Position detection switching device for segmented linear motor, control method and controller thereof

Abstract

The application provides a position detection switching device of a segmented linear motor, a control method and a controller, relates to the field of motors in new-generation information technologies, and comprises a segmented linear motor, multiple sets of position sensors and a position trigger detection unit. The segmented linear motor is provided with a stator and a mover. The mover can move linearly relative to the stator. The stator is provided with a stator track transition structure. The position sensors are arranged on the mover and output position detection signals. The installation interval of the two sets of position sensors along the movement direction of the mover is greater than the length of the stator track transition structure. The position trigger detection unit is arranged on at least one side of the mover. One set of position trigger detection units is arranged close to one set of position sensors. The position trigger detection unit is used for outputting a trigger signal before the corresponding position sensor enters the stator track transition structure, so that the controller discards the position detection signal of the corresponding position sensor. The application can improve the position detection precision of the segmented linear motor and reduce detection delay.

Description

Technical Field

[0001] This application relates to the field of motor motion control technology, and in particular to a position detection and switching device for a segmented linear motor, as well as its control method and controller. Background Technology

[0002] In related technologies, segmented linear motors are often used in long-stroke applications such as logistics and semiconductor cranes, where a rulerless solution is frequently employed for position detection to reduce costs. However, because the stator is divided into multiple segments, seams exist between adjacent segments, especially between straight and curved sections. Furthermore, in turnout areas, the stator track may have a bifurcated structure. When the mover passes through these seams or turnouts where the magnetic field is discontinuous, the air gap magnetic field undergoes severe distortion. This leads to significant errors in the position detection signal output by position sensors such as Hall effect sensors, severely impacting position detection accuracy and system reliability. Existing motor control schemes cannot accurately and quickly identify these magnetic field discontinuities, resulting in limited position detection accuracy and detection delays. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a position detection switching device for a segmented linear motor, its control method, and a controller, aiming to improve position detection accuracy and reduce detection delay.

[0004] In a first aspect, embodiments of this application provide a position detection and switching device for a segmented linear motor, comprising: A segmented linear motor is provided with a stator and a mover. The mover can move linearly relative to the stator. The stator is provided with a stator track transition structure. Multiple sets of position sensors are disposed on the mover. The position sensors are used to detect the magnetic field signal of the segmented linear motor and respond to output a position detection signal. The installation distance between two sets of position sensors along the movement direction of the mover is greater than the length of the stator track transition structure. Multiple sets of position trigger detection units are disposed on at least one side of the mover. Each set of position trigger detection units is arranged close to a set of position sensors. The position trigger detection units are used to respond by outputting a trigger signal before the corresponding position sensor enters the stator track transition structure, so that the controller discards the position detection signal of the corresponding position sensor.

[0005] According to some embodiments of this application, the stator-track transition structure includes at least one of the following: a segmented stator splice structure, a track bifurcation structure.

[0006] According to some embodiments of this application, the position detection and switching device for a segmented linear motor includes one of the following: When the stator track transition structure is the segmented stator splice structure, at least two sets of the position trigger detection units are disposed on the first side of the mover. When the stator track transition structure is the track bifurcation structure, at least two sets of the position trigger detection units are disposed on the first side of the mover, and at least two sets of the position trigger detection units are disposed on the second side of the mover.

[0007] According to some embodiments of this application, a set of position sensors is disposed at the head end of the mover, and a set of position sensors is disposed at the tail end of the mover.

[0008] According to some embodiments of this application, at least one set of the position sensors is embedded and installed inside the iron core of the mover and disposed in the mover slot.

[0009] According to some embodiments of this application, the position detection and switching device of the segmented linear motor further includes a triggering device disposed on the stator. The triggering device is used to trigger the corresponding position triggering detection unit to output a triggering signal before the position sensor enters the stator track transition structure.

[0010] According to some embodiments of this application, the position of the triggering device corresponds to the position of the stator track transition structure, and the length of the triggering device is greater than the length of the stator track transition structure.

[0011] According to some embodiments of this application, the position detection and switching device for a segmented linear motor includes one of the following; The position trigger detection unit is a photoelectric switch, and the triggering device is a baffle. When the photoelectric switch moves to the position of the baffle, the baffle blocks the light path of the photoelectric switch to trigger the photoelectric switch to output a trigger signal. The position trigger detection unit is a photoelectric switch, and the triggering device is a reflector. When the photoelectric switch moves to the position of the reflector, the reflector reflects the light emitted by the emitter of the photoelectric switch to the receiver of the photoelectric switch, thereby triggering the photoelectric switch to output a trigger signal.

[0012] According to some embodiments of this application, the position trigger detection unit is a proximity switch, and the triggering device is a sensor. When the movement of the mover causes the sensor to enter the sensing detection range of the proximity switch, the proximity switch responds by outputting a trigger signal.

[0013] According to some embodiments of this application, the position trigger detection unit is an image recognition device. When the motion of the mover causes the image recognition device to recognize the stator track transition structure or triggering device, the image recognition device responds by outputting a trigger signal.

[0014] Secondly, embodiments of this application provide a control method for a position detection and switching device of a segmented linear motor, applied to the position detection and switching device of the segmented linear motor described in the first aspect. The plurality of position sensors include a first position sensor and a second position sensor, and the plurality of position trigger detection units include a first position trigger detection unit corresponding to the first position sensor and a second position trigger detection unit corresponding to the second position sensor. The method includes: Acquire the signal states of the first position trigger detection unit and the second position trigger detection unit; The target position sensor is determined based on the signal state, wherein the target position sensor is at least one of the first position sensor and the second position sensor; Based on the position detection signal output by the target position sensor, the real-time electrical angle and / or real-time position of the mover are determined.

[0015] According to some embodiments of this application, determining the target position sensor based on the signal state includes one of the following: When a trigger signal is received from the first position trigger detection unit, the second position sensor is used as the target position sensor; When a trigger signal is received from the second position trigger detection unit, the first position sensor is used as the target position sensor; If no trigger signal is received from the first position trigger detection unit and the second position trigger detection unit, the first position sensor and / or the second position sensor shall be used as the target position sensor.

[0016] Thirdly, embodiments of this application provide a controller, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor runs the computer program, it executes the control method of the segmented linear motor position detection and switching device described in the second aspect.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for executing a control method for a segmented linear motor position detection and switching device as described in the second aspect above.

[0018] Fifthly, embodiments of this application provide a computer program product, including a computer program or computer instructions, wherein the computer program or computer instructions are stored in a computer-readable storage medium, a processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, causing the computer device to perform the control method of the segmented linear motor position detection and switching device as described in the second aspect above.

[0019] According to the technical solution of this application embodiment, at least the following beneficial effects are achieved: This application embodiment sets at least two sets of position sensors on the mover, and the installation distance between the two sets of position sensors along the mover's direction of motion is greater than the length of the stator-track transition structure. Additionally, a position trigger detection unit is provided near each set of position sensors. Before the position sensor enters the stator-track transition structure, the position trigger detection unit outputs a trigger signal in advance, causing the controller to discard the position detection signal of the position sensor about to enter the magnetic field distortion region. Therefore, this application embodiment can identify the transition region of magnetic field distortion in advance, resulting in high detection efficiency. Furthermore, this application embodiment discards the position detection signal output by the position sensor affected by magnetic field distortion, thereby reducing the position detection error caused by magnetic field distortion, improving position detection accuracy, and ensuring the operational reliability of the segmented linear motor.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0022] Figure 1 This is a structural side view of a segmented linear motor position detection and switching device provided in one embodiment of this application; Figure 2 This is a schematic diagram of the working state of the mover before it passes through the segmented stator splice seam structure according to one embodiment of this application; Figure 3 This is a schematic diagram of the working state of the mover when it passes through the segmented stator splice structure according to an embodiment of this application; Figure 4 This is a top view of the structure of a segmented linear motor position detection and switching device provided in one embodiment of this application; Figure 5 This is a top view of the structure of a segmented linear motor position detection and switching device provided in another embodiment of this application; Figure 6 This is a flowchart of a control method for a segmented linear motor position detection and switching device provided in one embodiment of this application; Figure 7 This is a flowchart of a control method for a segmented linear motor position detection and switching device provided in one embodiment of this application when receiving a trigger signal from a first position trigger detection unit; Figure 8 This is a flowchart of a control method for a segmented linear motor position detection and switching device provided in one embodiment of this application when receiving a trigger signal from a second position trigger detection unit; Figure 9 This is a flowchart of a control method for a segmented linear motor position detection and switching device provided in one embodiment of this application when no trigger signals are received from the first position trigger detection unit and the second position trigger detection unit; Figure 10 This is an overall flowchart of the control method for a segmented linear motor position detection and switching device provided in one embodiment of this application; Figure 11 This is a schematic diagram of a controller for executing a control method for a position detection and switching device of a segmented linear motor, according to an embodiment of this application. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 this application.

[0025] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0026] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0027] In some applications, such as logistics and semiconductor cranes, segmented linear motors often employ rulerless positioning solutions to reduce costs during long-stroke operations. However, because the stator is divided into multiple segments, seams exist between adjacent segments, especially between straight and curved sections. Furthermore, in turnout areas, the stator track may have bifurcated structures. When the mover passes through these seams or turnouts where the magnetic field is discontinuous, the air gap magnetic field undergoes severe distortion, leading to significant errors in the position detection signal output by the position sensor. This severely impacts position detection accuracy and system reliability. Existing motor control solutions cannot accurately and quickly identify these magnetic field discontinuities, resulting in limited position detection accuracy and detection delays.

[0028] Based on the above, this application proposes a position detection switching device and its control method and controller for a segmented linear motor, aiming to improve position detection accuracy and reduce detection delay.

[0029] The various embodiments of the position detection and switching device for the segmented linear motor of this application will be further described below with reference to the accompanying drawings.

[0030] like Figures 1 to 5 As shown, Figure 1 This is a structural side view of a segmented linear motor position detection and switching device provided in one embodiment of this application. Figure 2 This is a schematic diagram of the working state of the mover before it passes through the segmented stator splice seam structure according to one embodiment of this application; Figure 3 This is a schematic diagram of the working state of the mover when it passes through the segmented stator splice structure according to an embodiment of this application; Figure 4 This is a top view of the structure of a segmented linear motor position detection and switching device provided in one embodiment of this application; Figure 5 This is a top view of the structure of a segmented linear motor position detection and switching device provided in another embodiment of this application.

[0031] In one embodiment, the position detection and switching device for the segmented linear motor includes, but is not limited to, the segmented linear motor, multiple sets of position sensors 210, and multiple sets of position trigger detection units 220.

[0032] The segmented linear motor includes a stator 100 and a mover 200. The mover 200 can move linearly relative to the stator 100. The stator 100 is equipped with a stator track transition structure 110. Specifically, the stator 100 can be a fixedly installed track body, including multiple spliced ​​stator modules, thus forming the running track of the mover 200. The stator 100 can be equipped with permanent magnets or windings to generate a magnetic field that drives the mover 200. The mover 200 is the moving component of the segmented linear motor and can carry loads such as semiconductor cranes or logistics trolleys. The mover 200 can move linearly along the stator 100. The mover 200 can be equipped with windings or permanent magnets that interact with the magnetic field of the stator 100 to generate thrust and achieve movement.

[0033] In one embodiment, the stator track transition structure 110 described above can be a segmented stator splice structure, that is, the joint between adjacent segments of the stator 100, such as... Figure 4 As shown; it can also be a track bifurcation structure, such as Figure 5 As shown; other structures that would create discontinuous regions in the magnetic field could also be used, and this application does not specifically limit this. Because the arrangement of the stator 100 core and permanent magnets changes at the location of the stator-track transition structure 110, the air gap magnetic circuit is broken, resulting in a discontinuous region in the magnetic field, i.e., a distorted magnetic field region. Therefore, when the mover 200 passes through the stator-track transition structure 110, the distorted magnetic field interferes with the detection output of the position sensor 210, leading to position detection errors.

[0034] In one embodiment, the position sensor 210 described above can be a Hall sensor, or other position detection components or commutation detection components that may be distorted or fail due to local magnetic field discontinuity. It can also be a grating position sensor with seams or discontinuities, such as a magnetic grating ruler or optical grating ruler. This application embodiment does not specifically limit the type of position sensor 210.

[0035] In addition, multiple sets of position sensors 210 are disposed on the mover 200. The position sensors 210 are used to detect the magnetic field signal of the segmented linear motor and respond to output position detection signal. The installation distance between the two sets of position sensors 210 along the movement direction of the mover 200 is greater than the length of the stator track transition structure 110.

[0036] Specifically, the position sensor 210 is mounted on the mover 200 and moves with the mover 200. After the position sensor 210 collects the magnetic field signal, it outputs a position detection signal. Then, the controller 400 can calculate the position of the mover 200 based on the position detection signal. At the same time, in this embodiment, the installation distance between the two sets of position sensors 210 along the direction of movement can be designed to be greater than the length of the stator track transition structure 110. Through this design, it can be ensured that the two sets of position sensors 210 will not be simultaneously under magnetic field distortion at the same time.

[0037] When one set of position sensors 210 is passing through the stator track transition structure 110, the other set of position sensors 210 is still in the region with a normal magnetic field. At this time, the other set of position sensors 210 can still accurately output position detection signals. In this case, the controller 400 can discard the signal from the position sensor 210 that is interfered with and retain the valid signal from the position sensor 210 that is not interfered with.

[0038] In addition, multiple sets of position trigger detection units 220 are disposed on at least one side of the mover 200. Each set of position trigger detection units 220 is arranged close to a set of position sensors 210. The position trigger detection unit 220 is used to respond by outputting a trigger signal before the corresponding position sensor 210 enters the stator track transition structure 110, so that the controller 400 discards the position detection signal of the corresponding position sensor 210.

[0039] Specifically, multiple sets of position trigger detection units 220 can be disposed on the same side of the mover 200. For example, both sets of position trigger detection units 220 can be disposed on the first side of the mover 200. Alternatively, multiple sets of position trigger detection units 220 can be disposed on different sides of the mover 200. For example, one set of position trigger detection units 220 can be disposed on the first side of the mover 200, and another set of position trigger detection units 220 can be disposed on the second side of the mover 200. Or, the first side of the mover 200 can be provided with two sets of position trigger detection units 220, and the second side of the mover 200 can also be provided with two sets of position trigger detection units 220.

[0040] It should be noted that, in this embodiment, before the position sensor 210 enters the stator track transition structure 110, the position trigger detection unit 220 will detect in advance that the corresponding position sensor 210 is preparing to enter the stator track transition structure 110, and thus respond in advance by outputting a trigger signal to notify the controller 400 to discard the position detection signal output by the corresponding position sensor 210. Therefore, by responding in advance, this embodiment can shield the signal from the interfering position sensor 210 in advance, preventing this interfering signal from participating in subsequent position calculations. Thus, this embodiment can improve the accuracy of the position detection result when the mover 200 passes through the joint or turnout area.

[0041] It is worth noting that, in this embodiment, at least two sets of position sensors 210 are provided on the mover 200, and the installation distance between the two sets of position sensors 210 along the movement direction of the mover 200 is greater than the length of the stator track transition structure 110. Furthermore, a position trigger detection unit 220 is provided near each set of position sensors 210. Before the position sensor 210 enters the stator track transition structure 110, the position trigger detection unit 220 outputs a trigger signal in advance, causing the controller to discard the position detection signal of the position sensor 210 that is about to enter the magnetic field distortion region. Therefore, this embodiment can identify the transition region of magnetic field distortion in advance, resulting in high detection efficiency. In addition, this embodiment discards the position detection signal output by the position sensor 210 that is interfered with by magnetic field distortion, thereby reducing the position detection error caused by magnetic field distortion, improving position detection accuracy, and ensuring the operational reliability of the segmented linear motor.

[0042] In one embodiment, when the stator track transition structure 110 is a segmented stator splice structure, such as Figure 4 As shown, at least two sets of position trigger detection units 220 are disposed on the first side of the mover 200. Specifically, when the stator track transition structure 110 is a segmented stator splice structure, in this embodiment, at least two sets of position trigger detection units 220 can be arranged on the same side of the mover 200, such as the first side of the mover 200. When the mover 200 runs through the splice, the position of the splice can be identified by the position trigger detection unit 220 on that side, thereby realizing the early output of the trigger signal.

[0043] In one embodiment, when the stator-track transition structure 110 is a track bifurcation structure, such as Figure 5As shown, at least two sets of position trigger detection units 220 are disposed on the first side of the mover 200, and at least two sets of position trigger detection units 220 are disposed on the second side of the mover 200. Specifically, when the stator track transition structure 110 is a track bifurcation structure, since the track bifurcation structure has tracks with different directions on the left and right sides, in order to ensure that the mover 200 can output a trigger signal when passing through each side, this embodiment of the application can arrange at least two sets of position trigger detection units 220 on the first side and the second side of the mover 200 respectively. That is, each of the first side and the second side of the mover 200 is provided with at least two sets of position trigger detection units 220. With this arrangement, no matter which branch the mover 200 moves to, the position trigger detection unit 220 on the corresponding side can sense and output a trigger signal, and notify the controller 400 in advance to discard the position detection signal of the corresponding position sensor 210.

[0044] In one embodiment, one set of position sensors 210 is disposed at the head end of the mover 200, and another set of position sensors 210 is disposed at the tail end of the mover 200. In order to ensure that both sets of position sensors 210 are not simultaneously subjected to magnetic field distortion, this embodiment of the application can respectively dispose of the two sets of position sensors 210 at the head end and the tail end of the mover 200.

[0045] In one embodiment, at least one set of position sensors 210 is embedded inside the iron core of the mover 200 and disposed in the slot of the mover 200. Specifically, for space-constrained applications, at least one of the two sets of position sensors 210 may be embedded inside the iron core of the mover 200 and placed in the slot of the mover 200, rather than both sets being installed on the outside of the iron core of the mover 200.

[0046] In one embodiment, the position detection and switching device for the segmented linear motor further includes a triggering device 300, which is disposed on the stator 100. The triggering device 300 is used to trigger the corresponding position triggering detection unit 220 to output a trigger signal before the position sensor 210 enters the stator track transition structure 110. Specifically, during the movement of the mover 200, the position triggering detection unit 220 also moves with the mover 200. Before the position sensor 210 is about to enter the stator track transition structure 110, the position triggering detection unit 220 can be sensed and triggered by the triggering device 300 disposed on the stator 100, thereby causing the position triggering detection unit 220 to respond and output a trigger signal to the controller 400.

[0047] In one embodiment, the position of the trigger device 300 corresponds to the position of the stator-track transition structure 110, and the length of the trigger device 300 is greater than the length of the stator-track transition structure 110. With this configuration, the position trigger detection unit 220 can receive the trigger condition earlier than the corresponding position sensor 210 when it enters the stator-track transition structure 110, thereby outputting the trigger signal earlier. This allows triggering to be completed before the position sensor 210 enters the magnetic field distortion region, preventing the triggering timing from being too late and avoiding the controller 400 only executing the discard action after the position sensor 210 has already entered the distortion region and output an error signal.

[0048] It should be noted that the triggering device 300 mentioned above can be a baffle, a reflector, a sensor, or other devices. This application embodiment does not specifically limit it in this regard.

[0049] Furthermore, when the type of triggering device 300 is different, the corresponding position triggering detection unit 220 will also be different. For example, it may include, but is not limited to, the following implementations: In the first implementation scenario: when the position trigger detection unit 220 is a photoelectric switch, the triggering device 300 can be a corresponding baffle. When the photoelectric switch moves to the position of the baffle, the baffle blocks the light path of the photoelectric switch, thereby triggering the photoelectric switch to output a trigger signal. Specifically, during the process of the mover 200 driving the photoelectric switch to move together, when the photoelectric switch moves to the position of the baffle, the baffle blocks the light path of the photoelectric switch. At this time, the receiver of the photoelectric switch cannot receive the light emitted by the transmitter. In this embodiment, this state can be set as a trigger state, thereby triggering the photoelectric switch to generate a trigger signal to the controller 400, so that the controller 400 discards the position detection signal of the corresponding position sensor 210.

[0050] The second implementation scenario: When the position trigger detection unit 220 is a photoelectric switch, the triggering device 300 can be a reflector. When the photoelectric switch moves to the position of the reflector, the reflector reflects the light emitted by the emitter of the photoelectric switch to the receiver of the photoelectric switch, thereby triggering the photoelectric switch to output a trigger signal. Specifically, during the process of the mover 200 driving the photoelectric switch to move together, when the photoelectric switch moves to the position of the reflector, the light emitted by the emitter of the photoelectric switch is reflected back to its own receiver by the reflector. In this embodiment, this state can be set as a trigger state, thereby triggering the photoelectric switch to generate a trigger signal to the controller 400, so that the controller 400 discards the position detection signal of the corresponding position sensor 210.

[0051] The third implementation scenario: When the position trigger detection unit 220 is a proximity switch, the triggering device 300 can correspond to a sensing element. When the mover 200 moves and causes the sensing element to enter the sensing detection range of the proximity switch, the proximity switch responds by outputting a trigger signal. Specifically, the mover 200 drives the proximity switch to move together. When the sensing element enters the sensing detection range of the proximity switch, the proximity switch can sense the sensing element and output a trigger signal to the controller 400, so that the controller 400 discards the position detection signal of the corresponding position sensor 210.

[0052] Furthermore, the aforementioned position trigger detection unit 220 can be a photoelectric switch or a proximity switch, or it can be an image recognition device or other devices. This application embodiment does not specifically limit its functionality in this regard. In one embodiment, when the position trigger detection unit 220 is an image recognition device, the image recognition device responds by outputting a trigger signal when the movement of the mover 200 causes the image recognition device to recognize the stator track transition structure 110 or the trigger device 300.

[0053] Specifically, when the position trigger detection unit 220 is an image recognition device, this embodiment may or may not include a physical trigger device 300. For example, when the mover 200 moves the image recognition device together, and the image recognition device identifies the stator track transition structure 110 or a target marker, it will output a trigger signal to the controller 400, causing the controller 400 to discard the position detection signal of the corresponding position sensor 210. Alternatively, when the mover 200 moves the image recognition device together, and the image recognition device identifies a physical trigger device 300 such as a baffle, it will output a trigger signal to the controller 400, causing the controller 400 to discard the position detection signal of the corresponding position sensor 210.

[0054] Based on the hardware structure of the segmented linear motor position detection and switching device in the above embodiments, the following presents various embodiments of the control method of the segmented linear motor position detection and switching device of this application.

[0055] like Figure 6 As shown, Figure 6This is a flowchart of a control method for a position detection and switching device for a segmented linear motor according to an embodiment of this application. The control method for this position detection and switching device for a segmented linear motor can be applied to the position detection and switching device for a segmented linear motor in any of the above embodiments. Multiple sets of position sensors include a first position sensor and a second position sensor, and multiple sets of position trigger detection units include a first position trigger detection unit corresponding to the first position sensor and a second position trigger detection unit corresponding to the second position sensor. The control method for this position detection and switching device for a segmented linear motor may include, but is not limited to, steps S610, S620, and S630.

[0056] Step S610: Obtain the signal status of the first position trigger detection unit and the second position trigger detection unit; Step S620: Determine the target position sensor based on the signal state, wherein the target position sensor is at least one of the first position sensor and the second position sensor; Step S630: Determine the real-time electrical angle and / or real-time position of the mover based on the position detection signal output by the target position sensor.

[0057] In one embodiment, during the operation of the segmented linear motor, firstly, the present invention acquires the signal states output by two sets of position trigger detection units, namely the signal states of the first position trigger detection unit and the second position trigger detection unit; then, the present invention filters out the target position sensor that is not disturbed based on the signal states output by the two sets of position trigger detection units; finally, the controller of the present invention discards the position detection signal of the disturbed position sensor and retains the position detection signal of the target position sensor that is not disturbed, and calculates the real-time electrical angle and / or real-time position of the mover based on the position detection signal of the target position sensor that is not disturbed.

[0058] It should be noted that the position trigger detection unit outputs a trigger signal in advance before the position sensor enters the stator track transition structure, causing the controller to discard the position detection signal from the position sensor that is about to enter the magnetic field distortion region. Therefore, this embodiment can identify the transition region of magnetic field distortion in advance, resulting in high detection efficiency. In addition, this embodiment discards the position detection signal output by the position sensor that is affected by magnetic field distortion, and only uses the reliable detection signal for position calculation. This reduces the detection error caused by magnetic field distortion in the joint and turnout areas, improves the accuracy of position and electrical angle calculation during the movement of the mover, and ensures the operational reliability of the segmented linear motor.

[0059] like Figure 7 As shown, Figure 7This is a flowchart illustrating a control method for a segmented linear motor position detection and switching device according to an embodiment of this application, when receiving a trigger signal from a first position trigger detection unit. The control method for this segmented linear motor position detection and switching device may include, but is not limited to, steps S710, S720, and S730.

[0060] Step S710: Obtain the signal status of the first position trigger detection unit and the second position trigger detection unit; Step S720: When the trigger signal from the first position trigger detection unit is received, the second position sensor is used as the target position sensor; Step S730: Determine the real-time electrical angle and / or real-time position of the mover based on the position detection signal output by the target position sensor.

[0061] In one embodiment, during the operation of the segmented linear motor, firstly, the present invention acquires the signal states output by two sets of position trigger detection units, namely the signal states of the first position trigger detection unit and the second position trigger detection unit; then, when a trigger signal is received from the first position trigger detection unit, indicating that the first position sensor is about to enter the stator track transition structure, the present invention selects the second position sensor as the target position sensor to participate in the calculation; finally, the controller of the present invention discards the position detection signal of the first position sensor that is about to be disturbed, and retains the position detection signal of the second position sensor that is not disturbed, and calculates the real-time electrical angle and / or real-time position of the mover based on the position detection signal of the second position sensor that is not disturbed.

[0062] like Figure 8 As shown, Figure 8 This is a flowchart illustrating a control method for a segmented linear motor position detection and switching device according to an embodiment of this application when receiving a trigger signal from a second position trigger detection unit. The control method for this segmented linear motor position detection and switching device may include, but is not limited to, steps S810, S820, and S830.

[0063] Step S810: Obtain the signal status of the first position trigger detection unit and the second position trigger detection unit; Step S820: When the trigger signal from the second position trigger detection unit is received, the first position sensor is used as the target position sensor; Step S830: Determine the real-time electrical angle and / or real-time position of the mover based on the position detection signal output by the target position sensor.

[0064] In one embodiment, during the operation of the segmented linear motor, firstly, the present invention acquires the signal states output by two sets of position trigger detection units, namely the signal states of the first position trigger detection unit and the second position trigger detection unit; then, when a trigger signal is received from the second position trigger detection unit, indicating that the second position sensor is about to enter the stator track transition structure, the present invention selects the first position sensor as the target position sensor to participate in the calculation; finally, the controller of the present invention discards the position detection signal of the second position sensor that is about to be interfered with, and retains the position detection signal of the first position sensor that is not interfered with, and calculates the real-time electrical angle and / or real-time position of the mover based on the position detection signal of the first position sensor that is not interfered with.

[0065] like Figure 9 As shown, Figure 9 This is a flowchart illustrating a control method for a segmented linear motor position detection and switching device provided in one embodiment of this application when no trigger signals are received from the first position trigger detection unit and the second position trigger detection unit. The control method for this segmented linear motor position detection and switching device may include, but is not limited to, steps S910, S920, and S930.

[0066] Step S910: Obtain the signal status of the first position trigger detection unit and the second position trigger detection unit; Step S920: When no trigger signal is received from the first position trigger detection unit and the second position trigger detection unit, the first position sensor and / or the second position sensor are used as the target position sensor. Step S930: Determine the real-time electrical angle and / or real-time position of the mover based on the position detection signal output by the target position sensor.

[0067] In one embodiment, during the operation of the segmented linear motor, firstly, the embodiment of this application acquires the signal states output by two sets of position trigger detection units, namely the signal states of the first position trigger detection unit and the second position trigger detection unit; then, when no trigger signal is received from the first position trigger detection unit and the second position trigger detection unit, it indicates that both the first position sensor and the second position sensor are in the normal magnetic field region. In this regard, the embodiment of this application can calculate the real-time electrical angle and / or real-time position of the mover based on the position detection signal of the first position sensor, or it can calculate the real-time electrical angle and / or real-time position of the mover based on the position detection signal of the second position sensor, or it can simultaneously calculate the real-time electrical angle and / or real-time position of the mover based on the fusion of the position detection signals of the first position sensor and the second position sensor.

[0068] Based on the segmented linear motor position detection and switching device and control method of the above embodiments, the overall embodiments of the segmented linear motor position detection and switching device and control method of this application are presented below.

[0069] When segmented linear motors pass through areas of magnetic field discontinuity such as joints and turnouts, the distortion of the air gap magnetic field causes severe distortion of the position detection signal of the position sensor. Existing solutions either cannot identify abnormal sections, have large detection delays, or have limited accuracy. There is an urgent need for a low-cost, fast-response, and reliable position detection and switching method and device.

[0070] This problem can be solved by the following technical means in the embodiments of this application: First, a dual-set position sensor arrangement: Two sets of position sensors are installed on the mover of the motor, with the distance between the two sets of position sensors greater than the length of the magnetic field discontinuity region, i.e., the stator-track transition structure. In this embodiment, the two sets of position sensors can be arranged at the front and rear ends of the mover, respectively. With this arrangement, when one set of position sensors is in the magnetic field discontinuity region, the other set remains in the normal magnetic field region, serving as a reliable position detection source.

[0071] Second, the dual photoelectric switch triggering switching mechanism: Two slotted photoelectric switches, such as U-shaped ones, are equipped on the mover. The first slotted photoelectric switch is installed near the first set of position sensors, and the second slotted photoelectric switch is installed near the second set of position sensors. The transmitting and receiving ends of the slotted photoelectric switches are integrated within the same U-shaped structure. When a baffle passes through the U-shaped slot, it blocks the light path and triggers the switch. When the mover passes through a joint or switch, the baffle passes through the slots of the two slotted photoelectric switches in sequence, triggering the switches to generate a switching signal. The controller switches to the other set of position sensors farther away from the triggered photoelectric switch. That is, if a photoelectric switch is triggered, the signal provided by the position sensor closest to it is not used. This design ensures that the position detection source can be correctly detected and switched regardless of whether the mover is running in the forward or reverse direction.

[0072] Third, the baffle width is slightly larger than the length of the magnetic field discontinuity region to achieve early switching: the baffle's installation position corresponds to the magnetic field discontinuity region of the joint or turnout, and the width of the baffle along the direction of the mover's movement can be slightly larger than the length of the magnetic field discontinuity region. This design allows the baffle to trigger the photoelectric switch in advance before the mover enters the magnetic field discontinuity region, thus completing the switching of the detection source before the position sensor enters the magnetic field distortion region, ensuring the quality of position detection throughout the process, and avoiding position signal distortion due to switching delay.

[0073] Based on the above technical means, the technical solution of this application embodiment has the following technical effects: First, low cost: Only two sets of position sensors and two slotted photoelectric switches are needed to achieve forward and reverse switching of the position detection source. Compared with the solution of installing multiple linear Hall elements in the stator slot, the number of Hall elements used is greatly reduced, and there is no need for wiring on the stator side, resulting in a significant reduction in cost. Second, fast response to Hall signal anomaly detection: The triggering of the slotted photoelectric switch is physical obstruction triggering, with a response time in the microsecond to millisecond range, which is much faster than the response speed of the existing dual-switch Hall scheme that relies on the judgment of switch state anomalies. When the baffle passes through the slotted photoelectric switch, it is triggered immediately, realizing instant switching of the detection source without detection delay. It is also possible to increase the width of the baffle to trigger earlier and avoid misjudgment. Third, reliable accuracy: This solution can be adapted to analog position sensors, and the position detection accuracy is not limited by the discrete state of the switch Hall; at the same time, the interval between the two sets of position sensors is greater than the length of the magnetic field discontinuity segment, ensuring that the position sensor used after switching is always in the normal magnetic field region, and the position detection signal is reliable. Fourth, easy installation: The position sensor and slotted photoelectric switch are both installed on the mover side, eliminating the need for complex wiring and installation in the stator slot, avoiding interference from the electromagnetic environment on the stator side, and simplifying engineering implementation.

[0074] The specific implementation of the segmented linear motor position detection and switching device and method according to the embodiments of this application is as follows: As attached Figure 1 and Figure 4 As shown, the position detection and switching device for a segmented linear motor according to an embodiment of this application includes: a mover, a first set of position sensors mounted at the head end of the mover, a second set of position sensors mounted at the tail end of the mover, a first slotted photoelectric switch mounted on the mover near the first set of position sensors, a baffle mounted at the joint or turnout of the stator, and a second slotted photoelectric switch mounted on the mover near the second set of position sensors. The transmitting and receiving ends of the slotted photoelectric switch are integrated within the same U-shaped structure. The baffle is triggered when it passes through the U-shaped slot and blocks the light path. The distance L between the two sets of position sensors satisfies L > Ld, where Ld is the length of the discontinuous segment of the magnetic field at the joint or turnout. The controller is electrically connected to the first set of position sensors, the second set of position sensors, the first slotted photoelectric switch, and the second slotted photoelectric switch, and is used to switch the position detection source according to the trigger signal of the photoelectric switch.

[0075] like Figure 10 As shown, Figure 10 This is an overall flowchart of the control method for a segmented linear motor position detection and switching device provided in one embodiment of this application. Figure 2 As shown, during normal operation of the mover, the first set of position sensors acts as the main detection source, providing position signals to the controller. At this time, the baffle does not pass through the slots of any of the slotted photoelectric switches, and both photoelectric switches are in an untriggered state. Figure 1As shown, when the mover reaches the joint or switch, a baffle mounted on the stator passes through the U-shaped slot of the slotted photoelectric switch on the mover, blocking the light path and triggering the photoelectric switch. When the first slotted photoelectric switch near the first set of position sensors is triggered, the controller does not use the signal from the first set of position sensors and switches the position detection source to the second set of position sensors; conversely, when the second slotted photoelectric switch near the second set of position sensors is triggered, the controller does not use the signal from the second set of position sensors and switches the position detection source to the first set of position sensors. Since the distance between the two sets of position sensors is greater than the length Ld of the magnetic field discontinuity segment, when one set of position sensors enters the magnetic field distortion region, the other set of position sensors remains in the normal magnetic field region, providing accurate position detection signals. Regardless of whether the mover moves in the forward or reverse direction, this proximity switching logic can ensure correct detection source switching. When the mover continues to move and the baffle no longer passes through the slot of the slotted photoelectric switch, as... Figure 3 As shown, when the photoelectric switch returns to the untriggered state, the controller can switch the position detection source back to the previous position sensor group, or keep the current detection source as needed.

[0076] Example 1: Switching between seam position detection and detection: For a segmented permanent magnet linear synchronous motor, the stator segment length is 1m, and the length Ld of the magnetic field discontinuity at the joint is approximately 50mm. The mover length is 200mm. A set of analog position sensors is installed at both the beginning and end of the mover, with a spacing of 180mm > 50mm between the two sets. A first slotted photoelectric switch is installed near the first set of position sensors at the beginning of the mover, and a second slotted photoelectric switch is installed near the second set of position sensors at the end of the mover. A baffle is installed at the stator joint, with a width of 60mm (slightly larger than Ld) along the mover's direction of movement. This ensures that the baffle passes through the slot of the photoelectric switch and triggers the switch before the position sensor enters the magnetic field distortion region. When the mover runs at a speed of 1m / s, the baffle triggers the photoelectric switch in approximately 60ms. The controller completes the detection source switching in microseconds, ensuring the quality of position detection throughout the entire process.

[0077] Example 2: Switching via turnout position detection: For a linear motor conveyor system with a turnout structure, the length Ld of the magnetic field discontinuity at the turnout is approximately 80mm. The mover is 300mm long, and a set of position sensors is installed at both ends of the mover, with a spacing of 260mm > 80mm. Unlike the first embodiment with a seam, when the turnout branches, the mover may enter either the left or right branch, and a single photoelectric switch cannot cover both directions. Therefore, a double-sided arrangement is adopted for the turnout scenario: the first set of photoelectric switches consists of two slotted photoelectric switches, installed on the left and right sides of the mover's head end, both close to the first set of position sensors; the second set of photoelectric switches also consists of two slotted photoelectric switches, installed on the left and right sides of the mover's tail end, both close to the second set of position sensors. The two photoelectric switches in the same set are logically ORed, meaning that triggering either one is considered as triggering the entire set of photoelectric switches. Accordingly, a baffle is installed on both the left and right sides of the turnout branch point. The width of the baffle along the direction of movement of the mover is 100mm (slightly larger than Ld) to trigger the photoelectric switch switching in advance before the position sensor enters the magnetic field distortion zone. Regardless of which branch of the turnout the mover enters, the baffle on the corresponding side can pass through the photoelectric switch slot on the corresponding side of the mover, triggering that set of photoelectric switches. The controller discards the Hall signal near the triggered photoelectric switch according to the nearest switching logic and switches to another set of position sensors for position detection.

[0078] Example 3: Embedded arrangement of position sensor: For space-constrained applications, at least one of the two position sensors can be embedded inside the mover core and placed in the mover slot, rather than both being mounted on the outside of the mover core. For example... Figure 1 As shown, the first set of position sensors is installed on the outer surface of the mover core, and the second set of position sensors is embedded inside the mover core and placed in the mover slot. The distance between the two sets of position sensors along the direction of mover movement must still be greater than the length Ld of the magnetic field discontinuity segment. Two slotted photoelectric switches are installed on the mover close to their respective position sensors, and baffles are installed at fixed positions on the stator side joint or turnout. Embedded installation saves installation space on the outside of the mover, while the position sensors in the mover slot can directly sense the air gap magnetic field, and the detection sensitivity is not affected.

[0079] Based on the segmented linear motor position detection and switching device and control method of the above embodiments, the following presents various embodiments of the controller, computer-readable storage medium and computer program product of this application.

[0080] like Figure 11 As shown, Figure 11This is a schematic diagram of a controller for executing a control method for a position detection and switching device of a segmented linear motor, according to an embodiment of this application. The controller 400 implemented in this application includes: a processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the processor 410, wherein... Figure 11 The example uses a processor 410 and a memory 420.

[0081] The processor 410 and the memory 420 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0082] Memory 420, 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 420 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 420 may optionally include remotely located memories 420 relative to processor 410, which can be connected to controller 400 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.

[0083] Those skilled in the art will understand that Figure 11 The device structure shown does not constitute a limitation on the controller 400 and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0084] exist Figure 11 In the controller 400 shown, the processor 410 can be used to call the control program stored in the memory 420, thereby implementing the control method of the segmented linear motor position detection and switching device described above. Specifically, the non-transient software program and instructions required to implement the control method of the segmented linear motor position detection and switching device described above are stored in the memory 420. When executed by the processor 410, the control method of the segmented linear motor position detection and switching device described above is executed.

[0085] It is worth noting that, since the controller 400 of this application embodiment can execute the control method of the segmented linear motor position detection and switching device of any of the above embodiments, the specific implementation method and technical effects of the controller 400 of this application embodiment can refer to the specific implementation method and technical effects of the control method of the segmented linear motor position detection and switching device of any of the above embodiments.

[0086] The controller 400 can be located on the mover or in other places; this application embodiment does not specifically limit this.

[0087] Furthermore, one embodiment of this application provides a computer-readable storage medium storing computer-executable instructions for executing the control method of the segmented linear motor position detection and switching device described above. Exemplarily, the above-described... Figures 6 to 10 The methods and steps in the text.

[0088] It is worth noting that, since the computer-readable storage medium of this application embodiment can execute the control method of the segmented linear motor position detection and switching device of any of the above embodiments, the specific implementation and technical effects of the computer-readable storage medium of this application embodiment can be referred to the specific implementation and technical effects of the control method of the segmented linear motor position detection and switching device of any of the above embodiments.

[0089] Furthermore, one embodiment of this application also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the control method of the segmented linear motor position detection and switching device described above. Exemplarily, the above-described method is executed... Figures 6 to 10 The methods and steps in the text.

[0090] It is worth noting that, since the computer program product of this application embodiment can execute the control method of the segmented linear motor position detection and switching device of any of the above embodiments, the specific implementation method and technical effect of the computer program product of this application embodiment can refer to the specific implementation method and technical effect of the control method of the segmented linear motor position detection and switching device of any of the above embodiments.

[0091] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0092] 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.

[0093] In the several embodiments provided in this application, it should be understood that the disclosed systems, instruments, and methods can be implemented in other ways. For example, the instrument embodiments described above are merely illustrative; for instance, the division of units 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. Furthermore, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between instruments or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., 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.

[0094] It should also be understood that the various implementation methods provided in this application can be combined arbitrarily to achieve different technical effects.

[0095] The above provides a detailed description of the preferred embodiments of this application. However, this application is not limited to the above-described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A position detection and switching device for a segmented linear motor, characterized in that, include: A segmented linear motor is provided with a stator and a mover. The mover can move linearly relative to the stator. The stator is provided with a stator track transition structure. Multiple sets of position sensors are disposed on the mover. The position sensors are used to detect the magnetic field signal of the segmented linear motor and respond to output a position detection signal. The installation distance between two sets of position sensors along the movement direction of the mover is greater than the length of the stator track transition structure. Multiple sets of position trigger detection units are disposed on at least one side of the mover. Each set of position trigger detection units is arranged close to a set of position sensors. The position trigger detection units are used to respond by outputting a trigger signal before the corresponding position sensor enters the stator track transition structure, so that the controller discards the position detection signal of the corresponding position sensor.

2. The position detection and switching device for a segmented linear motor according to claim 1, characterized in that, The stator-track transition structure includes at least one of the following: a segmented stator splice structure, or a track bifurcation structure.

3. The position detection and switching device for a segmented linear motor according to claim 2, characterized in that, Including one of the following: When the stator track transition structure is the segmented stator splice structure, at least two sets of the position trigger detection units are disposed on the first side of the mover. When the stator track transition structure is the track bifurcation structure, at least two sets of the position trigger detection units are disposed on the first side of the mover, and at least two sets of the position trigger detection units are disposed on the second side of the mover.

4. The position detection and switching device for a segmented linear motor according to claim 1, characterized in that, One set of position sensors is disposed at the head end of the mover, and another set of position sensors is disposed at the tail end of the mover.

5. The position detection and switching device for a segmented linear motor according to claim 1, characterized in that, At least one set of the position sensors is embedded and installed inside the iron core of the mover and disposed in the mover slot.

6. The position detection and switching device for a segmented linear motor according to claim 1, characterized in that, The position detection and switching device of the segmented linear motor further includes a triggering device, which is disposed on the stator. The triggering device is used to trigger the corresponding position triggering detection unit to output a triggering signal before the position sensor enters the stator track transition structure.

7. The position detection and switching device for a segmented linear motor according to claim 6, characterized in that, The position of the triggering device corresponds to the position of the stator track transition structure, and the length of the triggering device is greater than the length of the stator track transition structure.

8. The position detection and switching device for a segmented linear motor according to claim 6 or 7, characterized in that, Including one of the following; The position trigger detection unit is a photoelectric switch, and the triggering device is a baffle. When the photoelectric switch moves to the position of the baffle, the baffle blocks the light path of the photoelectric switch to trigger the photoelectric switch to output a trigger signal. The position trigger detection unit is a photoelectric switch, and the triggering device is a reflector. When the photoelectric switch moves to the position of the reflector, the reflector reflects the light emitted by the emitter of the photoelectric switch to the receiver of the photoelectric switch, thereby triggering the photoelectric switch to output a trigger signal.

9. The position detection and switching device for a segmented linear motor according to claim 6, characterized in that, The position trigger detection unit is a proximity switch, and the triggering device is a sensor. When the movement of the mover causes the sensor to enter the sensing and detection range of the proximity switch, the proximity switch responds by outputting a trigger signal.

10. The position detection and switching device for a segmented linear motor according to claim 1, characterized in that, The position trigger detection unit is an image recognition device. When the motion of the mover causes the image recognition device to recognize the stator track transition structure or triggering device, the image recognition device responds by outputting a trigger signal.

11. A control method for a position detection and switching device of a segmented linear motor, characterized in that, A position detection and switching device for a segmented linear motor as described in any one of claims 1 to 10, wherein the plurality of position sensors includes a first position sensor and a second position sensor, and the plurality of position trigger detection units includes a first position trigger detection unit corresponding to the first position sensor and a second position trigger detection unit corresponding to the second position sensor; the method includes: Acquire the signal states of the first position trigger detection unit and the second position trigger detection unit; The target position sensor is determined based on the signal state, wherein the target position sensor is at least one of the first position sensor and the second position sensor; Based on the position detection signal output by the target position sensor, the real-time electrical angle and / or real-time position of the mover are determined.

12. The method according to claim 11, characterized in that, The target position sensor is determined based on the signal state, including one of the following: When a trigger signal is received from the first position trigger detection unit, the second position sensor is used as the target position sensor; When a trigger signal is received from the second position trigger detection unit, the first position sensor is used as the target position sensor; If no trigger signal is received from the first position trigger detection unit and the second position trigger detection unit, the first position sensor and / or the second position sensor shall be used as the target position sensor.

13. A controller, characterized in that, include: The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the control method for the position detection and switching device of the segmented linear motor as described in claim 11 or 12.

14. A computer-readable storage medium, characterized in that, The device stores computer-executable instructions for performing a control method for a position detection and switching device for a segmented linear motor as described in claim 11 or 12.

Images