is at least partially arranged in an isolator, the isolator continuously blows a unidirectional laminar flow downward at the top, and the mover runs on the magnetic drive conveying track, the magnetic drive conveying track comprises an open exposure area and a non-exposure area, the method comprises the following steps: firstly, current air supply wind speed of the unidirectional laminar flow in the isolator is acquired, and current coordinate information of the mover is acquired; then, when the current coordinate information represents that the mover is in the open exposure area, running critical envelope information corresponding to the current air supply wind speed is acquired, and the running of the mover is controlled based on the running critical envelope information; secondly, when the current coordinate information represents that the mover is in the non-exposure area, the running of the mover is controlled based on a time optimal control algorithm, so that the production efficiency of the magnetic drive conveying system is improved under the premise of guaranteeing the sterile safety of the production environment.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a mover control method and related equipment for a magnetic drive conveyor system. Background Technology

[0002] In the production of highly active drugs and aseptic filling processes in modern pharmaceutical industry, core production equipment typically needs to operate within an isolator. The isolator continuously blows a vertical unidirectional laminar flow downwards through a high-efficiency filter at the top, using its hydrodynamic pressure to suppress and remove suspended particles. Furthermore, with the increasing demand for high-speed operation in pharmaceutical equipment, magnetically driven conveyor systems with high linear velocity and acceleration are becoming increasingly widely used. However, when the mover moves rapidly on the conveyor track, aerodynamic boundary layer separation can easily occur at the mover's tail, inducing upward transient turbulent backflow. When this upward backflow breaks through the downward-pressing unidirectional laminar flow, particles can easily fall into the open vials, posing a risk of contamination to the entire batch of drugs.

[0003] To address this risk of cross-contamination, the only common approach in related technologies is to significantly reduce the overall speed of the actuators. However, this global speed reduction sacrifices some of the overall equipment's capacity and production cycle time. Therefore, in existing technologies, in applications with isolators that utilize unidirectional laminar flow, the control methods for magnetically driven conveyor systems cannot simultaneously ensure aseptic safety and high throughput, resulting in relatively low overall system conveying efficiency while mitigating the risk of fluid disturbance. Summary of the Invention

[0004] This application provides a mover control method and related equipment for a magnetic drive conveyor system, which can solve the above-mentioned technical problems.

[0005] To achieve the above objectives, a first aspect of this application proposes a mover control method for a magnetic drive conveyor system. The magnetic drive conveyor system includes a magnetic drive conveyor track and a mover. The magnetic drive conveyor track is at least partially disposed within an isolator. A unidirectional laminar flow is continuously blown downwards from the top of the isolator, and the mover runs on the magnetic drive conveyor track. The magnetic drive conveyor track includes an open exposed area and a non-exposed area. The method includes: Obtain the current airflow velocity of the unidirectional laminar flow within the isolator, and obtain the current coordinate information of the mover; When the current coordinate information indicates that the area is in the open exposure zone, the critical envelope information corresponding to the current air supply speed is obtained, and the operation of the mover is restricted and controlled based on the critical envelope information. When the current coordinate information indicates that the device is in the non-exposed area, the motion is controlled based on the time-optimal control algorithm.

[0006] In some embodiments, obtaining the operational critical envelope information corresponding to the current supply air velocity includes: When obtaining the aerodynamic model corresponding to the moving part carrying the container workpiece; Based on the aerodynamic model, the mapping relationship between the motion state variables of the mover and the upward anti-roll disturbance wind speed is determined; Based on the numerical relationship between the upward anti-rolling disturbance wind speed and the current supply wind speed, the boundary constraint conditions are obtained. Based on the mapping relationship and the boundary constraints, the inverse calculation is performed to obtain the operational critical envelope information, which includes the local maximum permissible velocity, the maximum permissible acceleration, and the maximum permissible jerk.

[0007] In some embodiments, the motion state variables include the instantaneous velocity, instantaneous acceleration, and instantaneous jerk of the mover, and determining the mapping relationship between the motion state variables of the mover and the upward anti-rolling disturbance wind speed based on the aerodynamic model includes: The equivalent frontal area and aerodynamic drag coefficient are determined based on the aforementioned aerodynamic model. Based on the equivalent frontal area and the aerodynamic drag coefficient, determine the velocity influence weight, acceleration influence weight, and jerk influence weight of the mover; Based on the speed influence weight, the acceleration influence weight, and the jerk influence weight, the instantaneous speed, the instantaneous acceleration, and the instantaneous jerk are weighted and superimposed to obtain the mapping relationship between the upward anti-rolling disturbance wind speed and the motion state variable.

[0008] In some embodiments, obtaining the boundary constraint conditions based on the numerical relationship between the upward anti-rolling disturbance wind speed and the current supply air speed includes: Obtain the preset aseptic safety margin factor; The safe air velocity threshold is obtained by multiplying the aseptic safety margin coefficient with the current air supply velocity. The boundary constraint conditions are obtained based on the numerical relationship between the upward anti-rolling disturbance wind speed and the safe wind speed threshold.

[0009] In some embodiments, the method further includes: Obtain the real-time attenuation rate of the current air supply velocity; When the real-time attenuation amplitude is greater than the preset attenuation threshold, the length range of the open exposure area on the magnetic drive conveyor track is increased based on the real-time attenuation amplitude. In the magnetic drive conveyor track, the open exposed area is the track section corresponding to the container workpiece carried by the mover when the container is not fully sealed; the non-exposed area is the track section corresponding to the container workpiece carried by the mover when the container is fully sealed.

[0010] In some embodiments, the step of controlling the operation of the mover based on the operational critical envelope information includes: Based on the local maximum permissible speed, the maximum permissible acceleration, or the maximum permissible jerk, the motion command of the mover is updated with an upper limit control to obtain an updated running command; Based on the updated operation command, the motion vehicle is trajectory planned using a multinomial motion control formula of a preset order to obtain updated operation trajectory data; The motion is controlled based on the updated trajectory data, and during the motion control process, the real-time acceleration of the motion does not exceed the maximum allowable acceleration.

[0011] In some embodiments, the operation control of the mover based on the time-optimal control algorithm includes: The process delay time corresponding to the mover in the open exposure area is obtained, and the process delay time is generated based on the operation restriction control of the mover in the open exposure area; Obtain the upper limit motion parameters of the magnetic drive conveyor system; Using the time-optimal control algorithm, the actuator is controlled to accelerate within the non-exposed area based on the upper limit motion parameters and the process delay time.

[0012] To achieve the above objectives, a second aspect of this application provides a mover control device for a magnetic drive conveyor system. The magnetic drive conveyor system includes a magnetic drive conveyor track and a mover. The magnetic drive conveyor track is at least partially inserted within an isolator. A unidirectional laminar flow is continuously blown downwards from the top of the isolator, and the mover runs on the magnetic drive conveyor track. The magnetic drive conveyor track includes an open exposed area and a non-exposed area. The device includes: The acquisition module is used to acquire the current air supply velocity of the unidirectional laminar flow inside the isolator, and to acquire the current coordinate information of the mover; The first control module is used to acquire the critical envelope information corresponding to the current air supply speed when the current coordinate information indicates that the area is in the open exposure zone, and to perform operation restriction control on the mover based on the critical envelope information. The second control module is used to control the movement of the mover based on a time-optimal control algorithm when the current coordinate information indicates that the mover is in the non-exposed area.

[0013] To achieve the above objectives, a third aspect of this application provides a magnetic drive motor conveying system, the magnetic drive motor conveying system comprising: a conveying line body formed by sequentially splicing multiple stators along the conveying line direction, a mover magnetically coupled to the stators, and a servo control component, wherein the servo control component includes a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and executed as described in the first aspect of the mover control method for the magnetic drive conveying system.

[0014] To achieve the above objectives, a fourth aspect of the present application provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the mover control method of the magnetic drive conveyor system described in the first aspect.

[0015] The present application proposes a method and related equipment for controlling the mover in a magnetic drive conveyor system. The magnetic drive conveyor system includes a magnetic drive conveyor track and a mover. The magnetic drive conveyor track is at least partially installed inside an isolator. A unidirectional laminar flow is continuously blown downwards from the top of the isolator, and the mover runs on the magnetic drive conveyor track. The magnetic drive conveyor track includes an open exposed area and a non-exposed area. The method includes: first, obtaining the current air velocity of the unidirectional laminar flow inside the isolator and obtaining the current coordinate information of the mover; then, when the current coordinate information indicates that the mover is in the open exposed area, obtaining the operating critical envelope information corresponding to the current air velocity, and performing operating restriction control on the mover based on the operating critical envelope information; second, when the current coordinate information indicates that the mover is in the non-exposed area, performing operating control on the mover based on a time-optimal control algorithm. This application embodiment uses real-time sensing of the unidirectional laminar flow velocity within the isolator and combined with the spatial coordinates of the mover for differentiated zone scheduling. In the open exposed zone, the motion parameters of the mover are limited by the critical envelope information of operation, ensuring that the upward transient back-rolling disturbance velocity generated by the mover operation is always lower than the downward blowing unidirectional laminar flow velocity. This effectively suppresses the turbulent back-rolling caused by boundary layer separation by utilizing the downward laminar flow, avoiding the risk of particles falling into the open medicine bottle and ensuring the aseptic production environment of the medicine. Conversely, in the non-exposed zone, the operation restrictions are lifted and a time-optimal control algorithm is adopted. By releasing the hardware motion potential, the process cycle time delayed by the mover due to deceleration in the exposed zone is effectively compensated, thereby improving the production efficiency of the magnetic drive conveyor system while ensuring the aseptic safety of the production environment.

[0016] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a magnetic drive conveying system provided in one embodiment of this application.

[0018] Figure 2 This is a flowchart of a mover control method for a magnetic drive conveyor system provided in another embodiment of this application.

[0019] Figure 3 yes Figure 2 The flowchart for step 202.

[0020] Figure 4 yes Figure 3 The flowchart for step 302.

[0021] Figure 5 yes Figure 3 The flowchart for step 303.

[0022] Figure 6 yes Figure 2 Another flowchart for step 202.

[0023] Figure 7 This is a flowchart illustrating the dynamic adjustment of the length range of an open exposed area, as provided in an embodiment of this application.

[0024] Figure 8 yes Figure 2 The flowchart for step 203.

[0025] Figure 9 This is a flowchart illustrating a mover control method for a magnetic drive conveyor system, provided in another embodiment of this application.

[0026] Figure 10 This is a schematic diagram of the moving part control device of a magnetic drive conveying system provided in another embodiment of this application.

[0027] Figure 11 This is a schematic diagram of the hardware structure of a magnetic drive motor conveying system provided in another embodiment of this application. Detailed Implementation

[0028] 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.

[0029] It should be noted that although functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0031] In the production of highly active drugs and aseptic filling processes in modern pharmaceutical industry, core production equipment typically needs to operate within an isolator. The isolator continuously blows a vertical unidirectional laminar flow downwards through a high-efficiency filter at the top, using its hydrodynamic pressure to suppress and remove suspended particles. Furthermore, with the increasing demand for high-speed operation in pharmaceutical equipment, magnetically driven conveyor systems with high linear velocity and acceleration are becoming increasingly widely used. However, when the mover moves rapidly on the conveyor track, aerodynamic boundary layer separation can easily occur at the mover's tail, inducing upward transient turbulent backflow. When this upward backflow breaks through the downward-pressing unidirectional laminar flow, particles can easily fall into the open vials, posing a risk of contamination to the entire batch of drugs.

[0032] To address this risk of cross-contamination, the only common approach in related technologies is to significantly reduce the overall speed of the actuators. However, this global speed reduction sacrifices some of the overall equipment's capacity and production cycle time. Therefore, in existing technologies, in applications with isolators that utilize unidirectional laminar flow, the control methods for magnetically driven conveyor systems cannot simultaneously ensure aseptic safety and high throughput, resulting in relatively low overall system conveying efficiency while mitigating the risk of fluid disturbance.

[0033] Based on this, the embodiments of this application use real-time sensing of the unidirectional laminar flow velocity within the isolator and combined with the spatial coordinates of the mover to perform differentiated zone scheduling. In the open exposed zone, the motion parameters of the mover are restricted using the critical envelope information of operation, ensuring that the upward transient back-rolling disturbance velocity generated by the mover operation is always lower than the downward blowing unidirectional laminar flow velocity. This effectively suppresses the turbulent back-rolling caused by boundary layer separation using the downward laminar flow, avoiding the risk of particles falling into the open medicine bottle and ensuring the aseptic production environment of the medicine. Conversely, in the non-exposed zone, the operation restrictions are lifted and a time-optimal control algorithm is adopted. By releasing the hardware motion potential, the process cycle time delayed by the mover due to deceleration in the exposed zone is effectively compensated, thereby improving the production efficiency of the magnetic drive conveyor system while ensuring the aseptic safety of the production environment.

[0034] To better illustrate the mover control method of the magnetic drive conveyor system provided in this application embodiment, this embodiment first describes a magnetic drive conveyor system applying the mover control method. (Refer to...) Figure 1 The diagram shown is a structural schematic of a magnetic drive conveying system provided in an embodiment of this application. Figure 1As shown, the magnetic drive conveying system mainly includes a magnetic drive conveying track and a mover running on the track. The magnetic drive conveying track is laid along multiple stators at the bottom and at least partially passes through the interior of the isolator. Furthermore, the top of the isolator is configured to continuously blow unidirectional laminar flow downwards, thereby forming a top-down fluid environment above the mover and providing a controlled local clean space for equipment operation.

[0035] like Figure 1 As shown, the operating environment within the isolator in the magnetic drive conveyor track is divided into two specific track sections: an open exposed area and a non-exposed area. Specifically, on the magnetic drive conveyor track, the open exposed area corresponds to the track section where the container workpiece carried by the mover is not fully sealed, such as the filling station and the stoppering station; conversely, the non-exposed area corresponds to the track section where the container workpiece carried by the mover is a fully sealed container, such as the capping area, the discharge area, and the return section. The position range of each station is the station center coordinate ± (motor length + 0.2m safety redundancy), and the fences of adjacent open stations are automatically merged to avoid exposed blind spots.

[0036] Based on the above-described magnetic drive conveyor system, the mover control method of the magnetic drive conveyor system in the embodiments of this application will be described in detail below. (Refer to...) Figure 2 This is an optional flowchart of the mover control method for the magnetic drive conveyor system provided in the embodiments of this application. Figure 2 The method may include, but is not limited to, steps 201 to 203. It is also understood that this embodiment... Figure 2 The order of steps 201 to 203 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs. The mover control method of the magnetic drive conveyor system provided in this application embodiment can be applied to processing systems (such as smart terminals, servers, computers, etc.) connected to the magnetic drive conveyor system.

[0037] Step 201: Obtain the current supply air velocity of the unidirectional laminar flow inside the isolator, and obtain the current coordinate information of the mover.

[0038] Step 201 will be described in detail below.

[0039] In step 201, in the magnetic drive conveyor system, the current airflow velocity of the vertical unidirectional laminar flow continuously blown downwards by the high-efficiency filter at the top inside the isolator is obtained by the set sensor. ,in, The vertical laminar flow velocity is measured at a preset distance below the top HEPA filter of the isolator; at the same time, the current coordinates of the mover are fed back in real time by a high-resolution position sensor configured on the magnetic drive conveyor track, so as to facilitate subsequent judgment of the environment of the area where the mover is located.

[0040] Step 202: When the current coordinate information indicates that the area is in the open exposure zone, obtain the critical envelope information of operation corresponding to the current air supply speed, and perform operation restriction control on the mover based on the critical envelope information of operation.

[0041] Step 202 will be described in detail below.

[0042] In step 202, during the operation of the mover, when the current coordinate information fed back by the position sensor indicates that the mover has entered the open exposed area (i.e., the track area where the medicine container carried by the mover is not completely sealed, such as the station from filling to the stoppering stage), the control system of the magnetic drive conveying system obtains the operating critical envelope information generated in advance based on the current air supply speed and the aerodynamic model. The operating critical envelope information includes the kinematic limits such as the maximum speed, maximum acceleration and maximum jerk allowed by the current fluid environment.

[0043] Subsequently, the control system forcibly invokes parameters from the critical envelope information to limit the motion commands of the mover. For example, it strictly controls the jerk in trajectory planning. Through this limiting control method, it can weaken the motion shock wave caused by the rapid acceleration and deceleration of the mover, so that the upward anti-rolling disturbance wind speed generated at the tail of the mover is always lower than the downward pressing unidirectional laminar flow wind speed, thereby preventing the laminar flow from being disrupted.

[0044] The following section will first describe how to obtain the critical envelope information for operation.

[0045] Reference Figure 3 To obtain the critical envelope information of operation corresponding to the current air supply velocity, the steps 301 to 304 are included.

[0046] Step 301: Obtain the aerodynamic model corresponding to the moving part carrying the container workpiece.

[0047] Step 302: Determine the mapping relationship between the motion state variables of the mover and the upward anti-rolling disturbance wind speed based on the aerodynamic model.

[0048] Steps 301 to 302 are described in detail below.

[0049] In step 301, an aerodynamic windward surface model characterizing the horizontal motion of the "mover and container workpiece" assembly (e.g., a carrier and a medicine bottle or infusion bag assembly) is first loaded. This aerodynamic windward surface model is usually a pre-calibrated static model, which can provide geometric and aerodynamic boundary input parameters such as equivalent characteristic windward area and aerodynamic drag coefficient for subsequent calculations. The parameters used in the aerodynamic windward surface model in this application are all calibrated through three levels of CFD simulation, wind tunnel test, and smoke test to ensure consistency with the actual flow field inside the isolator.

[0050] The parameters used in the aerodynamic windward surface model in this application include: characteristic area. The maximum projected area (in m²) of the composite object on a plane perpendicular to the direction of motion is extracted through 3D modeling or measured by laser scanning, such as the area corresponding to a 500ml infusion bag. m²; aerodynamic drag coefficient These are dimensionless aerodynamic parameters that characterize the ability of an assembly to impede airflow. They are related to shape and surface roughness, such as the resistance of a 500ml infusion bag. .

[0051] The aerodynamic drag formula corresponding to the aerodynamic frontal model in this application is shown below.

[0052]

[0053] in This refers to the air density inside the isolator at standard atmospheric pressure. The instantaneous horizontal velocity of the mover.

[0054] In step 302, based on the aerodynamic parameters obtained above, and combined with the characteristics of the low Mach number, incompressible steady-state vertical laminar flow environment inside the isolator, a mapping relationship is further constructed between the motion state variables of the mover (such as instantaneous velocity, instantaneous acceleration, and instantaneous jerk) and the resulting upward transient anti-roll disturbance wind speed. In specific applications, the complex Navier-Stokes perturbation equation (i.e., the NS perturbation equation) can be reduced to a linear calibration model containing mover velocity, acceleration, and jerk through preliminary simulation fitting, thereby establishing a numerical correlation between the underlying kinematic parameters and the magnitude of the flow field disturbance, as described below.

[0055] Reference Figure 4 The motion state variables include the instantaneous velocity, instantaneous acceleration, and instantaneous jerk of the mover. The mapping relationship between the motion state variables of the mover and the upward anti-rolling disturbance wind speed is determined based on the aerodynamic model, including the following steps 401 to 403.

[0056] Step 401: Determine the equivalent frontal area and aerodynamic drag coefficient based on the aerodynamic model.

[0057] Step 402: Based on the equivalent frontal area and aerodynamic drag coefficient, determine the influence weights of the mover's velocity, acceleration, and jerk.

[0058] Step 403: Based on the influence weights of velocity, acceleration, and jerk, perform a weighted superposition calculation on instantaneous velocity, instantaneous acceleration, and instantaneous jerk to obtain the mapping relationship between the upward anti-rolling disturbance wind speed and the motion state variables.

[0059] The following steps 401 to 403 are described in detail.

[0060] In step 401, the processing system extracts the aerodynamic parameters related to the mover and the container assembly it carries using a preset aerodynamic windward surface model. Specifically, the maximum projected area of ​​the assembly on a plane perpendicular to the direction of motion is extracted as the equivalent windward area. The dimensionless aerodynamic parameters characterizing the airflow resistance capability of the assembly are extracted as aerodynamic drag coefficients. .

[0061] In step 402, considering that the inside of the isolator is usually at a low Mach number ( The system is characterized by incompressible, isothermal, and steady-state vertical laminar flow. Therefore, the complete Navier-Stokes equations are simplified using Reynolds-averaged (RANS) equations and boundary layer separation theory to obtain transient vertical perturbation equations applicable to this scenario. Based on this, and having obtained the equivalent windward area and aerodynamic drag coefficients, calibration coefficients with corresponding dimensions applicable to the current operating conditions are further determined through prior fluid simulation or experimental calibration. These correspond to the weights of the motion particle's velocity during its motion. Acceleration affects weight And the impact of jerk on weights ,like , , .

[0062] In step 403, after determining the three weights, the processing system will determine the instantaneous velocity of the mover. Instantaneous acceleration and instantaneous acceleration As motion state variables, they are multiplied by their corresponding velocity influence weights, acceleration influence weights, and jerk influence weights, and then linearly superimposed to obtain a wind speed that accurately represents the upward anti-rolling disturbance. The numerical mapping relationship between the variables and the motion state variables is shown in the following formula.

[0063]

[0064] Should It consists of three superimposed parts: steady-state wake rewind caused by uniform motion, transient airflow compression caused by acceleration, and airflow shock wave disturbance caused by jerk.

[0065] Through steps 401 to 403 above, the originally complex fluid dynamics Navier-Stokes (NS) perturbation equations are reduced in dimension and transformed into a weighted superposition calculation process that includes multi-order motion state variables of the mover and their corresponding weights. This avoids solving the massive fluid partial differential equations in real time in the underlying control and simplifies the calculation model into a linear algebraic equation that meets the real-time requirements of the microcontroller. At the same time, by taking into account the differentiated effects of velocity, acceleration, and jerk on airflow perturbation, the efficiency and accuracy of subsequent generation of motion critical envelope information are improved.

[0066] Step 303: Based on the numerical relationship between the upward anti-rolling disturbance wind speed and the current supply wind speed, the boundary constraint conditions are obtained.

[0067] Step 303 will be described in detail below.

[0068] In step 303, in order to ensure that the unidirectional laminar flow within the isolator is not disrupted, in this application, the upward transient anti-rolling disturbance wind speed is lower than the downward suppressed unidirectional laminar flow supply wind speed as the basic logic to obtain the boundary constraint conditions, as described below.

[0069] Reference Figure 5 Based on the numerical relationship between the upward anti-rolling disturbance wind speed and the current supply wind speed, the boundary constraint conditions are obtained, including the following steps 501 to 503.

[0070] Step 501: Obtain the preset aseptic safety margin coefficient.

[0071] Step 502: Obtain the safe air velocity threshold based on the product of the aseptic safety margin coefficient and the current supply air velocity.

[0072] Step 503: Based on the numerical relationship between the upward anti-rolling disturbance wind speed and the safe wind speed threshold, the boundary constraint conditions are obtained.

[0073] Steps 501 to 503 are described in detail below.

[0074] In step 501, considering that the isolator may experience flow field fluctuations during actual operation, in order to avoid the risk of particulate contamination caused by minor environmental changes, this application's solution pre-sets a safety margin factor that conforms to industry standards (such as GMP aseptic requirements). ,like This is used to reserve a reasonable safety margin based on the theoretical critical wind speed.

[0075] In step 502, the aseptic safety margin factor is determined. The control system then multiplies it with the measured downward-pressing current airflow velocity (e.g., the unidirectional laminar flow velocity measured at a specific distance below the HEPA filter). This transforms the unidirectional external environmental flow field data into a safe wind speed threshold index for reference by the underlying control system.

[0076] In step 503, after obtaining the safe wind speed threshold... Based on this, the upward rewind disturbance wind speed that may be caused by the motion of the moving part will be considered. With this safe wind speed threshold Numerical comparisons are performed to ensure that the upward anti-rolling disturbance wind speed is less than or equal to the safe wind speed threshold, i.e. , as the boundary constraint condition for the underlying control.

[0077] By introducing a sterile safety margin coefficient to set a safe wind speed threshold through steps 501 to 503 above, the critical risks caused by transient laminar flow wind speed fluctuations inside the isolator or system measurement delays are effectively avoided, and the robustness of the fluid dynamics constraint model is improved. Thus, while improving equipment operating efficiency, the sterile production safety of drugs in open exposure areas can be guaranteed.

[0078] Step 304: Perform reverse calculation based on the mapping relationship and boundary constraints to obtain the operational critical envelope information, which includes the local maximum permissible velocity, maximum permissible acceleration, and maximum permissible jerk.

[0079] Step 304 will be described in detail below.

[0080] In step 304, after establishing the mapping relationship and the inequality of sterile boundary constraints, the present application combines the hardware limit parameters of the magnetic drive conveyor system and uses algorithms such as dynamic programming for reverse derivation to calculate the maximum permissible motion state value of the mover at each position, generating the critical motion envelope for turbulence prevention. For example, it can start from the end state of the exposed area and work backwards to calculate the maximum permissible motion state value of the mover at each position, provided that the disturbance wind speed does not exceed the safety threshold.

[0081] In one example, the reverse derivation process is described as follows.

[0082] First, obtain data through a wind speed sensor. Retrieve the corresponding production batch and calibration coefficients Then, establish a system of constraint inequalities as shown in the following formula.

[0083]

[0084] The optimization objective of this system of constraint inequalities is to minimize the time it takes for the vehicle to pass through the exposed zone while satisfying all constraints (balancing sterility and productivity); then, dynamic programming is used to solve this in reverse: starting from the endpoint state of the exposed zone ( Starting from this point, derive the maximum allowable value for each position step by step forward. Generate velocity-position ( ), acceleration-position ( ), accelerometer-position ( Three critical envelopes; finally, output the core parameters: extract the peak value of the envelope to obtain the maximum permissible velocity in the exposed area. Maximum permissible acceleration Maximum permissible jerk .

[0085] Through steps 301 to 304 above, by pre-establishing an aerodynamic model and establishing the mapping relationship between kinematic parameters and disturbance wind speed, the relatively complex fluid dynamic constraints are transformed into clear kinematic limits for the underlying servo motor drive. The reverse calculation process overcomes the defect of blindly setting global deceleration parameters in traditional control that are divorced from the actual flow field environment. This enables the system to dynamically generate critical envelope information that takes into account both sterility requirements and current maximum passability based on real-time laminar wind speed. Thus, while effectively suppressing turbulent backflow, the motion potential of the mover in the open area is preserved as much as possible.

[0086] The following section will further describe how to perform operational constraint control on the mover based on the operational critical envelope information.

[0087] Reference Figure 6 The operation of the mover is restricted and controlled based on the critical envelope information of the operation, including the following steps 601 to 603.

[0088] Step 601: Update the upper limit control of the motion command of the mover based on the local maximum permissible velocity, maximum permissible acceleration or maximum permissible jerk, and obtain the updated running command.

[0089] Step 602: Based on the updated running instructions, use a multinomial motion control scheme of preset order to perform trajectory planning on the mover and obtain updated running trajectory data.

[0090] Step 603: Perform operation control on the mover based on the updated running trajectory data. During the operation control of the mover, the real-time acceleration of the mover shall not exceed the maximum allowable acceleration.

[0091] Steps 601 to 603 are described in detail below.

[0092] In step 601, during actual execution, the control system of the magnetic drive conveyor system updates the original motion command of the mover at the hardware level based on the pre-calculated anti-turbulence motion critical envelope parameters to obtain updated running commands. This update process is achieved through the driver's forced call and cutoff mechanism, that is, monitoring the instantaneous speed, instantaneous acceleration, and instantaneous jerk of the mover. Once the parameters in the motion command exceed the limits set by the envelope (such as maximum speed 1.2m / s, maximum acceleration 2.5m / s², or jerk 15m / s³), the driver will directly force the command value to be set to the corresponding limit range.

[0093] In step 602, after obtaining the update operation command, the motion control formula of a preset order (usually fifth order or more preferably seventh order) is further used to perform asymmetric S-shaped trajectory planning on the mover, so as to generate extremely smooth displacement, velocity, acceleration and jerk change curves through mathematical fitting, thereby obtaining the updated operation trajectory data.

[0094] In one example, a seventh-order polynomial motion control scheme is used to ensure that position, velocity, acceleration, jerk, jounce, snap, and crackle are all continuous, eliminating abrupt motion changes and thus avoiding the generation of airflow shock waves and karman vortex streets, as described in detail below.

[0095] The positional expression for a seventh-order polynomial is shown in the following formula.

[0096]

[0097] The boundary conditions (taking a static start → uniform speed → static stop as an example) result in the following displacements.

[0098] Initial time : , , , , , , ; Accelerate the end time : , , , , , , ; Deceleration start time : , , , , , , ; End time : , , , , , , ; Solving for the polynomial coefficients using the above boundary conditions , obtained The curve is a continuous and smooth curve, and its maximum value is strictly constrained at... Within this range, the rate of change of airflow disturbance is sufficiently gentle, and no shock waves are generated.

[0099] In step 603, the underlying driver implements precise closed-loop operation control of the mover based on the generated updated running trajectory data. During the control process, the system monitors the jerk state of the mover in real time and strictly clamps it within the limits allowed by the critical envelope to ensure that the downward unidirectional laminar flow within the isolator can stably and completely envelop the mover and the container workpiece it carries, avoiding the risk of turbulent backflow caused by boundary layer separation.

[0100] Through steps 601 to 603 above, by implementing hardware-level instruction limit truncation and high-order polynomial trajectory planning in the underlying driver, precise clamping of the moving part's operating state is achieved. This solves the boundary layer separation and airflow shock wave problems caused by the rapid switching of motion states in traditional control schemes, avoids transient turbulent backflow, and ensures that the unidirectional laminar flow maintains a stable flow pattern even in high-speed operating environments through continuous management and upper limit constraints of the jerk. Thus, without decelerating all moving parts, the aseptic safety of the core open exposed area inside the pharmaceutical isolator is guaranteed.

[0101] In addition, in this application, the open and non-open areas on the magnetic drive conveyor track are first marked based on the process layout CAD drawings and production SOPs, and stored in the PLC database as default partitions with a division accuracy of ±1mm. Furthermore, in this application, when the specifications of the medicine bottle or the type of carrier changes, the front and rear range of the open and open area fence is automatically adjusted according to the new carrier length. The range of the open and open area can also be automatically adjusted according to the real-time operating status of the magnetic drive conveyor system to ensure aseptic safety, as described below.

[0102] In addition, refer to Figure 7 The mover control method provided in this application further includes steps 701 to 702.

[0103] Step 701: Obtain the real-time attenuation rate of the current air supply velocity.

[0104] Step 702: When the real-time attenuation amplitude is greater than the preset attenuation threshold, increase the length range of the open exposure area on the magnetic drive conveyor track based on the real-time attenuation amplitude.

[0105] Steps 701 to 702 are described in detail below.

[0106] In step 701, during the long-term actual operation of the isolator and the magnetic drive conveyor system, the high-efficiency particulate air (HEPA) filter at the top of the isolator used for blowing unidirectional laminar flow may become clogged to some extent over time. This aging or clogging of the hardware will reduce the downward vertical unidirectional laminar flow velocity. A decrease occurs. Therefore, the control system needs to monitor the changes in the laminar airflow velocity in real time using a configured wind speed sensor, in order to accurately obtain the real-time attenuation of the current airflow velocity compared to the standard state. .

[0107] In step 702, the control system compares the real-time attenuation of the unidirectional laminar airflow velocity with a preset attenuation threshold (e.g., set to 5%). When the current airflow velocity decreases beyond the preset attenuation threshold, the system expands the front and rear boundary ranges of the open exposed area on the magnetic drive conveyor track proportionally according to the ratio corresponding to the velocity attenuation (e.g., if the laminar airflow velocity decreases by 10%, the geographical fence range corresponding to the open exposed area is expanded outward by 10%).

[0108] Through steps 701 to 702 above, by monitoring the attenuation of wind speed in real time and adaptively expanding the physical protection length of the open exposure area accordingly, real-time safety redundancy can be provided for the magnetic drive conveying system. This effectively reduces the risk of turbulent backflow caused by the decrease in laminar wind speed at the boundary of the track area, thereby further ensuring the aseptic safety of drug containers in an incompletely sealed state in the open exposure area.

[0109] Step 203: When the current coordinate information indicates that the motioner is in the non-exposed area, the motioner is controlled based on the time-optimal control algorithm.

[0110] Step 203 will be described in detail below.

[0111] In step 203, when the current coordinate information indicates that the mover has entered the non-exposed area (i.e., the track area after the drug container has been finally sealed, such as the capping area or the empty return section), since the airflow turbulence in this area no longer poses a risk of contamination to the sterility of the drug, the control system will automatically unload the aforementioned envelope constraint based on fluid constraints. Subsequently, a time-optimal control algorithm (e.g., a time-optimal control algorithm based on the maximum principle) is activated, and the mover is driven using the hardware physical limit parameters of the magnetic drive conveyor system. By releasing the acceleration potential of the hardware in the non-exposed area, the system can asynchronously catch up with and effectively compensate for the process cycle time lost by the mover in the open exposed area due to deceleration control, as described below.

[0112] Reference Figure 8 The motion control of the mover is based on the time-optimal control algorithm, including the following steps 801 to 803.

[0113] Step 801: Obtain the process delay time corresponding to the mover in the open exposed area. The process delay time is based on the operation restriction control of the mover in the open exposed area.

[0114] Step 802: Obtain the upper limit motion parameters of the magnetic drive conveyor system.

[0115] Step 803: Using a time-optimal control algorithm, the actuator is controlled to accelerate operation in the non-exposed area based on the upper limit motion parameters and process delay time.

[0116] Steps 801 to 803 are described in detail below.

[0117] In step 801, after the mover leaves the open exposed area, the control system calculates the process time by measuring the actual time it takes for the mover to pass through the open exposed area, which is constrained by the critical envelope of anti-turbulent motion. And compare it with the standard time for passing through the region under conventional hardware limits without aerodynamic constraints. Phase difference calculations were performed to obtain the process delay time caused by the compromised deceleration of the mover in the exposed area. (For example, lagging behind by 1.5 seconds).

[0118] In step 802, the process delay time that needs to be compensated is determined. Then, the processing system retrieves the physical limit parameters of the magnetic drive conveyor system hardware as the upper limit motion parameters, such as the upper limit of speed 3m / s, the upper limit of acceleration 30m / s², and the upper limit of jerk 100m / s³, etc., which are hardware limit constraint values.

[0119] In step 803, once the mover has fully entered the non-exposed zone and unloaded the aforementioned aerodynamic envelope constraint, the processing system will immediately activate the time-optimal control algorithm (such as the time-optimal control algorithm based on the Pontryagin maximum principle, i.e., the Time-Optimal algorithm). The obtained hardware upper limit motion parameters are used as motion boundary conditions. Combined with the currently available compensation track distance, the system plans the optimal trajectory with the shortest motion time, thereby driving the mover to release the highest potential of the hardware in the non-exposed zone to accelerate and catch up, in order to compensate for the process delay time.

[0120] In one example, the specific steps of the compensation process include: calculating the lost time in the exposed area: ,in The actual time spent passing through the exposed area. The hardware-limited passage time without aerodynamic constraints is given; then, the available compensation distance is calculated: (Distance from the current position to the next workstation); then, solve for the optimal trajectory: within the distance... Within, the movement is performed using the hardware's extreme parameters, and the shortest time is calculated. Next, beat distribution: if a single non-exposed area cannot be fully compensated... The system automatically distributes the remaining compensation time to all subsequent non-exposed areas; finally, real-time correction: the position sensor feeds back the motion state at a frequency of 1kHz, and if there is a deviation between the actual trajectory and the optimal trajectory, the acceleration and jerk are adjusted immediately.

[0121] Through steps 801 to 803 above, by removing motion restrictions in the track section that does not affect the sterility of the drug and utilizing the hardware acceleration potential of the equipment itself to implement high-speed asynchronous catch-up, targeted compensation for the delayed cycle time is achieved. This effectively recovers the lost process time while ensuring the stability of the flow field inside the isolator, thereby improving the overall conveying efficiency of the magnetic drive conveying system in the pharmaceutical process.

[0122] Through steps 201 to 203 above, in the open, exposed area prone to contamination, the acceleration and deceleration parameters of the mover are limited by using unidirectional laminar flow velocity as a boundary constraint. This effectively suppresses the breakdown of unidirectional laminar flow by turbulent backflow induced by boundary layer separation, ensuring the safety of highly active drugs or aseptic filling processes. In the sealed, non-exposed area, the operating restrictions are promptly lifted and the time-optimal control algorithm is used to perform extreme speed overcompensation. This not only safely avoids the risk of fluid disturbance but also recovers the process time compromised in the safe area, thus ensuring high throughput and production efficiency of the magnetic drive conveyor system while guaranteeing aseptic safety.

[0123] Reference Figure 9 This is a flowchart illustrating a mover control method for a magnetic drive conveyor system provided in an embodiment of this application. Figure 9As shown, the process control architecture of this motion control method includes three core functional modules: a fluid dynamics constraint perception layer, a core envelope calculation generator, and a spatial logic partitioning timing control layer.

[0124] Specifically, in the fluid dynamics constraint sensing layer, the processing system performs front-end data acquisition and parameter initialization. On one hand, the processing system acquires the laminar wind speed V_down blowing downward inside the isolator as the environmental flow field input; on the other hand, the processing system loads the 3D aerodynamic model corresponding to the current mover and its supporting container, and extracts the equivalent windward area S and aerodynamic drag coefficient Cd as physical input.

[0125] Furthermore, the core envelope generator receives data input from the sensing layer and constructs a mapping relationship between the mover motion parameters and the flow field disturbance by solving the Navier-Stokes perturbation equations. Based on this, the processing system establishes "the upward anti-rolling speed V_up is less than the product of the safety margin and V_down" as a mandatory constraint. Under this constraint, the processing system inversely derives and generates the critical envelope for anti-turbulent motion, and extracts the limit parameters that can be directly called by the underlying servo system, including the local maximum permissible velocity V_max, the maximum permissible acceleration A_max, and the maximum permissible jerk_max.

[0126] After solving the underlying constraints, the instructions enter the spatial logic partitioning timing control layer. At this point, the processing system frequently determines the physical coordinates of the mover to decide the direction of control distribution. When the mover coordinates are determined to be in the open exposed area, the left branch is executed, the underlying driver forcibly calls the envelope parameters, and applies a seventh-order polynomial for smooth acceleration and deceleration trajectory planning to eliminate the influence of airflow shock waves caused by the Karman vortex street. Conversely, when the mover is determined to have entered the non-exposed area, the right branch is executed, the processing system automatically unloads the aerodynamic envelope constraint seal, starts the time-optimal control algorithm, and releases the highest acceleration potential of the magnetic drive system hardware, thereby rapidly overcompensating for the cycle delay caused by the previous open area.

[0127] This application also provides a mover control device for a magnetic drive conveyor system, which can implement the mover control method of the above-mentioned magnetic drive conveyor system, see reference. Figure 10 The device 1000 includes: The acquisition module 1010 is used to acquire the current air supply velocity of the unidirectional laminar flow inside the isolator, and to acquire the current coordinate information of the mover; The first control module 1020 is used to acquire the critical envelope information corresponding to the current air supply speed when the current coordinate information indicates that the area is in the open exposure zone, and to perform operation restriction control on the mover based on the critical envelope information. The second control module 1030 is used to control the movement of the mover based on the time-optimal control algorithm when the current coordinate information indicates that the mover is in the non-exposed area.

[0128] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, the specific implementation of the mover control device of the magnetic drive conveyor system is basically the same as the specific implementation of the mover control method of the magnetic drive conveyor system, and will not be repeated here.

[0129] This application also provides an electronic device, including: At least one memory; At least one processor; At least one program; The program is stored in memory, and the processor executes at least one program to implement the mover control method of the magnetic drive conveyor system described above in this application. The electronic device can be a computing device with data processing capabilities, including an industrial control computer (ICC), a programmable logic controller (PLC), a servo controller, a motion control card, or an edge computing server.

[0130] Please see Figure 11 , Figure 11 This is a schematic diagram of a magnetic drive motor conveying system provided for an exemplary embodiment of this application. The magnetic drive motor conveying system 1100 includes a conveying line body formed by sequentially splicing multiple stators 1110 along the conveying line direction, a mover 1120 magnetically coupled to the stators 1110, and a servo control component 1130. The servo control component 1130 includes a processor 1131 and a memory 1132.

[0131] The processor 1131 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1132 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1132 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1132 and is called by the processor 1131 to execute the mover control method of the magnetic drive conveyor system of the embodiments of this application.

[0132] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor 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.

[0133] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0134] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0135] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0137] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0138] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, or indirect coupling or communication connection between the apparatus or units, and may be electrical, mechanical, or other forms.

[0140] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0142] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0143] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A mover control method for a magnetically driven conveyor system, characterized in that, The magnetic drive conveying system includes a magnetic drive conveying track and a mover. The magnetic drive conveying track is at least partially inserted within the isolator. A unidirectional laminar flow is continuously blown downwards from the top of the isolator, and the mover runs on the magnetic drive conveying track. The magnetic drive conveying track includes an open exposed area and a non-exposed area. The method includes: Obtain the current airflow velocity of the unidirectional laminar flow within the isolator, and obtain the current coordinate information of the mover; When the current coordinate information indicates that the area is in the open exposure zone, the critical envelope information corresponding to the current air supply speed is obtained, and the operation of the mover is restricted and controlled based on the critical envelope information. When the current coordinate information indicates that the device is in the non-exposed area, the motion is controlled based on the time-optimal control algorithm.

2. The mover control method for the magnetic drive conveyor system according to claim 1, characterized in that, The step of obtaining the operational critical envelope information corresponding to the current supply air velocity includes: When obtaining the aerodynamic model corresponding to the moving part carrying the container workpiece; Based on the aerodynamic model, the mapping relationship between the motion state variables of the mover and the upward anti-roll disturbance wind speed is determined; Based on the numerical relationship between the upward anti-rolling disturbance wind speed and the current supply wind speed, the boundary constraint conditions are obtained. Based on the mapping relationship and the boundary constraints, the inverse calculation is performed to obtain the operational critical envelope information, which includes the local maximum permissible velocity, the maximum permissible acceleration, and the maximum permissible jerk.

3. The mover control method for the magnetic drive conveyor system according to claim 2, characterized in that, The motion state variables include the instantaneous velocity, instantaneous acceleration, and instantaneous jerk of the mover. Determining the mapping relationship between the motion state variables of the mover and the upward anti-rolling disturbance wind speed based on the aerodynamic model includes: The equivalent frontal area and aerodynamic drag coefficient are determined based on the aforementioned aerodynamic model. Based on the equivalent frontal area and the aerodynamic drag coefficient, determine the velocity influence weight, acceleration influence weight, and jerk influence weight of the mover; Based on the speed influence weight, the acceleration influence weight, and the jerk influence weight, the instantaneous speed, the instantaneous acceleration, and the instantaneous jerk are weighted and superimposed to obtain the mapping relationship between the upward anti-rolling disturbance wind speed and the motion state variable.

4. The mover control method for the magnetic drive conveyor system according to claim 2, characterized in that, The boundary constraint conditions, derived based on the numerical relationship between the upward anti-rolling disturbance wind speed and the current supply air speed, include: Obtain the preset aseptic safety margin factor; The safe air velocity threshold is obtained by multiplying the aseptic safety margin coefficient with the current air supply velocity. The boundary constraint conditions are obtained based on the numerical relationship between the upward anti-rolling disturbance wind speed and the safe wind speed threshold.

5. The mover control method for the magnetic drive conveyor system according to claim 1, characterized in that, The method further includes: Obtain the real-time attenuation rate of the current air supply velocity; When the real-time attenuation amplitude is greater than the preset attenuation threshold, the length range of the open exposure area on the magnetic drive conveyor track is increased based on the real-time attenuation amplitude. Wherein, on the magnetic drive conveyor track, the open exposed area is the track section corresponding to the container workpiece carried by the mover when the container is not completely sealed; the non-exposed area is the track section corresponding to the container workpiece carried by the mover when the container is completely sealed.

6. The mover control method for the magnetic drive conveyor system according to claim 2, characterized in that, The operation restriction control of the mover based on the operational critical envelope information includes: Based on the local maximum permissible speed, the maximum permissible acceleration, or the maximum permissible jerk, the motion command of the mover is updated with an upper limit control to obtain an updated running command; Based on the updated operation command, the motion vehicle is trajectory planned using a multinomial motion control formula of a preset order to obtain updated operation trajectory data; The motion is controlled based on the updated trajectory data, and during the motion control process, the real-time acceleration of the motion does not exceed the maximum allowable acceleration.

7. The mover control method for the magnetic drive conveyor system according to claim 1, characterized in that, The time-optimal control algorithm for operating the mover includes: The process delay time corresponding to the mover in the open exposure area is obtained, and the process delay time is generated based on the operation restriction control of the mover in the open exposure area; Obtain the upper limit motion parameters of the magnetic drive conveyor system; Using the time-optimal control algorithm, the actuator is controlled to accelerate within the non-exposed zone based on the upper limit motion parameters and the process delay time.

8. A mover control device for a magnetic drive conveyor system, characterized in that, The magnetic drive conveying system includes a magnetic drive conveying track and a mover. The magnetic drive conveying track is at least partially inserted within the isolator. A unidirectional laminar flow is continuously blown downwards from the top of the isolator, and the mover runs on the magnetic drive conveying track. The magnetic drive conveying track includes an open exposed area and a non-exposed area. The device includes: The acquisition module is used to acquire the current air supply velocity of the unidirectional laminar flow inside the isolator, and to acquire the current coordinate information of the mover; The first control module is used to acquire the critical envelope information corresponding to the current air supply speed when the current coordinate information indicates that the area is in the open exposure zone, and to perform operation restriction control on the mover based on the critical envelope information. The second control module is used to control the movement of the mover based on a time-optimal control algorithm when the current coordinate information indicates that the mover is in the non-exposed area.

9. A magnetic drive motor conveying system, characterized in that, The magnetic drive motor conveying system includes: a conveying line body formed by sequentially splicing multiple stators along the conveying line direction, a mover magnetically coupled to the stators, and a servo control component. The servo control component includes a processor and a memory. The memory stores a computer program, which is adapted to be loaded by the processor and executed as described in any one of claims 1 to 7, to control the mover of the magnetic drive conveying system.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the mover control method of the magnetic drive conveyor system according to any one of claims 1 to 7.

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