Method and device for controlling mover of planar magnetic suspension system, system and storage medium

Abstract

The mover control method and device of the planar magnetic suspension system, the system and the storage medium provided by the embodiments of the present application relate to the technical field of control, the planar magnetic suspension system comprises a two-dimensional stator array and a mover located above the two-dimensional stator array, and the method comprises the following steps: acquiring a real-time friction resistance disturbance of the mover in the running process; in response to the real-time friction resistance disturbance being greater than a preset disturbance threshold, increasing the suspension height of the mover by a preset step; in the process of increasing the suspension height of the mover, acquiring the high-frequency ripple amplitude of the equivalent cross-axis current vector of the mover in real time; and when it is detected that the high-frequency ripple amplitude is less than a preset ripple threshold, controlling the mover to stop increasing the suspension height. The present application can adaptively adjust the suspension height of the mover, prevent the mover from sinking and bottoming out, and thus improve the safety and stability of the operation of the planar magnetic suspension system.

Description

Technical Field

[0001] This application relates to the field of magnetic levitation control technology, and in particular to a method, device, system and storage medium for controlling the mover of a planar magnetic levitation system. Background Technology

[0002] The planar magnetic levitation system uses a two-dimensional stator array and a passive mover carrier to achieve multi-degree-of-freedom contactless motion of the mover through electromagnetic action. It is used for material transportation in fields such as intelligent conveying. In actual industrial applications, in order to reduce system energy consumption, the reference levitation height of the mover is usually set to be extremely low.

[0003] In related technologies, when the mover operates at an extremely low reference levitation height, the movement is prone to instability and sinking due to the obstruction of tiny dust particles in the operating environment or the heavy load eccentricity caused by the mover carrying irregular workpieces. This can lead to the scraping and damage of the expensive stator surface, affecting the safety and stability of the planar magnetic levitation system. Summary of the Invention

[0004] This application provides a method, apparatus, system, and storage medium for controlling the mover in a planar magnetic levitation system. It can adaptively adjust the levitation height of the mover to prevent the mover from sinking and bottoming out, thereby improving the safety and stability of the planar magnetic levitation system.

[0005] To achieve the above objectives, a first aspect of this application proposes a method for controlling the mover of a planar magnetic levitation system, the planar magnetic levitation system comprising a two-dimensional stator array and a mover located above the two-dimensional stator array, the method comprising: Obtain the real-time frictional resistance disturbance of the mover during operation; In response to the real-time frictional resistance disturbance being greater than a preset disturbance threshold, the levitation height of the mover is controlled to increase in preset steps. During the process of increasing the levitation height of the mover, the high-frequency ripple amplitude of the equivalent quadrature-axis current vector driving the mover is acquired in real time; When the high-frequency ripple amplitude is detected to be less than the preset ripple threshold, the actuator is controlled to stop increasing the suspension height.

[0006] In some embodiments, obtaining the real-time frictional resistance disturbance of the mover during operation includes: Obtain the real-time equivalent quadrature-axis current vector and real-time position information of the mover; Based on the pre-built state observer, the real-time equivalent cross-axis current vector and the real-time position information are calculated to obtain the real-time friction resistance observation value; The real-time friction resistance disturbance is obtained by subtracting the observed real-time friction resistance value from the pre-calibrated steady-state friction resistance value.

[0007] In some embodiments, the calculation of the real-time equivalent quadrature-axis current vector and the real-time position information based on a pre-built state observer to obtain the real-time frictional resistance observation value includes: Based on the real-time position information, differential processing is performed to obtain the real-time velocity and real-time acceleration of the mover. Based on the real-time velocity, the real-time acceleration, and the real-time equivalent cross-axis current vector, a state-space model containing the frictional resistance to be observed is constructed. The state space model is used to perform recursive prediction and feedback correction processing to obtain the state update value at the current moment. The frictional resistance component in the state update value is determined as the real-time frictional resistance observation value.

[0008] In some embodiments, after controlling the mover to stop increasing the levitation height, the method further includes: Obtain the DC component offset rate of the equivalent quadrature-axis current vector; In response to the DC component offset rate being greater than a preset offset threshold, it is determined that the mover is in a heavy load eccentricity condition, and the attitude balance of the mover is adjusted. In response to the DC component offset rate being less than or equal to the preset offset threshold, it is determined that the mover is in a foreign object obstruction condition, and the mover is controlled to return to the initial reference suspension height.

[0009] In some embodiments, adjusting the attitude balance of the mover includes: Obtain the current centroid offset vector of the mover, and with the geometric center of the mover as the origin, divide the stator unit located in the projection area of ​​the mover into an eccentric side region and a non-eccentric side region along the direction of the centroid offset vector; The current eccentric torque of the mover is calculated in real time, and the first vertical current adjustment amount of the stator unit in the eccentric side region and the second vertical current adjustment amount of the stator unit in the non-eccentric side region are determined based on the eccentric torque. The first vertical current adjustment and the second vertical current adjustment are respectively applied to the stator unit in the corresponding region.

[0010] In some embodiments, the real-time calculation of the current eccentric torque of the mover includes: Obtain the horizontal distance vector of each stator unit relative to the geometric center; Based on the vertical electromagnetic force coefficient of each stator unit, the current vertical support current component, and the horizontal distance vector, the support torque generated by each stator unit is calculated, and the support torque sum is obtained by summing the support torques of all stator units. The eccentric torque is obtained by subtracting the reference torque of the self-weight of the mover from the supporting torque.

[0011] In some embodiments, during the process of applying the first vertical current adjustment amount and the second vertical current adjustment amount to the stator unit of the corresponding region, the method further includes: The horizontal drive current component of the equivalent cross-axis current vector output by the two-dimensional stator array remains unchanged; The current tilt angle of the mover is obtained, and in response to the current tilt angle being greater than a preset angle threshold, the first vertical current adjustment amount and the second vertical current adjustment amount are adjusted using a first adjustment coefficient; In response to the current tilt angle being less than or equal to the preset angle threshold, the first vertical current adjustment amount and the second vertical current adjustment amount are adjusted using a second adjustment coefficient, wherein the first adjustment coefficient is greater than the second adjustment coefficient; The current compensation amount used to counteract the additional eccentric torque is calculated based on the real-time acceleration of the mover, and the current compensation amount is added to the corresponding vertical current adjustment amount. In response to the current tilt angle being less than a preset tilt angle safety threshold and the DC component offset rate being less than a preset steady-state offset threshold, the attitude balance adjustment is determined to be complete, and the two-dimensional stator array is controlled to maintain the current asymmetric current distribution state.

[0012] To achieve the above objectives, a second aspect of this application provides a mover control device for a planar magnetic levitation system, the planar magnetic levitation system including a two-dimensional stator array and a mover located above the two-dimensional stator array, the device comprising: The first acquisition module is used to acquire the real-time frictional resistance disturbance of the mover during operation; The first control module is used to control the levitation height of the mover to increase by a preset step size in response to the real-time frictional resistance disturbance being greater than a preset disturbance threshold. The second acquisition module is used to acquire the high-frequency ripple amplitude of the equivalent quadrature-axis current vector driving the mover in real time during the process of increasing the levitation height of the mover. The second control module is used to control the mover to stop increasing the suspension height when the high-frequency ripple amplitude is detected to be less than a preset ripple threshold.

[0013] To achieve the above objectives, a third aspect of this application provides a planar magnetic levitation system, including a two-dimensional stator array, a mover located above the two-dimensional stator array, and a control component. The control component includes a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the mover control method of the planar magnetic levitation system as described in the first aspect.

[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 motion control method of the planar magnetic levitation system described in the first aspect.

[0015] The present application proposes a method for controlling the mover in a planar magnetic levitation system. The planar magnetic levitation system includes a two-dimensional stator array and a mover located above the two-dimensional stator array. The method includes: firstly, acquiring the real-time frictional resistance disturbance of the mover during operation; then, in response to the real-time frictional resistance disturbance exceeding a preset disturbance threshold, controlling the levitation height of the mover to increase in preset steps; during the increase of the mover's levitation height, acquiring the high-frequency ripple amplitude of the equivalent quadrature-axis current vector driving the mover in real time; and when the high-frequency ripple amplitude is detected to be less than a preset ripple threshold, controlling the mover to stop increasing the levitation height. This application embodiment obtains the real-time frictional resistance disturbance of the mover during operation, enabling real-time quantification of the external physical disturbances experienced by the mover. Furthermore, in response to the real-time frictional resistance disturbance exceeding a preset disturbance threshold, the levitation height of the mover is controlled to increase in preset steps. By real-time monitoring of the high-frequency ripple amplitude of the equivalent quadrature-axis current vector, the critical state of the mover detaching from the obstacle or contact surface is determined. Thus, based on the feedback of the underlying electromagnetic characteristics, the levitation height of the mover is adaptively adjusted to prevent the mover from sinking and bottoming out, thereby improving the safety and stability of the planar magnetic levitation system.

[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 planar magnetic levitation system provided in one embodiment of this application.

[0018] Figure 2 This is a flowchart of a motion control method for a planar magnetic levitation system provided in an embodiment of this application.

[0019] Figure 3This is a flowchart of a mover control method for a planar magnetic levitation system provided in another embodiment of this application.

[0020] Figure 4 This is a flowchart of a mover control method for a planar magnetic levitation system provided in another embodiment of this application.

[0021] Figure 5 This is a flowchart of a mover control method for a planar magnetic levitation system provided in another embodiment of this application.

[0022] Figure 6 This is a flowchart of a mover control method for a planar magnetic levitation system provided in another embodiment of this application.

[0023] Figure 7 This is a flowchart of a mover control method for a planar magnetic levitation system provided in another embodiment of this application.

[0024] Figure 8 This is a flowchart of a mover control method for a planar magnetic levitation system provided in another embodiment of this application.

[0025] Figure 9 This is a schematic diagram of the moving part control device of a planar magnetic levitation system provided in an embodiment of this application.

[0026] Figure 10 This is a schematic diagram of the hardware structure of a planar magnetic levitation system provided in an embodiment of this application. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] The planar magnetic levitation system uses a two-dimensional stator array and a passive mover carrier to achieve multi-degree-of-freedom contactless motion of the mover through electromagnetic action. It is used for material transportation in fields such as intelligent conveying. In actual industrial applications, in order to reduce system energy consumption, the reference levitation height of the mover is usually set to be extremely low.

[0031] In related technologies, when the mover operates at an extremely low reference levitation height, the movement is prone to instability and sinking due to the obstruction of tiny dust particles in the operating environment or the heavy load eccentricity caused by the mover carrying irregular workpieces. This can lead to the scraping and damage of the expensive stator surface, affecting the safety and stability of the planar magnetic levitation system.

[0032] To improve the production efficiency of the magnetic drive system, this application embodiment obtains the real-time frictional resistance disturbance of the mover during operation, enabling real-time quantification of the external physical disturbances experienced by the mover. Furthermore, in response to the real-time frictional resistance disturbance exceeding a preset disturbance threshold, the levitation height of the mover is controlled to increase in preset steps. By real-time monitoring of the high-frequency ripple amplitude of the equivalent quadrature-axis current vector, the critical state of the mover detaching from the obstacle or contact surface is determined. Thus, based on the feedback of the underlying electromagnetic characteristics, the levitation height of the mover is adaptively adjusted to prevent the mover from sinking and bottoming out, thereby improving the safety and stability of the planar magnetic levitation system.

[0033] The following will further describe the mover control method, apparatus, system, and storage medium of the planar magnetic levitation system provided in the embodiments of this application. The mover control method of the planar magnetic levitation system provided in the embodiments of this application can be applied to smart terminals, servers, computers, etc., connected to a magnetic drive system.

[0034] To better illustrate the mover control method for the planar magnetic levitation system provided in this application, this embodiment first describes a planar magnetic levitation system applying the mover control method. (Refer to...) Figure 1 The diagram shown is a structural schematic of a planar magnetic levitation system provided in an embodiment of this application. The planar magnetic levitation system mainly includes a two-dimensional stator array and a mover suspended above the two-dimensional stator array. The two-dimensional stator array is typically composed of multiple stator units arranged in a grid pattern; a permanent magnet array is disposed at the bottom of the mover. During system operation, by controlling the current injected into each stator unit in the two-dimensional stator array, a magnetic field is generated that interacts with the permanent magnet array of the mover, thereby providing the vertical support force required for the mover's levitation and the horizontal thrust driving its multi-degree-of-freedom motion on the horizontal plane. Furthermore, the planar magnetic levitation system also includes a servo control component, which is electrically connected to the two-dimensional stator array and is used to collect underlying electromagnetic feedback data in real time, such as the equivalent quadrature-axis current vector and position signals, and execute the mover control method provided in this embodiment of the application. Figure 1The double-headed arrows emphasize that in actual industrial applications, to reduce overall system energy consumption, the bottom of the mover and the surface of the two-dimensional stator array are typically set and maintained at an extremely low reference suspension height, such as 0.5 mm. However, precisely because of this extremely low suspension height, when the mover encounters minor dust obstructions on the operating path, or experiences heavy-load eccentricity due to carrying irregular workpieces, the mover is prone to localized sinking or tilting, leading to friction and bottoming out between the mover's bottom and the expensive stator surface. The embodiments of this application are based on... Figure 1 Based on the system architecture and practical problems shown, a mover control method is proposed to achieve adaptive adjustment of the mover's suspension height.

[0035] Based on the above-described planar magnetic levitation system, the mover control method of the planar magnetic levitation 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 planar magnetic levitation system provided in the embodiments of this application. Figure 2 The method may include, but is not limited to, steps 201 to 204. It is also understood that this embodiment... Figure 2 The order of steps 201 to 204 is not specifically limited. The order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0036] Step 201: Obtain the real-time frictional resistance disturbance of the mover during operation.

[0037] Step 202: In response to the real-time frictional resistance disturbance being greater than the preset disturbance threshold, control the levitation height of the mover to increase in preset steps.

[0038] Step 203: During the process of increasing the levitation height of the mover, the high-frequency ripple amplitude of the equivalent quadrature-axis current vector driving the mover is obtained in real time.

[0039] Step 204: When the high-frequency ripple amplitude is detected to be less than the preset ripple threshold, control the mover to stop increasing the suspension height.

[0040] In step 201 of some embodiments, since the mover of the planar magnetic levitation system is a passive carrier, external physical disturbances can be sensed by real-time monitoring and decoupling of electromagnetic drive data. When the mover is normally levitating and running without obstruction, the friction force it experiences usually exhibits a relatively smooth and stable steady-state frictional resistance value. However, when the mover encounters minor dust obstructions on the running path, or when it experiences localized sinking due to eccentricity caused by carrying a heavy load, physical contact will occur between the bottom of the mover and the surface of the stator, resulting in a sudden change in the actual running resistance. The control component acquires the electrical parameters and kinematic state of the mover during operation in real time, observes and calculates the current real-time frictional resistance, and then extracts the real-time frictional resistance disturbance caused by abnormal physical contact. This real-time frictional resistance disturbance can quantify the degree of abnormal obstruction currently experienced by the mover, providing a basis for subsequent height adaptive adjustment.

[0041] Please see Figure 3 In some embodiments, step 201 may include, but is not limited to, steps 301 to 303.

[0042] Step 301: Obtain the real-time equivalent quadrature-axis current vector and real-time position information of the mover.

[0043] Step 302: Based on the pre-built state observer, the real-time equivalent quadrature-axis current vector and real-time position information are calculated to obtain the real-time friction resistance observation value.

[0044] Step 303: The difference between the real-time friction resistance observation value and the pre-calibrated steady-state friction resistance value is calculated to obtain the real-time friction resistance disturbance.

[0045] In step 301 of some embodiments, a high-precision position sensor disposed in the stator array is used to obtain the real-time position information of the mover; simultaneously, the equivalent quadrature-axis current vector driving the mover motion is monitored in real time, i.e. Current, which reflects the electromagnetic force state output by the system, is the core input parameter for dynamic analysis and resistance observation.

[0046] It should be further clarified that, to distinguish it from conventional rotating electric machines, the equivalent cross-axis current vector mentioned in this application does not refer solely to the single q-axis current in the two-dimensional rotating coordinate system of a conventional rotating electric machine. Instead, it refers to the equivalent cross-axis current vector obtained by mapping the three-phase currents of each stator unit to the local coordinate system of the mover based on the current position and attitude of the mover. This local coordinate system has the geometric center of the mover as its origin, with the X and Y axes parallel to the plane containing the two-dimensional stator array, and the Z axis perpendicular to the plane containing the two-dimensional stator array and pointing towards the direction of the mover's levitation. The equivalent cross-axis current vector can be expressed as:

[0047] in, and The horizontal driving current component is used to generate the horizontal electromagnetic force that drives the mover to move along the X and Y directions; This is the vertical support current component, used to generate the vertical electromagnetic force supporting the levitation of the mover. Therefore, the horizontal driving current component of the equivalent quadrature-axis current vector in this application refers to: Vertical support current component refers to .

[0048] To further elaborate, the application of the equivalent quadrature-axis current vector in different control stages is divided as follows: In the frictional resistance observation stage, the horizontal drive current component is used. , or its projection component in the direction of motion. Perform dynamic calculations; in the calculation of the DC component offset rate, use the vertical support current component. Statistical judgment is performed; in the process of obtaining the high-frequency ripple amplitude, the vector amplitude of the horizontal driving current component, the vertical support current component, or the equivalent quadrature axis current vector can be flexibly selected for feature extraction according to the actual sampling object.

[0049] In step 302 of some embodiments, the depth of motion state is calculated by using the acquired real-time equivalent cross-axis current vector and real-time position information, combined with a pre-built state observer. Specifically, the real-time equivalent cross-axis current vector is the horizontal drive current component. , or its projection component in the direction of motion. A state observer is a mathematical model that estimates unmeasurable state variables within a system by using system input and output observations. In this step, the observer feeds back and compensates for model biases in real time by inputting measured current and position data into a preset dynamic equation, thereby enabling the calculation of real-time frictional resistance observations from complex electromagnetic relationships.

[0050] Please see Figure 4 In some embodiments, step 302 may include, but is not limited to, steps 401 to 404.

[0051] Step 401: Perform differential processing based on real-time position information to obtain the real-time velocity and real-time acceleration of the mover.

[0052] Step 402: Based on real-time velocity, real-time acceleration, and real-time equivalent cross-axis current vector, construct a state-space model containing the frictional resistance to be observed.

[0053] Step 403: Perform recursive prediction and feedback correction using the state-space model to obtain the state update value at the current moment.

[0054] Step 404: Determine the frictional resistance component in the state update value as the real-time frictional resistance observation value.

[0055] In step 401 of some embodiments, the real-time position information is subjected to first-order differential processing to obtain the real-time velocity of the mover; and the real-time position information is subjected to second-order differential processing to obtain the real-time acceleration of the mover. These derived kinematic parameters are used to describe the dynamic response state of the mover at the current sampling time.

[0056] In step 402 of some embodiments, combining the aforementioned kinematic parameters and dynamic principles, a state-space model capable of characterizing the frictional characteristics of the system is constructed. This model is based on the discretized expression of the motion equations of a planar magnetic levitation system, with frictional resistance as the extended state variable to be observed, and the state vector is selected as... ;in, Characterizing the position of the mover, Characterizes real-time speed. Characterizing real-time acceleration, The frictional resistance to be observed is characterized. Based on this, the corresponding state transition equation is constructed, and its mathematical expression includes:

[0057]

[0058]

[0059] In the above formula, The sampling period of the characterization system Characterizing the thrust constant of the stator, Characterizes the projection component of the real-time equivalent quadrature-axis current vector in the direction of motion. The viscous damping coefficient characterizes the system. Characterizing the mass of the mover, This characterizes the process noise introduced when the frictional resistance is assumed to be a slowly varying process. Furthermore, an observation equation is established to link the internal state with external measured data; its mathematical expression is:

[0060] in, The observation vector representing the current moment. Characterizes the position information measured by the stator encoder. Characterizing the observation matrix, The observation noise is characterized. Using the above formulas, this state-space model fully describes the dynamic behavior of the system under electromagnetic driving force and its state evolution.

[0061] In step 403 of some embodiments, recursive prediction and feedback correction processes are performed using the constructed state-space model to achieve dynamic and accurate solution of the hidden states within the system. Since this model employs the Extended Kalman Filter (EKF) algorithm logic, the solution process is divided into two steps—prediction and update—within one sampling period. In the prediction step, the state posterior estimate from the previous time step is used... and the corresponding covariance Based on the aforementioned state transition equations, the prior state estimate for the current moment can be derived. and prior covariance In the subsequent update step, the actual observation values ​​collected at the current moment are obtained. (i.e., measured position and current), and use this observation to calculate the Kalman gain K. Furthermore, the Kalman gain is used as a weighting adjustment coefficient to provide real-time feedback correction for the residuals between the prior estimate and the actual observation, ultimately updating the posterior state estimate at the current moment that converges to the true physical state. and posterior covariance This recursive loop of prediction correction effectively filters out encoder sampling noise and compensates for the nonlinear error of the model itself, thereby outputting the current state update value containing target resistance information with high accuracy.

[0062] In step 404 of some embodiments, since the vector matrix corresponding to the state update value contains multiple kinematic and dynamic parameters of the mover, the component specifically corresponding to the frictional resistance dimension in the state update value is extracted through matrix projection. This component has already eliminated the interference of acceleration changes and inherent system damping during motion at the algorithm level; therefore, it is determined as a real-time frictional resistance observation value that can truly reflect the contact friction state at the bottom of the mover, providing a physical basis for the control component to subsequently determine whether the mover has bottomed out.

[0063] In step 303 of some embodiments, it is first necessary to determine the pre-calibrated steady-state frictional resistance value. It characterizes the reference frictional resistance of the mover under normal contactless suspension. In the initial stage, real-time frictional resistance observations were collected for 100 consecutive sampling cycles under no-load, contactless, low-speed uniform operation of the mover. The average value is then extracted as the initial steady-state frictional resistance value. To accommodate potential reference drift during system operation, a dynamic update mechanism for the steady-state value can be introduced: during actual operation, when the calculated frictional resistance disturbance... If the friction resistance is less than a set small floating threshold, such as 0.5N, and this state persists for more than a preset time, such as 1 second, it is determined that a new stable, non-contact state has been reached. At this point, the steady-state friction resistance value is updated to the average value calculated within the current sliding window. After determining and dynamically maintaining this steady-state friction resistance value, the real-time friction resistance observation value calculated at the current moment is... With this steady-state frictional resistance value By performing a difference calculation, the fixed bias components caused by the system's inherent viscous damping and measurement noise are eliminated. This ultimately yields a real-time increase in frictional resistance disturbance caused by sudden obstacles such as dust contact, bottoming out, or scraping.

[0064] Through steps 301 to 303 and 401 to 404 described above, this embodiment of the application establishes a state observation system based on electromagnetic parameters and kinematic feedback, achieving high-precision real-time observation and disturbance separation of frictional resistance. Utilizing the prediction and correction logic of the state-space model, it is possible to capture minute frictional fluctuations caused by dust or eccentricity without the need for mechanical force sensors, thereby quantifying the degree of physical resistance of the moving part. This provides a data foundation for adaptive obstacle crossing and safe bottom-out control of planar magnetic levitation systems at extremely low reference heights.

[0065] In step 202 of some embodiments, after obtaining the real-time frictional resistance disturbance, it is compared in real time with a preset disturbance threshold to determine whether the mover has experienced substantial sinking or scraping. This preset disturbance threshold is typically a pre-calibrated safety threshold based on the system's physical load-bearing limit and safe operating boundary. If the real-time frictional resistance disturbance exceeds this preset threshold, it indicates that the mover is currently experiencing abnormal external frictional resistance exceeding the normal fluctuation range. If not intervened in time, the mover will continue to drag and scrape the stator surface. Therefore, the control component triggers a height adaptive adjustment mechanism, injecting a position increment command into the vertical control loop to control the mover's suspension height to increase in preset steps, for example, in 0.1mm increments. By using preset steps to drive the mover upwards, it can quickly respond to and resolve the bottoming crisis, and effectively avoid drastic electromagnetic force changes and system instability caused by excessively large single lifting commands, ensuring a smooth and controllable height increase process.

[0066] In step 203 of some embodiments, the equivalent cross-axis current vector, as the current component characterizing the electromagnetic thrust of the system, has waveform characteristics that can intuitively reflect the mechanical interaction state between the mover and the external physical environment. As the levitation height of the mover gradually increases, the equivalent cross-axis current vector can be used as a criterion for monitoring the physical contact state at the bottom of the mover. When there is continuous friction and scraping between the bottom of the mover and obstacles such as dust, the uneven mechanical friction between the contact surfaces causes the mover to generate high-frequency mechanical vibration. This high-frequency mechanical vibration manifests as obvious high-frequency current ripples on the waveform of the equivalent cross-axis current vector. Therefore, as the levitation height increases, the high-frequency ripple amplitude of the equivalent cross-axis current vector driving the mover can be acquired in real time to continuously evaluate the changes in scraping between the bottom of the mover and the obstacles.

[0067] In step 204 of some embodiments, as the levitation height of the mover is continuously finely adjusted and increased, when the bottom of the mover is raised to a critical height that just crosses the dust obstacle or completely detaches from the friction contact surface, the mechanical scraping between the mover and the stator surface is eliminated. With the physical contact disengagement, the high-frequency mechanical disturbance previously coupled to the equivalent quadrature-axis current vector also attenuates. By continuously monitoring the extracted high-frequency ripple amplitude, when the high-frequency ripple amplitude is detected to drop below a preset ripple threshold, and this state continues to meet a preset stable duration, it can be determined that the mover has been suspended and has detached from the bottom-supported state. Based on this determination, a height lock command is triggered, controlling the mover to stop increasing its levitation height, keeping it at the current critical height that allows safe obstacle crossing, effectively preventing the mover from being raised erroneously without restriction, and ensuring that the mover always passes through complex working conditions with the minimum necessary safe height.

[0068] In some embodiments, this application also provides a redundant safety protection mechanism. During the process of increasing the suspension height, the cumulative increase in height or the number of increases can be monitored simultaneously. If the preset maximum suspension height limit or maximum number of increases is reached and the above-mentioned ripple drop condition is still not met, it is determined that an insurmountable obstacle has been encountered. Then, an abnormal protection command is triggered to control the mover to slow down, stop, or trigger an alarm. This mechanism can prevent the mover from being lifted erroneously without restriction and ensure the safety of the system under complex and extreme working conditions.

[0069] Please see Figure 5 In some embodiments, after step 204, steps 501 to 503 may also be included, but are not limited to.

[0070] Step 501: Obtain the DC component offset rate of the equivalent quadrature axis current vector.

[0071] Step 502: In response to the DC component offset rate being greater than the preset offset threshold, it is determined that the mover is in a heavy load eccentric working condition, and the attitude balance of the mover is adjusted.

[0072] Step 503: In response to the DC component offset rate being less than or equal to a preset offset threshold, it is determined that the mover is in a foreign object obstruction condition, and the mover is controlled to return to the initial reference suspension height.

[0073] In step 501 of some embodiments, after the mover stops increasing its levitation height and loses physical contact, it is necessary to further identify the specific operating condition type that caused the disturbance based on steady-state electromagnetic characteristics. At this time, the equivalent cross-axis current vector driving the mover is processed, and high-frequency ripple components caused by transient mechanical friction are filtered out by algorithms such as low-pass filtering, thereby extracting the vertical support current component of the equivalent cross-axis current vector used to maintain the current levitation attitude of the mover. steady-state DC component Subsequently, the extracted actual DC component is compared with the reference DC component calibrated under no-load or ideal equilibrium conditions to obtain the DC component offset rate of the equivalent quadrature-axis current vector. This offset rate data can objectively reflect the degree of continuous current output asymmetry generated in the stator coils to balance the additional load torque.

[0074] Specifically, after detecting that the high-frequency ripple amplitude is less than the preset ripple threshold and remains stable for a preset duration, the equivalent quadrature-axis current vector within the preset time window is subjected to low-pass filtering or moving average processing to obtain the DC component of the vertical support current component of each stator unit currently participating in the suspension support. When using a moving average, It can be represented as:

[0075] When using a first-order low-pass filter, It can be represented as:

[0076] Where N is the number of sampling points within the sliding window. These are the low-pass filter coefficients, and .

[0077] The reference DC component of the i-th stator unit This refers to the vertical support current component calibrated when the mover is under no-load or standard load, without eccentricity, without obstruction, and at a reference suspension height. This reference DC component can be expressed as:

[0078] in, The number of sampling points during the calibration phase. This represents the vertical support current component of the i-th stator unit at the m-th sampling time during the calibration phase.

[0079] DC component offset rate of equivalent quadrature-axis current vector It can be represented as:

[0080] Where n is the number of stator units currently located within the projection area of ​​the moving part and participating in the levitation support. To prevent extremely small positive numbers with a denominator of zero, the larger η is, the more significant the steady-state deviation of the current vertical support current relative to the reference state, and the higher the possibility of overload eccentricity of the mover.

[0081] In step 502 of some embodiments, the obtained DC component offset rate is compared with a preset offset threshold, which is typically set to 5% in practical applications. If the DC component offset rate exceeds this preset threshold, for example, within the range of 5% to 40%, it indicates a steady-state torque imbalance at the system's underlying layer. Specifically, this manifests as an increase in the stator current on the eccentric side and a decrease in the stator current on the opposite side. Based on this steady-state current deviation characteristic, it can be accurately determined that the mover is currently under heavy-load eccentricity. Since heavy-load eccentricity is a persistent physical imbalance, simply raising the levitation height cannot eliminate the damage to the mover's attitude caused by the eccentric torque. Therefore, an asymmetric current distribution balance control process is triggered to adjust the mover's attitude balance.

[0082] Please see Figure 6 In some embodiments, the step of adjusting the attitude balance of the mover in step 502 may include, but is not limited to, steps 601 to 603.

[0083] Step 601: Obtain the current centroid offset vector of the mover, and divide the stator unit located in the projected area of ​​the mover into an eccentric side region and a non-eccentric side region along the direction of the centroid offset vector, with the geometric center of the mover as the origin.

[0084] Step 602: Calculate the current eccentric torque of the mover in real time, and determine the first vertical current adjustment amount of the stator unit in the eccentric side region and the second vertical current adjustment amount of the stator unit in the non-eccentric side region based on the eccentric torque.

[0085] Step 603: Apply the first vertical current adjustment amount and the second vertical current adjustment amount to the stator unit in the corresponding region, respectively.

[0086] In step 601 of some embodiments, after confirming that the mover is under heavy load and eccentricity, it is necessary to further determine the specific spatial distribution of the eccentric load on the mover. First, by extracting the current difference characteristics output by each stator unit while maintaining the current levitation attitude, the current centroid offset vector of the mover is calculated. The centroid offset vector characterizes the direction and distance of the mover's actual center of gravity from its ideal geometric center. Subsequently, dynamic partitioning of the control region is performed at the physical space level: taking the geometric center of the mover as the origin of the coordinate system, all stator units covered by the vertical projection of the mover onto the two-dimensional stator array are taken as the candidate control set; then, along the spatial direction pointed to by the centroid offset vector, the stator units in the projection area are clearly divided into an eccentric side region bearing more load and a non-eccentric side region opposite to this direction bearing less load. This dynamic physical partitioning based on the centroid offset vector lays a precise spatial control foundation for subsequent implementation of asymmetric electromagnetic force compensation.

[0087] In step 602 of some embodiments, after the physical space is partitioned, the eccentric torque borne by the current mover is calculated in real time based on the equations of motion and the observer model. Specifically, the calculation of this eccentric torque follows a mathematical formula: In this formula, Characterizes the eccentric moment obtained from the solution. Characterizing the first Vertical electromagnetic force coefficient of each stator unit Characterizing the first The vertical component of the current equivalent quadrature-axis current vector of each stator element. Characterizing the first The horizontal distance vector of each stator element relative to the geometric center of the mover. The reference torque, characterized by the weight of the mover, is the no-load calibration value. After calculating the eccentric torque, the vertical current adjustment for each stator unit within the region is further calculated: For stator units in the eccentric region, the first vertical current adjustment follows the formula: To increase the vertical current in this region; for the stator unit in the non-eccentric side region, the second vertical current adjustment follows the formula To reduce the vertical current in this region; where, The balance control ratio is pre-configured according to the vehicle weight range.

[0088] Please see Figure 7 In some embodiments, step 602 may include, but is not limited to, steps 701 to 703.

[0089] Step 701: Obtain the horizontal distance vector of each stator unit relative to the geometric center.

[0090] Step 702: Based on the vertical electromagnetic force coefficient of each stator unit, the current vertical support current component, and the horizontal distance vector, calculate the support torque generated by each stator unit, and sum the support torques of all stator units.

[0091] Step 703: Based on the supporting torque and the reference torque obtained by subtracting the self-weight of the mover, the eccentric torque is obtained.

[0092] In step 701 of some embodiments, the geometric center of the mover body is used as the origin of the local coordinate system, and the absolute physical coordinates of each stator unit currently located within the two-dimensional projection area of ​​the mover are obtained in real time. Through coordinate transformation, the coordinates of each stator unit are mapped to the local coordinate system, thereby calculating and obtaining the horizontal distance vector of each stator unit relative to the geometric center of the mover. The horizontal distance vector represents the dynamic lever arm length corresponding to each stator unit when providing vertical support force.

[0093] In step 702 of some embodiments, after determining the lever arm parameters of each stator unit, torque derivation is further performed in conjunction with electrical parameters. For each stator unit participating in the support, its pre-calibrated vertical electromagnetic force coefficient is retrieved, and its actual output current vertical support current component is collected in real time. Since the actual electromagnetic thrust generated by the stator unit is linearly proportional to its vertical support current component, the actual vertical support force provided by a single stator unit can be obtained by multiplying the vertical electromagnetic force coefficient by the current vertical support current component. Subsequently, the vertical support force is cross-multiplied with the corresponding horizontal distance vector obtained in the previous step to obtain the independent support torque generated by each stator unit about the geometric center of the mover. Based on this, all stator units within the current mover projection area are traversed, and these independent support torques are vector-accumulated to obtain the total support torque currently applied to the mover by the system.

[0094] In step 703 of some embodiments, in order to isolate the abnormal torque caused by heavy load eccentricity, it is necessary to remove the system's inherent torque reference from the total support torque. Specifically, the above calculations are integrated based on preset physical dynamic equations, the core mathematical description of which is: By subtracting the reference torque, which only represents the weight of the mover, from the total support torque including the load factor, the extra eccentric torque generated due to the bearing of irregular workpieces can be calculated.

[0095] In step 603 of some embodiments, the first and second vertical current adjustments calculated above are superimposed and applied to the drive commands of the stator units in the corresponding regions. During the application of these current adjustments for vertical attitude compensation, the horizontal drive current component of the equivalent quadrature-axis current vector output by all stator units remains unchanged, thereby ensuring that the movement trajectory and speed of the mover in the horizontal direction are not disturbed by attitude balance control. Simultaneously, it is ensured that after applying the adjustments, the total quadrature-axis current of all stator units does not exceed 80% of the rated current of the servo driver, thus fully guaranteeing the hardware safety redundancy of the system during attitude correction.

[0096] Please see Figure 8 In some embodiments, step 603 may include, but is not limited to, steps 801 to 805.

[0097] Step 801: Keep the horizontal drive current component of the equivalent quadrature axis current vector output by the two-dimensional stator array unchanged.

[0098] Step 802: Obtain the current tilt angle of the mover. In response to the current tilt angle being greater than a preset angle threshold, adjust the first vertical current adjustment amount and the second vertical current adjustment amount using the first adjustment coefficient.

[0099] Step 803: In response to the current tilt angle being less than or equal to a preset angle threshold, the first vertical current adjustment amount and the second vertical current adjustment amount are adjusted using a second adjustment coefficient.

[0100] Step 804: Calculate the current compensation amount to counteract the additional eccentric torque based on the real-time acceleration of the mover, and add the current compensation amount to the corresponding vertical current adjustment amount.

[0101] Step 805: In response to the current tilt angle being less than a preset tilt angle safety threshold and the DC component offset rate being less than a preset steady-state offset threshold, the attitude balance adjustment is determined to be complete, and the two-dimensional stator array is controlled to maintain the current asymmetric current distribution state.

[0102] In step 801 of some embodiments, when the calculated vertical current adjustment amount is actually sent to the underlying driver, while increasing or decreasing the vertical support current component of the stator unit in a specific area, it is necessary to keep the horizontal drive current component of the equivalent cross-axis current vector output of all involved two-dimensional stator arrays unchanged. By locking the horizontal drive current component, it can be ensured that the movement trajectory and speed of the mover in the X and Y axis directions will not be interfered with by the Z axis attitude balance control, thereby ensuring that the mover can still smoothly and continuously perform the two-dimensional planar logistics transportation task sent by the upper system during the leveling action.

[0103] In step 802 of some embodiments, the current tilt angle of the mover is obtained in real time by reconstructing the spatial distribution characteristics of the stator current or by using an internal observation model. To achieve rapid attitude convergence, a piecewise proportional-integral-derivative (PID) closed-loop control is introduced, comparing the obtained current tilt angle with a preset angle threshold (e.g., 0.5°). If the current tilt angle exceeds the preset angle threshold, indicating a severe tilt instability state, the system uses a first adjustment coefficient to adjust the gain of the previously calculated first and second vertical current adjustments. This first adjustment coefficient corresponds to a large proportional coefficient in the underlying control logic, aiming to enable the system to quickly correct large-amplitude tilts of the mover with a strong initial restoring torque, preventing attitude deterioration and edge bottoming.

[0104] In step 803 of some embodiments, as the attitude leveling action continues, the tilt amplitude of the mover gradually narrows. In response to the current tilt angle being less than or equal to the aforementioned preset angle threshold, it is determined that the mover has entered a small tilt range. Continuing to use strong adjustment at this point could easily lead to over-adjustment of the angle. Therefore, a second adjustment coefficient can be used to adjust the first and second vertical current adjustments. The second adjustment coefficient corresponds to a small proportional coefficient and introduces an integral term, aiming to eliminate the steady-state error of the system through gentle, fine adjustment, allowing the mover to smoothly conform to the horizontal plane.

[0105] In step 804 of some embodiments, considering that the mover does not always run at a constant speed during actual transport, it will generate additional dynamic overturning torque during acceleration and deceleration due to the inertia of the eccentric load. Therefore, acceleration feedforward compensation is added to the aforementioned PID closed-loop regulation. The real-time acceleration of the mover is obtained by differentiating the real-time speed or directly reading parameters from the state observer. Based on this real-time acceleration and the off-center load mass, a current compensation amount to counteract this additional eccentric torque is calculated using a dynamic model. Subsequently, this current compensation amount is superimposed on the corresponding vertical current adjustment amount, effectively offsetting the impact of dynamic processes such as acceleration and deceleration on the horizontal attitude of the mover.

[0106] In step 805 of some embodiments, the reconstructed mover tilt angle and the DC component offset rate of the equivalent quadrature-axis current vector are continuously monitored in real time. When the system detects that the current tilt angle has converged and is less than a preset tilt angle safety threshold, such as 0.1°, and at the same time, the calculated DC component offset rate also decreases to less than a preset steady-state offset threshold, such as 3%, it means that the mechanical attitude of the mover and the underlying electromagnetic output have reached a steady-state equilibrium. In response to the simultaneous satisfaction of these two conditions, it is determined that the current attitude balance adjustment has been completed. Thereafter, the two-dimensional stator array is controlled to maintain and preserve the current asymmetric current distribution state, so that the mover can continue to perform subsequent transport operations smoothly and safely while stably supporting the off-center load.

[0107] The beneficial effects of implementing steps 801 to 805 are as follows: by keeping the horizontal component constant, the balance adjustment and production conveying do not interfere with each other; the introduction of the segmented adjustment coefficient and the combination of feedforward compensation take into account both the responsiveness and stability of the attitude correction, eliminate the risk of dynamic overturning during heavy-load acceleration and deceleration, and enable it to still operate smoothly when facing extremely eccentric materials or complex motion trajectories.

[0108] In step 503 of some embodiments, as another branch of the determination logic, if the DC component offset rate of the equivalent quadrature-axis current vector is less than or equal to a preset offset threshold, such as less than 5%, it indicates that after the mover is lifted and high-frequency ripple is eliminated, the steady-state current maintaining its levitation is basically within the normal fluctuation range, and there is no obvious steady-state off-center load torque. Therefore, it can be determined that the disturbance that triggered the obstacle-crossing lift was only due to the mover encountering obstruction from small dust particles or other foreign objects. Under this obstruction condition, since the mover has successfully broken contact, in order to meet the power-saving and energy-reducing operational requirements of the planar magnetic levitation system, it should return to the normal operating state, restoring to the initially set extremely low reference levitation height, such as 0.5 mm, so that the mover can quickly return to the low-energy normal cruising state after safely crossing the obstacle. Specifically, after confirming that the mover has smoothly passed the object area, for example by determining that it has left a specific coordinate segment through position information, or by monitoring that the real-time frictional resistance disturbance and high-frequency ripple amplitude have continuously recovered to the normal fluctuation range and maintained a safe time window, a command is then issued to control the mover to descend smoothly and return to the initially set extremely low reference suspension height, so that the mover can quickly and safely return to the low-energy normal cruise state after safely passing the obstacle.

[0109] The beneficial effects of using steps 501 to 503 provided in the above embodiments are as follows: by introducing the DC component offset rate of the equivalent quadrature axis current vector as the core judgment index, it is possible to automatically distinguish between dust obstruction and heavy-load eccentric working conditions without adding additional sensors; for heavy-load eccentric working conditions, by implementing precise dynamic physical partitioning of the two-dimensional stator array and calculating the eccentric torque and compensation current in real time based on dynamic parameters, asymmetric electromagnetic force output is realized, thereby achieving adaptive leveling of the mover attitude while keeping the horizontal motion trajectory unaffected, enhancing the operational stability and equipment safety of the planar magnetic levitation system under complex load conditions.

[0110] By employing steps 201 to 204 provided in the above embodiments, this application embodiment first obtains the real-time frictional resistance disturbance of the mover during operation, thereby quantifying the external physical disturbance experienced by the mover in real time. Further, in response to the real-time frictional resistance disturbance exceeding a preset disturbance threshold, the levitation height of the mover is controlled to increase in preset steps. Furthermore, by real-time monitoring of the high-frequency ripple amplitude of the equivalent quadrature-axis current vector, the safe critical state of the mover detaching from the obstacle or contact surface is determined, thus forming a closed-loop control mechanism based on underlying electromagnetic characteristic feedback. This scheme can adaptively adjust the levitation height of the mover, preventing it from sinking and bottoming out, thereby improving the safety and stability of the planar magnetic levitation system.

[0111] This application also provides a mover control device for a planar magnetic levitation system, which can implement the above-described mover control method for a planar magnetic levitation system, see reference. Figure 9 The device includes: The first acquisition module 901 is used to acquire the real-time frictional resistance disturbance of the mover during operation; The first control module 902 is used to control the levitation height of the mover to increase by a preset step size in response to the real-time frictional resistance disturbance being greater than a preset disturbance threshold. The second acquisition module 903 is used to acquire the high-frequency ripple amplitude of the equivalent cross-axis current vector driving the mover in real time during the process of increasing the levitation height of the mover. The second control module 904 is used to control the mover to stop increasing the suspension height when the high-frequency ripple amplitude is detected to be less than the preset ripple threshold.

[0112] 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 system is basically the same as the specific implementation of the mover control method of the planar magnetic levitation system, and will not be repeated here.

[0113] 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 motion control method of the planar magnetic levitation system described above in this application. The electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0114] Please see Figure 10 , Figure 10 This is a schematic diagram of a planar magnetic levitation system provided for an exemplary embodiment of this application. The planar magnetic levitation system 1000 includes a two-dimensional stator array 1010, and a mover and servo control component 1030 located above the two-dimensional stator array. The servo control component 1030 includes a processor 1031 and a memory 1032.

[0115] The processor 1031 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 1032 can be implemented in the form of ROM (Read-Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1032 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1032 and is called and executed by the processor 1031 to execute the mover control method of the planar magnetic levitation system of this application embodiment. This application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the aforementioned mover control method for a planar magnetic levitation system.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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 method for controlling the mover of a planar magnetic levitation system, characterized in that, The planar magnetic levitation system includes a two-dimensional stator array and a mover located above the two-dimensional stator array, and the method includes: Obtain the real-time frictional resistance disturbance of the mover during operation; In response to the real-time frictional resistance disturbance being greater than a preset disturbance threshold, the levitation height of the mover is controlled to increase in preset steps. During the process of increasing the levitation height of the mover, the high-frequency ripple amplitude of the equivalent quadrature-axis current vector driving the mover is acquired in real time; When the high-frequency ripple amplitude is detected to be less than the preset ripple threshold, the actuator is controlled to stop increasing the suspension height.

2. The method for controlling the moving part of a planar magnetic levitation system according to claim 1, characterized in that, The step of obtaining the real-time frictional resistance disturbance of the mover during operation includes: Obtain the real-time equivalent quadrature-axis current vector and real-time position information of the mover; The real-time equivalent cross-axis current vector and the real-time position information are solved based on the pre-built state observer to obtain the real-time friction resistance observation value; The real-time friction resistance disturbance is obtained by subtracting the observed real-time friction resistance value from the pre-calibrated steady-state friction resistance value.

3. The method for controlling the mover of a planar magnetic levitation system according to claim 2, characterized in that, The pre-built state observer calculates the real-time equivalent quadrature-axis current vector and the real-time position information to obtain the real-time frictional resistance observation value, including: Based on the real-time position information, differential processing is performed to obtain the real-time velocity and real-time acceleration of the mover. Based on the real-time velocity, the real-time acceleration, and the real-time equivalent quadrature-axis current vector, a state-space model containing the frictional resistance to be observed is constructed. The state space model is used to perform recursive prediction and feedback correction processing to obtain the state update value at the current moment. The frictional resistance component in the state update value is determined as the real-time frictional resistance observation value.

4. The method for controlling the mover of a planar magnetic levitation system according to claim 1, characterized in that, After controlling the mover to stop increasing the levitation height, the method further includes: Obtain the DC component offset rate of the equivalent quadrature-axis current vector; In response to the DC component offset rate being greater than a preset offset threshold, it is determined that the mover is in a heavy load eccentricity condition, and the attitude balance of the mover is adjusted. In response to the DC component offset rate being less than or equal to the preset offset threshold, it is determined that the mover is in a foreign object obstruction condition, and the mover is controlled to return to the initial reference suspension height.

5. The method for controlling the mover of a planar magnetic levitation system according to claim 4, characterized in that, The attitude balance adjustment of the mover includes: Obtain the current centroid offset vector of the mover, and with the geometric center of the mover as the origin, divide the stator unit located in the projection area of ​​the mover into an eccentric side region and a non-eccentric side region along the direction of the centroid offset vector; The current eccentric torque of the mover is calculated in real time, and the first vertical current adjustment amount of the stator unit in the eccentric side region and the second vertical current adjustment amount of the stator unit in the non-eccentric side region are determined based on the eccentric torque. The first vertical current adjustment and the second vertical current adjustment are respectively applied to the stator unit in the corresponding region.

6. The method for controlling the moving part of a planar magnetic levitation system according to claim 5, characterized in that, The real-time calculation of the current eccentric torque of the mover includes: Obtain the horizontal distance vector of each stator unit relative to the geometric center; Based on the vertical electromagnetic force coefficient of each stator unit, the current vertical support current component, and the horizontal distance vector, the support torque generated by each stator unit is calculated, and the support torque sum is obtained by summing the support torques of all stator units. The eccentric torque is obtained by subtracting the reference torque of the self-weight of the mover from the supporting torque.

7. The method for controlling the mover of a planar magnetic levitation system according to claim 5, characterized in that, In the process of applying the first vertical current adjustment amount and the second vertical current adjustment amount to the stator unit of the corresponding region, the method further includes: The horizontal drive current component of the equivalent cross-axis current vector output by the two-dimensional stator array remains unchanged; The current tilt angle of the mover is obtained, and in response to the current tilt angle being greater than a preset angle threshold, the first vertical current adjustment amount and the second vertical current adjustment amount are adjusted using a first adjustment coefficient; In response to the current tilt angle being less than or equal to the preset angle threshold, the first vertical current adjustment amount and the second vertical current adjustment amount are adjusted using a second adjustment coefficient, wherein the first adjustment coefficient is greater than the second adjustment coefficient; The current compensation amount used to counteract the additional eccentric torque is calculated based on the real-time acceleration of the mover, and the current compensation amount is added to the corresponding vertical current adjustment amount. In response to the current tilt angle being less than a preset tilt angle safety threshold and the DC component offset rate being less than a preset steady-state offset threshold, the attitude balance adjustment is determined to be complete, and the two-dimensional stator array is controlled to maintain the current asymmetric current distribution state.

8. A mover control device for a planar magnetic levitation system, characterized in that, The planar magnetic levitation system includes a two-dimensional stator array and a mover located above the two-dimensional stator array. The device includes: The first acquisition module is used to acquire the real-time frictional resistance disturbance of the mover during operation; The first control module is used to control the levitation height of the mover to increase by a preset step size in response to the real-time frictional resistance disturbance being greater than a preset disturbance threshold. The second acquisition module is used to acquire the high-frequency ripple amplitude of the equivalent quadrature-axis current vector driving the mover in real time during the process of increasing the levitation height of the mover. The second control module is used to control the mover to stop increasing the suspension height when the high-frequency ripple amplitude is detected to be less than a preset ripple threshold.

9. A planar magnetic levitation system, characterized in that, The system includes a two-dimensional stator array, a mover located above the two-dimensional stator array, and a control component, wherein the control component includes a processor and a memory; wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the mover control method of the planar magnetic levitation system as described in any one of claims 1 to 7.

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 motion control method of the planar magnetic levitation system according to any one of claims 1 to 7.

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