Control method and control system for a transmission line

Abstract

The application provides a control method and a control system for a transmission line, and relates to the technical field of motors. The transmission line is controlled according to a current loop given value to move, and the characteristic information and the real-time position of the current mover assembly are acquired in real time. The harmonic amplitude coefficient of the current mover assembly is determined according to the characteristic information, the cogging force prediction value of the current mover assembly is determined according to the harmonic amplitude coefficient and the real-time position, the feedforward compensation current is determined according to the cogging force prediction value, and the transmission line is controlled according to the feedforward compensation current and the current loop given value. According to the characteristic information and the real-time position of the mover assembly, the cogging force prediction value can be quickly determined, the feedforward compensation current is determined according to the cogging force prediction value to compensate and superimpose the current loop given value, the feedforward compensation control of the mover assembly is realized, the corresponding feedforward compensation current is adaptively compensated according to the characteristic information and the real-time position of each mover assembly, and therefore the control precision of the transmission line is improved.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a control method and control system for transmission lines. Background Technology

[0002] Transmission lines, by eliminating mechanical transmission links, possess advantages such as high dynamics and high precision, and are widely used in precision manufacturing, semiconductor equipment, CNC machine tools, and other fields. However, the inherent cogging force and thrust ripple of transmission lines can severely affect their low-speed stability and positioning accuracy. The cogging force is caused by the change in magnetic reluctance between the permanent magnet and the iron core teeth, and its spatial period is determined by both the stator tooth pitch and the mover pole pitch. The thrust ripple includes periodic force fluctuations caused by back electromotive force harmonics, current sampling errors, etc. Therefore, compensation is necessary to ensure smooth low-speed operation and positioning accuracy of the transmission line.

[0003] Existing compensation methods mainly include: ① table lookup compensation based on offline calibrated data tables; where each mover stores a large number of data points in the data table; ② harmonic model compensation based on sine / cosine functions; usually assuming that all movers have the same waveform shape, only a global amplitude coefficient is used for correction; ③ online identification methods based on adaptive filters or neural networks; this method is computationally complex and has limited real-time performance.

[0004] However, when the same stator needs to be used with multiple different movers (such as in a multi-station transmission line system), due to factors such as differences in the performance of the permanent magnets of each mover, local non-uniformity of the air gap, and magnetic pole installation errors, the cogging force waveforms of each mover, although having the same spatial frequency and basically consistent phase, have different amplitude ratios of each harmonic, and even have weak frequency components unique to individual movers. Existing compensation methods suffer from problems such as large storage overhead and inability to adapt to individual differences of each mover, resulting in insufficient compensation accuracy and thus reducing the control accuracy of the transmission line. Summary of the Invention

[0005] In view of this, the object of the present invention is to provide a control method and control system for transmission lines to alleviate the above-mentioned technical problems.

[0006] In a first aspect, embodiments of the present invention provide a control method for a transmission line, the transmission line including a stator assembly, a position detection assembly, and multiple moving parts; wherein the stator assembly includes multiple stator units, each stator unit including a drive coil; the moving parts include a drive magnet, and the multiple moving parts can move under the drive of the stator assembly; the position detection assembly is used to detect the real-time position of the moving parts; the control method includes: controlling the transmission line to move according to a current loop setpoint, and acquiring the characteristic information and real-time position of the current moving part in real time; determining the harmonic amplitude coefficient of the current moving part based on the characteristic information, and determining the predicted cogging force value of the current moving part based on the harmonic amplitude coefficient and the real-time position; determining the feedforward compensation current based on the predicted cogging force value, and controlling the transmission line according to the feedforward compensation current and the current loop setpoint.

[0007] Optionally, the feature information is the numbering information of the current moving component among multiple moving components; determining the harmonic amplitude coefficient of the current moving component based on the feature information includes: determining the harmonic amplitude coefficient of the current moving component based on the feature information and the set of harmonic amplitude coefficients; wherein, the set of harmonic amplitude coefficients includes the harmonic amplitude coefficients corresponding to multiple moving components respectively.

[0008] Optionally, before controlling the transmission line to move according to the current loop setpoint, the control method further includes: controlling the transmission line to be in a state without current excitation, and dragging a reference mover assembly to reciprocate on the stator assembly at a constant speed; wherein, the reference mover assembly is any mover assembly; acquiring the cogging force-position data of the reference mover assembly within its complete stroke, and determining a common frequency basis set based on the cogging force-position data; dragging each mover assembly at a constant speed and acquiring cogging force data; determining the harmonic amplitude coefficient of each mover assembly based on the cogging force data of each mover assembly and the common frequency basis set, and constructing a harmonic amplitude coefficient set based on the harmonic amplitude coefficients corresponding to multiple mover assemblies.

[0009] Optionally, determining a common frequency basis set based on tooth cogging force-position data includes: performing a fast Fourier transform on the tooth cogging force-position data to obtain a single-sided amplitude spectrum, a phase spectrum, and multiple frequency components; determining multiple target frequency components from the multiple frequency components, and constructing a common frequency basis set based on the frequencies of the multiple target frequency components.

[0010] Optionally, acquiring the cogging force-position data of the reference mover component within a complete stroke includes: acquiring the cogging force-position data of the reference mover component within one or more complete strokes; wherein the sampling interval of the cogging force-position data is less than or equal to a preset time threshold; the preset time threshold is a specified multiple of the minimum spatial period of the cogging force, and the specified multiple is less than or equal to 0.2.

[0011] Optionally, the harmonic amplitude coefficients of each moving component are determined based on the cogging force data of each moving component and the common frequency basis set, including: constructing a Fourier series model based on the common frequency basis set; and for any moving component, performing a fast Fourier transform on the cogging force data of the moving component based on the Fourier series model to obtain the harmonic amplitude coefficients of the moving component.

[0012] Optionally, the harmonic amplitude coefficient of each mover component is determined based on the cogging force data and common frequency basis set of each mover component, including: for any mover component, performing a fast Fourier transform on the cogging force data of the mover component according to the Fourier series model and the least squares method to obtain the harmonic amplitude coefficient of the mover component.

[0013] Optionally, the control method further includes: determining the thrust prediction value of the current mover assembly based on the harmonic amplitude coefficient and the real-time position; determining the feedforward compensation current based on the thrust prediction value; and controlling the transmission line based on the feedforward compensation current and the current loop setpoint.

[0014] In a second aspect, embodiments of the present invention also provide a control system for a transmission line, including a control device and a transmission line; the transmission line includes a stator assembly, a position detection assembly, and multiple moving parts; wherein the stator assembly includes multiple stator units, each stator unit including a drive coil; the moving parts include a power magnet, and the multiple moving parts can move under the drive of the stator assembly; the position detection assembly is used to detect the real-time position of the moving parts; the control device is used to control the transmission line using the control method for a transmission line described in the first aspect.

[0015] Thirdly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the control method for a transmission line described in the first aspect.

[0016] The embodiments of the present invention bring the following beneficial effects: This invention provides a control method and control system for a transmission line. The method controls the transmission line's movement based on a current loop setpoint and acquires the characteristic information and real-time position of the current moving component in real time. It determines the harmonic amplitude coefficient of the current moving component based on the characteristic information, and then determines the predicted cogging force value of the current moving component based on the harmonic amplitude coefficient and the real-time position. Finally, it determines the feedforward compensation current based on the predicted cogging force value, and controls the transmission line based on the feedforward compensation current and the current loop setpoint. This control method quickly determines the predicted cogging force value based on the moving component's characteristic information and real-time position, and then determines the feedforward compensation current based on the predicted cogging force value. This allows for compensation superposition of the current loop setpoint based on the feedforward compensation current, achieving not only feedforward compensation control of the moving component but also adaptive feedforward compensation current control for each moving component according to its characteristic information and real-time position, thereby improving the control accuracy of the transmission line.

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

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

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

[0020] Figure 1 A schematic diagram of a transmission line structure provided in an embodiment of the present invention; Figure 2 A flowchart of a control method for a transmission line provided in an embodiment of the present invention; Figure 3 A flowchart of another control method for a transmission line provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a control system for a transmission line provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a control device provided in an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] To facilitate understanding of this embodiment, the embodiments of the present invention will be described in detail below.

[0023] Example 1 This invention provides a control method for transmission lines, such as... Figure 1 As shown, the transmission line includes a stator assembly, a position detection assembly (not shown), and multiple mover assemblies 11; wherein, the stator assembly includes multiple stator units 12, each stator unit 12 including a drive coil 121; the mover assembly 11 includes a power magnet 111, and the multiple mover assemblies 11 can move under the drive of the stator assembly, and the position detection assembly is used to detect the real-time position of the mover assembly 11.

[0024] Based on the above transmission line, such as Figure 2 As shown, the control method for a transmission line provided in this embodiment of the invention includes the following steps: In step S202, the transmission line is controlled to move according to the current loop setpoint, and the characteristic information and real-time position of the current moving component are obtained in real time.

[0025] Specifically, for the drive device of the transmission line, such as a servo driver, its current loop operates according to a pre-set current loop value to drive the transmission line to move. During this movement, the real-time position of each moving component is detected in real time by a position detection component. This position detection component may include multiple position detection units, each located at a moving component to detect its corresponding real-time position. Furthermore, since there are multiple moving components, to facilitate differentiation, each moving component is pre-numbered in the control device, and this number is used as the characteristic information of that moving component. Alternatively, the identification information of each moving component can also be used as characteristic information. This identification information distinguishes the moving component from the others, and the specific settings can be configured according to the actual situation.

[0026] Step S204: Determine the harmonic amplitude coefficient of the current moving part based on the feature information, and determine the predicted cogging force of the current moving part based on the harmonic amplitude coefficient and the real-time position.

[0027] For ease of explanation, this embodiment of the invention uses the numbering information of the current moving component among multiple moving components as an example. Specifically, the harmonic amplitude coefficients of the current moving component are determined based on the characteristic information and the set of harmonic amplitude coefficients; wherein, the set of harmonic amplitude coefficients includes the harmonic amplitude coefficients corresponding to each of the multiple moving components.

[0028] In practical applications, the harmonic amplitude coefficient set includes harmonic amplitude coefficients corresponding to multiple moving parts, and stores the correspondence between moving parts and harmonic amplitude coefficients. Thus, for the current moving part, the corresponding harmonic amplitude coefficient can be quickly determined in the harmonic amplitude coefficient set based on its characteristic information and preset relationship. This allows the cogging force prediction value of the current moving part to be determined based on its harmonic amplitude coefficient and real-time position. This enables each moving part to adaptively determine its corresponding cogging force prediction value according to its characteristic information and real-time position, thereby improving the prediction accuracy of the cogging force prediction value of each moving part and thus improving the control accuracy of the transmission line.

[0029] Step S206: Determine the feedforward compensation current based on the predicted cogging force value, and control the transmission line based on the feedforward compensation current and the current loop setpoint.

[0030] After determining the predicted value of the cogging force of the current mover assembly, the corresponding feedforward compensation current is determined based on the predicted value of the cogging force. In order to compensate and superimpose the current loop setpoint based on the feedforward compensation current, the feedforward compensation control of the mover assembly is realized, thereby improving the control accuracy of the transmission line.

[0031] The control method for transmission lines provided in this invention can quickly determine the predicted value of cogging force based on the characteristic information and real-time position of the moving component, and determine the feedforward compensation current based on the predicted value of cogging force. In order to compensate and superimpose the current loop setpoint based on the feedforward compensation current, it not only realizes the feedforward compensation control of the moving component, but also realizes the adaptive compensation control of the corresponding feedforward compensation current of each moving component according to its characteristic information and real-time position, thereby improving the control accuracy of the transmission line.

[0032] In one embodiment, before controlling the transmission line to move according to the current loop setpoint, the control method further includes: ① controlling the transmission line to be in a state without current excitation and dragging a reference moving component to reciprocate on the stator component at a constant speed; wherein, the reference moving component is any moving component; ② acquiring the cogging force-position data of the reference moving component within its complete stroke, and determining a common frequency basis set based on the cogging force-position data; ③ dragging each moving component at a constant speed and acquiring cogging force data; determining the harmonic amplitude coefficient of each moving component based on the cogging force data of each moving component and the common frequency basis set, and constructing a harmonic amplitude coefficient set based on the harmonic amplitude coefficients corresponding to multiple moving components.

[0033] In section ①, the control transmission line is in a state of no current excitation (or is driven alone) and drags the reference mover assembly to run back and forth on the stator assembly at a constant speed (such as a constant low speed of 1 mm / s); here, the reference mover assembly is any mover assembly in the transmission line, and the specific constant speed can be adjusted adaptively.

[0034] In step ②, firstly, the cogging force-position data of the reference moving part assembly during its complete stroke is obtained; specifically, the cogging force-position data of the reference moving part assembly during one or more complete strokes is obtained. ;here This can be understood as referring to the real-time position of the child component. X The corresponding cogging force at the location. In addition, the sampling interval of the cogging force-position data is less than or equal to a preset time threshold; the preset time threshold is a specified multiple of the minimum spatial period of the cogging force, and the specified multiple is less than or equal to 0.2.

[0035] Then, the common frequency basis set is determined based on the cogging force-position data. Specifically, the cogging force-position data... Perform a Fast Fourier Transform (FFT) to obtain the one-sided magnitude spectrum. Phase spectrum The system involves multiple frequency components; determining multiple target frequency components from these components; and constructing a common frequency basis set based on the frequencies of these target frequency components. For example, the system extracts the M frequency components with the largest amplitudes from the multiple frequency components as target frequency components, where M is typically 6 to 10; and records the frequency values ​​of the target frequency components. f 1, f 2, ..., f M and the corresponding phase , , ..., Therefore, a common frequency base set can be constructed based on the M target frequency components. In particular, the common frequency base set is determined by the geometry of the stator assembly of the transmission line and is applicable to all rotor assemblies.

[0036] After determining the common frequency base group as described above, the harmonic amplitude coefficients of each moving part are determined based on the common frequency base group. Specifically, in ③, for each moving part, the harmonic amplitude coefficients are determined using the first... i Taking the individual moving component as an example, first drag it at a constant speed and obtain the cogging force data. Then, a Fourier series model is constructed based on the common frequency basis set; for any mover component, a fast Fourier transform is performed on the cogging force data of the mover component according to the Fourier series model to obtain the harmonic amplitude coefficients of the mover component.

[0037] The expression for the Fourier series model is as follows: (1) in, Indicates DC bias (negligible). and This represents the harmonic amplitude coefficient to be identified.

[0038] Therefore, after determining the Fourier series model according to formula (1), for any moving component, a fast Fourier transform is performed on the cogging force data of the moving component according to the Fourier series model to extract the cosine / sine amplitude of the corresponding frequency value, thereby obtaining the harmonic amplitude coefficient of the moving component. and .

[0039] Specifically, in section ③, after determining the Fourier series model, for any moving part, a fast Fourier transform can be performed on the cogging force data of the moving part based on the Fourier series model and the least squares method to extract the cosine / sine amplitude of the corresponding frequency value, thereby obtaining the harmonic amplitude coefficient of the moving part. and .

[0040] Furthermore, in some scenarios, the amplitude can also be preserved during the construction of the Fourier series model. and common phase At this point, the Fourier series model is ,here It requires separate calibration, and you can refer to existing calibration techniques for details. The embodiments of this invention will not be described in detail here.

[0041] Therefore, after determining the harmonic amplitude coefficients of each moving component using the Fourier series model, a set of harmonic amplitude coefficients can be constructed based on the harmonic amplitude coefficients corresponding to multiple moving components and stored in the control device. At the same time, the set of harmonic amplitude coefficients stores the correspondence between each moving component and the harmonic amplitude coefficients, which facilitates the rapid determination of the corresponding harmonic amplitude coefficients directly based on the characteristic information of the moving components during subsequent control processes, thereby improving the feedforward compensation control efficiency of the moving components.

[0042] Furthermore, since each moving component only needs to store 2M harmonic amplitude coefficients, for example, when M=6, each moving component only needs to store 12 harmonic amplitude coefficients. Compared with the complete data table (usually thousands of points) in the existing compensation scheme, the storage order of magnitude is significantly reduced. This not only improves the storage efficiency of the control device, but also improves the efficiency of determining the harmonic amplitude coefficients of the moving component, thereby improving the efficiency of determining the feedforward compensation current, and further improving the control efficiency of the transmission line.

[0043] In one implementation, in step S104, for the current moving component i The corresponding harmonic amplitude coefficient is determined based on the set of harmonic amplitude coefficients. and Then, based on the harmonic amplitude coefficient and and real-time location X This allows us to determine the current moving component. i The predicted value of tooth cogging force. The formula for calculating the predicted tooth cogging force is as follows: (2) in, Indicates the current moving component i The predicted value of cogging force, This indicates DC bias, which can be ignored (e.g., set to 0) or preset to a fixed value in the control device. The specific setting can be determined according to the actual situation.

[0044] In one implementation, the current moving component i Predicted cogging force Once determined, in step S106, the feedforward compensation current is determined based on the predicted cogging force value; the calculation formula for the feedforward compensation current is as follows: (3) in, Indicates the feedforward compensation current. This represents the transmission line thrust constant, and the specific value can be preset in the control device.

[0045] In one embodiment, the control method further includes: determining the thrust prediction value of the current mover assembly based on the harmonic amplitude coefficient and the real-time position; determining the feedforward compensation current based on the thrust prediction value; and controlling the transmission line based on the feedforward compensation current and the current loop setpoint.

[0046] Specifically, the process of determining the thrust prediction value of the current mover assembly based on the harmonic amplitude coefficient and the real-time position can refer to the aforementioned process of determining the cogging force prediction value of the current mover assembly based on the harmonic amplitude coefficient and the real-time position; and the process of determining the feedforward compensation current based on the thrust prediction value can refer to the aforementioned process of determining the feedforward compensation current based on the cogging force prediction value. The embodiments of the present invention will not be described in detail here.

[0047] It should be noted that, in practical applications, after determining the harmonic amplitude coefficient of the current moving component based on the characteristic information, one of the following scenarios can be executed: (1) Determine the predicted value of the cogging force of the current moving part based on the harmonic amplitude coefficient and the real-time position, and determine the feedforward compensation current based on the predicted value of the cogging force. Add the feedforward compensation current to the current loop setpoint to suppress the cogging force fluctuation in real time.

[0048] (2) Determine the thrust prediction value of the current mover assembly based on the harmonic amplitude coefficient and the real-time position, and determine the feedforward compensation current based on the thrust prediction value. Add the feedforward compensation current to the current loop setpoint to suppress thrust fluctuations in real time.

[0049] (3) Determine the predicted cogging force of the current mover assembly based on the harmonic amplitude coefficient and the real-time position, and determine the first feedforward compensation current based on the predicted cogging force; simultaneously, determine the predicted thrust of the current mover assembly based on the harmonic amplitude coefficient and the real-time position, and determine the second feedforward compensation current based on the predicted thrust; finally, determine the final target feedforward compensation current based on the first feedforward compensation current and the second feedforward compensation current, and superimpose the target feedforward compensation current into the current loop setpoint to suppress cogging force fluctuations in real time. Alternatively, the sum of the first feedforward compensation current and the second feedforward compensation current can be used as the target feedforward compensation current, or the weight of the first feedforward compensation current can be set as the first weight, and the weight of the second feedforward compensation current can be set as the second weight. The target feedforward compensation current is determined based on the first feedforward compensation current, the first weight, the second feedforward compensation current, and the second weight, and the sum of the first weight and the second weight is 1.

[0050] In summary, the control method for transmission lines provided by this invention can quickly determine the predicted value of cogging force based on the characteristic information and real-time position of the moving component, and determine the feedforward compensation current based on the predicted value of cogging force. This allows for the compensation superposition of the current loop setpoint based on the feedforward compensation current, which not only suppresses force fluctuations in real time and realizes the feedforward compensation control of the moving component, but also enables each moving component to adaptively perform corresponding feedforward compensation current compensation control according to its characteristic information and real-time position, thereby improving the control accuracy of the transmission line.

[0051] Example 2 To facilitate understanding, we will use thrust fluctuation as an example to illustrate the compensation control of transmission lines. For example... Figure 3 As shown, another control method for a transmission line provided by an embodiment of the present invention includes the following steps: Step S302: Determine the common frequency base set based on the offline force fluctuation data of the reference mover component.

[0052] Specifically, the control transmission line is energized but operates under no-load conditions, dragging the reference mover assembly back and forth on the stator assembly at a constant speed (e.g., a constant low speed of 1 mm / s). Thrust-position data of the reference mover assembly is collected over one or more complete strokes. Thrust fluctuations here include periodic force pulsations caused by back EMF harmonics, current sampling errors, etc., which only need to be calibrated under energized conditions. Furthermore, the sampling interval for thrust-position data can be set with reference to the sampling interval for cogging force-position data and adjusted adaptively.

[0053] Then, a Fast Fourier Transform (F) is performed on the thrust-position data to obtain the single-sided amplitude spectrum, phase spectrum, and multiple frequency components. Multiple target frequency components are then determined from these frequency components, and a common frequency basis set is constructed based on their frequencies. The specific process for determining the common frequency basis set can be found in the foregoing embodiments; these embodiments will not be detailed here.

[0054] Step S304: Determine the set of harmonic amplitude coefficients based on the offline acquisition data of the common frequency base group and each moving component.

[0055] Specifically, for each mover assembly, it is first driven at a constant speed, and thrust data is acquired. Then, a Fourier series model is constructed based on a common frequency basis set. For any mover assembly, a Fast Fourier Transform is performed on the thrust data of that mover assembly according to the Fourier series model to obtain the harmonic amplitude coefficients of that mover assembly. Therefore, a harmonic amplitude coefficient set is constructed based on the harmonic amplitude coefficients corresponding to multiple mover assemblies and stored in the control device. At the same time, the correspondence between each mover assembly and the harmonic amplitude coefficients is stored in the harmonic amplitude coefficient set. For details, please refer to the foregoing embodiments; the embodiments of the present invention will not be described in detail here.

[0056] Step S306: Control the transmission line to move according to the current loop setpoint, and obtain the characteristic information and real-time position of the current moving component in real time.

[0057] Step S308: Determine the harmonic amplitude coefficient of the current mover assembly based on the feature information, and determine the thrust prediction value of the current mover assembly based on the harmonic amplitude coefficient and the real-time position.

[0058] Step S310: Determine the feedforward compensation current based on the thrust prediction value, and control the transmission line based on the feedforward compensation current and the current loop setpoint.

[0059] Therefore, the control method for transmission lines provided in this embodiment of the invention, targeting scenarios where single or multiple moving components operate on the same stator component in a transmission line, utilizes spectrum analysis to extract common force fluctuation characteristics (i.e., common frequency basis set), and determines the harmonic amplitude coefficient of each moving component based on the common frequency basis set, the characteristic information of each moving component, and its real-time position; and determines the predicted value of cogging force and / or thrust of the current moving component based on the harmonic amplitude coefficient and its real-time position, so as to determine the feedforward compensation current based on the predicted value of cogging force and / or thrust, thereby superimposing the feedforward compensation current onto the current loop setpoint. This not only realizes the feedforward compensation control of each moving component, but also enables each moving component to adaptively perform corresponding feedforward compensation current compensation control according to its characteristic information and real-time position. At the same time, by determining the corresponding harmonic amplitude coefficient, each moving component avoids waveform shape differences caused by factors such as differences in permanent magnet performance, local non-uniformity of air gap, and magnetic pole installation errors, thereby improving the control accuracy of the transmission line.

[0060] Based on the above method embodiments, this invention also provides a control system for transmission lines, such as... Figure 4 As shown, the control system 4 for the transmission line includes a control device 41 and a transmission line 42; the transmission line 42 includes a stator assembly (not shown), a position detection assembly (not shown), and multiple mover assemblies (not shown); wherein, the stator assembly includes multiple stator units, each stator unit including a drive coil, thereby forming a transmission through the multiple stator units. The mover assemblies include a drive magnet (also called a driving magnet), and the multiple mover assemblies can move under the drive of the stator assembly.

[0061] Furthermore, during the movement of the moving component, the position detection component is used to detect the real-time position of the moving component. The control device 41 is used to control the transmission line 42 using the control method described above for the transmission line. The specific control process can be referred to the foregoing embodiments, and will not be described in detail here.

[0062] The control system for transmission lines provided in this embodiment of the invention has the same technical features as the control method for transmission lines provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0063] This invention also provides a control device, including a processor and a memory. The memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the above-described control method for a transmission line.

[0064] See Figure 5 As shown, the control device includes a processor 100 and a memory 101. The memory 101 stores machine-executable instructions that can be executed by the processor 100. The processor 100 executes the machine-executable instructions to implement the control method for the transmission line described above.

[0065] Furthermore, Figure 5 The control device shown also includes a bus 102 and a communication interface 103. The processor 100, the communication interface 103 and the memory 101 are connected via the bus 102.

[0066] The memory 101 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 102 may be an ISA (Industrial Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Enhanced Industry Standard Architecture) bus, etc. These buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0067] Processor 100 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 100 or by instructions in software form. Processor 100 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 101, and the processor 100 reads the information from memory 101 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0068] This embodiment also provides a computer-readable storage medium storing a computer program, which is executed by a processor to perform the above-described control method for a transmission line.

[0069] The computer program product for the control method, control system and control device for transmission lines provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0070] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0071] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0072] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0073] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0074] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a transmission line, characterized in that, The transmission line includes a stator assembly, a position detection assembly, and multiple moving parts; wherein, the stator assembly includes multiple stator units, and each stator unit includes a drive coil; the moving parts include a drive magnet, and the multiple moving parts can move under the drive of the stator assembly; the position detection assembly is used to detect the real-time position of the moving parts; the control method includes: The transmission line is controlled to move according to the current loop setpoint, and the characteristic information and real-time position of the current moving component are obtained in real time. The harmonic amplitude coefficient of the current moving part is determined based on the feature information, and the predicted cogging force of the current moving part is determined based on the harmonic amplitude coefficient and the real-time position; the feature information is the numbering information of the current moving part among multiple moving parts; the harmonic amplitude coefficient of the current moving part is determined based on the feature information and the set of harmonic amplitude coefficients; wherein, the set of harmonic amplitude coefficients includes the harmonic amplitude coefficients corresponding to multiple moving parts respectively; The feedforward compensation current is determined based on the predicted cogging force value, and the transmission line is controlled based on the feedforward compensation current and the current loop setpoint. Before controlling the transmission line to move according to the current loop setpoint, the control method further includes: The transmission line is controlled to be in a state without current excitation, and a reference moving part is dragged to reciprocate on the stator assembly at a constant speed; wherein, the reference moving part can be any moving part. Acquire the cogging force-position data of the reference mover assembly over its full stroke, and determine the common frequency basis set based on the cogging force-position data; For each of the moving parts, drag it at the constant speed and acquire the cogging force data; Based on the cogging force data of each of the moving parts and the common frequency base set, the harmonic amplitude coefficient of each of the moving parts is determined, and the harmonic amplitude coefficient set is formed based on the harmonic amplitude coefficients corresponding to multiple moving parts.

2. The control method for a transmission line according to claim 1, characterized in that, The step of determining the common frequency basis set based on the cogging force-position data includes: The cogging force-position data are subjected to a fast Fourier transform to obtain a single-sided amplitude spectrum, a phase spectrum, and multiple frequency components. Multiple target frequency components are determined from the multiple frequency components, and the common frequency basis set is formed according to the frequencies of the multiple target frequency components.

3. The control method for a transmission line according to claim 1, characterized in that, The acquisition of the cogging force-position data of the reference mover assembly over its full stroke includes: Acquire the cogging force-position data of the reference mover component over one or more complete strokes; wherein the sampling interval of the cogging force-position data is less than or equal to a preset time threshold; the preset time threshold is a specified multiple of the minimum spatial period of the cogging force, and the specified multiple is less than or equal to 0.

2.

4. The control method for a transmission line according to claim 1, characterized in that, The step of determining the harmonic amplitude coefficient of each of the moving parts based on the cogging force data of each moving part and the common frequency base includes: Construct a Fourier series model based on the common frequency basis set; For any of the aforementioned moving parts, a fast Fourier transform is performed on the cogging force data of the moving parts according to the Fourier series model to obtain the harmonic amplitude coefficients of the moving parts.

5. The control method for a transmission line according to claim 4, characterized in that, The step of determining the harmonic amplitude coefficient of each of the moving parts based on the cogging force data of each moving part and the common frequency base includes: For any of the aforementioned moving parts, a fast Fourier transform is performed on the cogging force data of the moving parts according to the Fourier series model and the least squares method to obtain the harmonic amplitude coefficients of the moving parts.

6. The control method for a transmission line according to claim 1, characterized in that, The control method further includes: The predicted thrust value of the current mover assembly is determined based on the harmonic amplitude coefficient and the real-time position. The feedforward compensation current is determined based on the thrust prediction value, and the transmission line is controlled based on the feedforward compensation current and the current loop setpoint.

7. A control system for a transmission line, characterized in that, The system includes control equipment and a transmission line; the transmission line includes a stator assembly, a position detection assembly, and multiple moving parts; wherein, the stator assembly includes multiple stator units, each stator unit including a drive coil; the moving parts include a power magnet, and the multiple moving parts can move under the drive of the stator assembly; the position detection assembly is used to detect the real-time position of the moving parts. The control device is used to control the transmission line using the control method for transmission lines according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the control method for a transmission line as described in any one of claims 1-6.

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