Magnetic transport line drive system, magnetic transport line, and magnetic transport line drive method

Abstract

The present invention provides a magnetic transportation line drive system for driving an actuator of a magnetic transportation line based on a command, and a control method for the magnetic transportation line and the magnetic transportation line drive system, wherein the actuator includes a plurality of motor stators and at least one motor mover, and the magnetic transportation line drive system includes a motion control unit that generates a drive command based on a command, a plurality of position sensing units for detecting quantity information and position information of the motor movers, in a number corresponding to the motor stators, a motor control unit that calculates quantity information and address information of an effective axis based on the drive command and the quantity information and position information of the motor movers, and generates a motor stator selection command for selecting a specified motor stator and an inverter setting command for generating a specified drive current, and a plurality of motor drive units, in a number corresponding to the motor stators, that generate a drive current based on the motor stator selection command and the inverter setting command and supply it to the corresponding motor stator, and drive the motor stator so that the motor stator moves based on the command.

Description

Technical Field

[0001] Technical Field The present invention relates to the field of automatic transport lines, particularly to a magnetic transport line drive system, and specifically to a magnetic transport line drive system, a magnetic transport line, and a magnetic transport line drive method.

Background Art

[0002] Background Art With the development of manufacturing technology, automatic transport line technology has been widely applied to the automatic production lines in industries such as production, packaging, assembly, and printing, and various different forms of transport lines have gradually been formed. Among them, compared with traditional transport line solutions such as belt-type transport lines, roller transport lines, and chain transport lines, magnetic transport lines can provide higher transport speeds and system flexibility due to their non-contact transmission mode.

[0003] A magnetic transport line usually includes an actuator and a drive system. The actuator operates under the drive of the drive system to achieve automatic transport. In existing magnetic transport lines, many of the actuators adopted are linear motors. Among them, the motor mover is composed of coils (short), and the motor stator (long) is composed of permanently magnet arranged alternately. In the linear motor of the above-mentioned technology, the motor mover needs to supply power to the coil by wires and must be equipped with a tail cable, so it is restricted in actual applications. Therefore, in the industry, an actuator form with a permanent magnet mover added to the coil stator has also been developed. Each motor stator includes three-phase windings of UVW respectively, is connected in a Y shape, is similar to a traditional three-phase servo motor, and the motors are discontinuous from each other.

[0004] As shown in Figure 1, a conventional magnetic transport line comprises an actuator 100 and a drive system 200. The actuator 100 typically includes a plurality of motor stators 110 and at least one motor-moving element 120. The drive system 200 typically includes a plurality of motor drive units 230 and one motion control unit 210. Each motor drive unit 230 corresponds to a motor stator 110 and generates an appropriate magnetic field on the motor stator 110 to propel the motor-moving element forward, relative to the position of the motor-moving element 120. The motor drive units 230 employ servo drivers, and from the perspective of a conventional servo motor, the motor drive unit and the corresponding motor stator constitute a single complete motor, also known as a single motor shaft. The motion control unit 210 transmits position and velocity commands to the servo motor drive units based on received commands. In other embodiments, position sensors (not shown) for detecting the position of each moving element on the transport line may be further included, and the position sensors are typically optical grids or magnetic grids.

[0005] In magnetic transport lines, the number of motor shafts is usually particularly large. Although the number of motor shafts is limited, as shown in Figure 2, if motor stator 120 does not pass over the corresponding motor stator 110 in actuator 100, then motor stator 110 does not affect the motion of motor stator 120, and there is no need for calculations and communication. In this case, the corresponding motor shaft is called an inactive shaft 112, and conversely, an active shaft 111. As motor mover 120 moves, the state of the active and inactive shafts of motor stator 110 changes dynamically. At the same time, the proportion of inactive shafts in the actuator becomes very high.

[0006] As a result, existing magnetic transport line designs are not ideal in terms of their effectiveness in practical applications and mainly have the following technical problems: 1. In magnetic transport lines, the size of individual motors is not extremely large, nor are they extremely far apart, otherwise accuracy may be reduced. In practice, existing magnetic transport lines typically require more than 12 motors per meter, and each motor needs to be driven by an independent servo driver so that each motor-moving element in the magnetic transport line system can move independently. Therefore, conventional design solutions require a large number of servo drive units, the overall circuitry of the magnetic transport line is complex, and the system cost is high.

[0007] 2. In order for a servo drive unit to generate an appropriate magnetic field to propel the motor, it needs to receive and calculate information such as the position, velocity, and acceleration of the motor, and then drive and output the corresponding axis. Therefore, a servo drive unit typically handles key functions such as communication, calculation, waveform generation, and power drive. At the same time, real-time calculation and communication of motor information places a high demand on hardware, so in existing designs, it is common to use high-performance DSPs or large-capacity FPGAs for calculations to reduce system latency and improve response speed, which further increases the cost of the system. [Overview of the project] [Means for solving the problem]

[0008] Summary of the Invention Conventional magnetic transport line drive systems have the aforementioned technical challenges in practical use. Therefore, the object of the present invention is to provide a magnetic transport line drive system and method that simplifies the system configuration and improves the operational efficiency and reliability of the system, while reducing system delay, improving response speed, reducing the complexity of the drive system wiring, and effectively controlling the hardware requirements and costs of the magnetic transport line drive system, in order to solve the aforementioned technical challenges present in the conventional technology.

[0009] The magnetic transport line drive system technology provided by the present invention specifically includes the following: A magnetic transport line drive system for driving a cutout of a magnetic transport line based on a command, wherein the actuator includes a plurality of motor stators and at least one motor mover, A motion control unit that generates drive commands based on the aforementioned commands, A number of position sensing units corresponding to the motor stator, for detecting the quantity information and position information of the motor moving elements, A motor control unit that calculates the quantity information and address information of the effective shafts based on the drive command and the quantity information and position information of the motor mover, and generates a motor stator selection command for selecting the specified motor stator and an inverter setting command for generating the specified drive current, A magnetic transport line drive system comprising a plurality of motor drive units, each corresponding to a motor stator, which generate a drive current and supply it to the corresponding motor stator based on a motor stator selection command and an inverter setting command.

[0010] Preferably, the motor drive unit is A drive communication module for enabling data transmission between the motor drive unit and an external source, A waveform generation module that generates an inverter control waveform based on the inverter setting command, The system includes a power drive inverter module that generates a drive current based on the inverter control waveform and supplies it to the designated motor stator.

[0011] Preferably, the motor drive unit is The system further includes an information collection module that collects current information, voltage information, and temperature information for each phase of the motor stator and feeds this information back to the motor control unit.

[0012] Preferably, the motor drive unit is The system further includes a fault handling module that determines whether a fault affecting the operation of the magnetic transport line has occurred based on the speed information, position information, and current information of each phase of the motor stator in the magnetic transport line, and outputs a stop command to the power drive inverter module if a fault has occurred.

[0013] Preferably, the motor control unit is A first communication module that enables data transmission between the motor control unit and the motor drive unit and / or the position sensing unit, A second communication module for realizing data transmission between the motor control unit and the motion control unit, An effective axis management module that calculates the quantity information and address information of the effective axis based on the quantity information and position information of the motor moving element, and generates the motor stator selection command, The system includes at least one motor calculation module that generates an inverter setting command based on the drive command, the motor stator selection command, and current information for each phase of the motor stator, and outputs it to the motor drive unit.

[0014] Preferably, the motor control unit is A computing resource scheduling and assignment module that selects one or more motor computing modules to complete calculations based on a motor stator selection command, The system further includes a storage and distribution module that stores the calculation results and distributes them to the first communication module.

[0015] Preferably, the motor control unit is A program execution module that generates the drive command based on the command, Determine whether the drive command causes a collision of the motor mover. If the determination result is NO, output the drive command to the motor control unit. If the determination result is YES, wait until the determination result becomes NO and then output the drive command, and include a collision detection module.

[0016] Preferably, the magnetic transport line drive system has a plurality of loops formed by connecting the plurality of position sensing units in series and connected in parallel to each other, and a plurality of loops formed by connecting the plurality of motor drive units in series and connected in parallel to each other.

[0017] Preferably, the magnetic transport line drive system Based on the motor stator selection command, further include a switching control unit that realizes data transmission between the motor control unit and the position sensing unit and / or the motor drive unit in each loop.

[0018] Furthermore, the present invention provides a magnetic transport line including an actuator including a plurality of motor stators and at least one motor mover, and further including the magnetic transport line drive system described in any one of the above.

[0019] Furthermore, the present invention is a control method for a magnetic transport line drive system that controls based on an effective axis and drives the actuator of the magnetic transport line according to a command. The actuator includes a plurality of motor stators and at least one motor mover. A drive command generation step of generating the drive command based on the command. A motor mover detection step of acquiring the quantity information and position information of the motor mover. An effective axis address calculation step of calculating the quantity information and address information of the effective axis based on the quantity information and position information of the motor mover. A motor stator selection step of generating a motor stator selection command based on the address information of the effective axis. Based on the position information of the motor mover, the current information of each phase of the motor stator, and the inverter setting command one cycle before, complete the calculations of the position loop, speed loop, and current loop respectively, and generate an inverter setting command in a control loop calculation step; save the inverter setting command, select the corresponding motor stator based on the motor stator selection command, and include a drive current generation step of generating a drive current for driving the motor stator; Provide a control method for a magnetic transport line drive system in which the above steps are repeated to form a closed-loop control of the motor mover.

[0020] Preferably, the control method further includes a collision detection step of determining whether the drive command causes a collision of the motor mover, outputting the drive command if the determination result is NO, and waiting until the determination result becomes NO if the determination result is YES and then outputting the drive command.

[0021] Preferably, the control method further includes a calculation resource scheduling step of allocating calculation resources required for the control loop calculation step based on the motor stator selection command.

[0022] By applying the magnetic transport line drive system, magnetic transport line, and magnetic transport line drive method proposed in the present invention, the problems in the prior art can be fundamentally solved, and the following advantages can be brought: First, in the magnetic transport line drive system, magnetic transport line, and magnetic transport line drive method provided by the present invention, by concentrating calculations in the motor control unit for centralized calculation, the motor drive units with the largest number can be greatly simplified, and the cost can be greatly reduced;

[0023] Secondly, in the magnetic transport line drive system, magnetic transport line, and magnetic transport line drive method provided by the present invention, calculations are concentrated in the motor control unit, eliminating the need for complex calculations in the motor drive unit itself. This also significantly reduces the number of chips and other electronic components required for the unit, thereby lowering costs and improving reliability.

[0024] Thirdly, in the magnetic transport line drive system, magnetic transport line, and magnetic transport line drive method provided by the present invention, by installing a computing resource scheduling and assignment module and a switching control unit, the communication delay from the motor control unit to each motor drive unit becomes smaller than the control cycle, and multiple loops can be supported, thereby improving the system's scalability while avoiding system delays.

[0025] Those skilled in the art will find these and other purposes and advantages more apparent by reading the following portions of this specification in conjunction with the accompanying drawings.

[0026] Brief explanation of the drawing The above description of the invention and the following specific embodiments should be better understood in conjunction with the accompanying drawings. Note that the drawings are merely examples of the invention for which protection is claimed. In the drawings, the same reference numerals represent the same or similar elements. [Brief explanation of the drawing]

[0027] [Figure 1] Figure 1 is a schematic diagram showing the configuration of a conventional magnetic transport line drive system. [Figure 2] Figure 2 is a schematic diagram showing the effective and ineffective axes of a magnetic transport line drive system. [Figure 3] Figure 3 is a schematic diagram of one embodiment of the magnetic transport line drive system of the present invention. [Figure 4] Figure 4 is a schematic diagram of the configuration of a motor drive unit in one embodiment of the magnetic transport line drive system of the present invention. [Figure 5] Figure 5 is a schematic diagram of the configuration of a motor control unit in one embodiment of the magnetic transport line drive system of the present invention. [Figure 6] Figure 6 is a schematic diagram of the configuration of a motion control unit in one embodiment of the magnetic transport line drive system of the present invention. [Figure 7] Figure 7 is a schematic diagram of a partial configuration of one embodiment of the magnetic transport line drive system of the present invention. [Figure 8] Figure 8 is a flowchart of one embodiment of the control method for the magnetic transport line drive system of the present invention. [Modes for carrying out the invention]

[0028] Modes for carrying out the invention The following describes in detail the features and advantages of the present invention in specific embodiments, but the content is sufficient for those skilled in the art to understand and implement the technical content of the present invention, and will allow those skilled in the art to easily understand the objectives and advantages related to the present invention from the specification, claims and drawings disclosed herein.

[0029] Figures 3 to 6 show a preferred embodiment of the magnetic transport line drive system provided by the present invention.

[0030] Here, Figure 3 is a schematic diagram of the module of the magnetic transport line drive system of the present invention. A magnetic transport line drive system 200 for driving an actuator 100 of a magnetic transport line based on a command, A motion control unit 210 that generates drive commands based on the command, A number of position sensing units 240 for detecting the quantity and position information of the motor mover 120, corresponding to the number of motor stators 110, (in one embodiment, the position sensing units may be optical grid rulers or magnetic grid rulers.) A motor control unit 220 calculates the quantity information and address information of the effective shafts based on the drive command and the quantity and position information of the motor mover 120, and generates a motor stator selection command for selecting a specified motor stator 110 and an inverter setting command for generating a specified drive current. A magnetic transport line drive system 200 comprising a number of motor drive units 230 that correspond to the motor stators 110 and generate and supply drive current to the corresponding motor stators 110 based on a motor stator selection command and an inverter setting command.

[0031] By centrally scheduling and executing calculation tasks in the motor control unit across the entire system, the configuration of the most numerous motor drive units, 230, is significantly simplified, resulting in a substantial reduction in costs.

[0032] Figure 4 is a schematic diagram of the configuration of a motor drive unit 230 in one embodiment of the magnetic transport line drive system of the present invention.

[0033] The drive communication module 231 is for enabling data transmission between the motor drive unit 230 and the outside world.

[0034] In one embodiment, data transmission includes data transmission between a plurality of motor drive units 230 and data transmission between the motor drive units 230 and the motor control unit 220. In one embodiment, bidirectional Ethernet® communication is used for data transmission, but other methods such as optical fiber may be used.

[0035] In one embodiment, the ports of the drive communication module 231 may be one or more network ports or optical ports so that multiple motor drive units 230 form a series connection with each other.

[0036] The communication of the drive communication module 231 includes only the following inputs: 1) inverter settings and 2) system control, and the following outputs: 1) current and state feedback. The communication period is the calculation period of the current loop, which in one embodiment is 50 μS. Therefore, the communication format of the motor drive unit is simple and has short intervals, resulting in improved system reliability and error detection characteristics.

[0037] The waveform generation module 232 generates an inverter control waveform based on the inverter setting command. In one embodiment, the inverter control waveform is an SPWM waveform.

[0038] The power drive inverter module 233 generates a drive current based on the inverter control waveform and supplies it to the designated motor stator 110.

[0039] In one embodiment, the motor drive unit 230 further includes an information collection module 234 that collects current information, voltage information, and temperature information for each phase of the motor stator 110 and feeds it back to the motor control unit 220.

[0040] In one embodiment, the motor drive unit 230 further includes a fault handling module 235 that determines whether a fault affecting the operation of the magnetic transport line has occurred, such as a fault outside the acceptable range, based on speed information, position information, and current information of each phase of the motor stator in the magnetic transport line, and if a fault has occurred, outputs a stop command to the power drive inverter module 233.

[0041] In one embodiment, the motor drive unit 230 further comprises a power management module 236 that manages all power supplies within the motor drive unit 230 and includes internal modules and a power drive power supply.

[0042] In one embodiment, the drive communication module 231, the waveform generation module 232, the data acquisition module 234, and the fault handling module 235 may be integrated into a single master chip. In one embodiment, the master chip is a single low-capacity FPGA chip.

[0043] In one embodiment, multiple motor drive units 230 may be integrated onto a single PCB board, and by using the power management module 236 and the drive communication module 231 together, costs and system complexity can be further reduced.

[0044] Since this invention does not require complex calculations, the motor drive unit does not need to employ expensive DSPs or high-capacity FPGAs of conventional technology. This significantly reduces the number of chips and other electronic components, leading to improved reliability and cost reduction.

[0045] Figure 5 is a schematic diagram of the configuration of a motor control unit 200 of one embodiment of the magnetic transport line drive system of the present invention, and the motor control unit 200 is A first communication module 221 enables data transmission between the motor control unit 220 and the motor drive unit 230 and / or position sensing unit 240, A second communication module 222 enables data transmission between the motor control unit 220 and the motion control unit 210, Based on the quantity information and position information of the motor mover 120 supplied from the position sensing unit 240, the effective axis management module 223 calculates the quantity information and address information of the effective axis and generates a motor stator selection command. The system includes at least one motor calculation module 224 that generates an inverter setting command and outputs it to the motor drive unit 230 based on a drive command, a motor stator selection command, and current information for each phase of the motor stator 110 provided by the motor drive unit 230.

[0046] In one embodiment, the motor calculation module 224 may also perform compensation calculations for interference in the magnetic transport line, such as static friction, kinetic friction, and cogging force. In one embodiment, the motor control unit 220, Based on the motor stator selection command, one or more motor calculation modules 224 are selected, and a computational resource scheduling and assignment module 225 is used to assign the selected motor calculation modules 224 to complete the calculations. (By applying the computational resource scheduling and assignment module 225, the motor calculation modules 224 can be time-division multiplexed. For example, calculations for 16 effective axes can be completed in one control cycle.) The system further includes a storage and distribution module 226 that stores the calculation results and distributes them to the first communication module 221.

[0047] Figure 6 is a schematic diagram of the configuration of a motion control unit 210 of one embodiment of the magnetic transport line drive system of the present invention, and the motion control unit 210 is A program execution module 211 generates drive commands based on the command (in one embodiment, the command may be a program command output from the user or another host device). The system includes a collision detection module 212 that determines whether a drive command will cause a collision of the motor movable element 120 based on the drive command and the position information of the motor movable element 120 notified by the motor control unit 220. If the determination result is NO, it outputs a drive command to the motor control unit 220. If the determination result is YES, it waits until the determination result becomes NO before outputting a drive command.

[0048] In one embodiment, the motion control unit 210 is The system further includes a motor stator management module 213 that manages the system's motor stators 110, provides feedback to the program execution module to allocate resources and instruction programs when a new motor stator is added from an external source, and provides feedback to the program execution module to retrieve and reallocate resources and instruction programs when an internal motor stator leaves the system.

[0049] In one embodiment, the motion control unit 210 and the motor control unit 220 may be integrated into a single controller.

[0050] Figure 7 shows another embodiment of the magnetic transport line drive system of the present invention. Here, each motor drive unit 230 and position sensor 240 forms a loop, including an upper-level communication port and a lower-level communication port (Ethernet® or optical fiber). The motor control unit 220 sends a communication packet with an enumeration command from the upper-level communication port to start address enumeration, assigning the address of the first motor drive unit 230 / position sensor 240 to 1, the address of the next motor drive unit 230 / position sensor 240 to 2, and so on. The motor control unit 220 returns until it has passed the last motor drive unit 230 / position sensor 240.

[0051] In this system, communication occurs relatively frequently, so the communication cycle must be smaller than the control cycle. However, when connected in series in a loop, a certain delay occurs each time a data packet passes through one motor drive unit, and to prevent the absolute delay from becoming excessively large, according to another embodiment of the present invention, when the number of motor axes is very large, for example, more than 80 axes, several additional loops may be added so that the communication delay from the motor drive unit 230 and position sensor 240 to each motor is smaller than the control cycle.

[0052] In one embodiment, all loops in the system require unified addressing, the addresses of each loop are consecutive, the address ranges of different loops are different, and the address of each loop, i.e., each motor axis of the system, is unique. For example,

[0053] [Table 1]

[0054] If the number of loops is too large, according to another embodiment of the present invention, the magnetic transport line drive system The system may further include a switching control unit 250 that enables data transmission between the motor control unit 220 and the position sensing unit 240 and / or motor drive unit 230 in each loop, based on a motor stator selection command. The switching control unit 250 recognizes the address information in the data packet header and transmits the data packet to the motor drive unit 230 and position sensor 240 in the corresponding loop. The data packet returned from the corresponding loop may also be returned to the motor control unit 220 via the fastest path.

[0055] Figure 8 shows a schematic flowchart of the control method for the magnetic transport line drive system of the present invention.

[0056] The control method includes the following steps. Step S100 is a drive command generation step, in which the motion control unit 210 generates a drive command based on a user or other external command.

[0057] In one embodiment, step S100 is a collision detection step, which further includes step S110 in which the motion control unit 210 determines whether the drive command will cause a collision of the motor mover, outputs a drive command if the determination result is NO, and waits until the determination result becomes NO before outputting a drive command if the determination result is YES.

[0058] Step S200 is a motor moving element detection step in which the position sensing unit 240 acquires quantity information and position information of the motor moving elements.

[0059] Step S300 is an effective axis address calculation step, in which the motor control unit 220 calculates the quantity information and address information of the effective axis from the quantity information and position information of the motor mover.

[0060] Step S400 is a motor stator selection step, in which the motor control unit 220 generates a motor stator selection command based on the address information of the effective shaft.

[0061] In one embodiment, step S400 further includes a computational resource scheduling step, in which the motor control unit 220 allocates the computational resources necessary for the control loop calculation step based on a motor stator selection command, in step S410.

[0062] Step S500 is a control loop calculation step in which the motor control unit 220 completes the calculation of the position loop, speed loop, and current loop based on the position information of the motor mover, the current information of each phase of the motor stator, and the inverter setting command from the previous cycle, and generates an inverter setting command.

[0063] In one embodiment, in the calculation of the position loop, speed loop, and current loop described above, the outermost loop is the position loop, which receives position commands, compensation, and position feedback and outputs a speed command; the intermediate loop is the speed loop, which receives speed commands, compensation, and speed feedback from the position loop and outputs a current command; and the innermost loop is the current loop, which uses FOC (Field of Control) control, receives current commands, compensation, and current feedback, and directly provides inverter commands.

[0064] Step S600 is a drive current generation step, in which the motor control unit 220 stores an inverter setting command, selects a corresponding motor stator based on a motor stator selection command, and generates a drive current to drive the motor stator using the corresponding motor drive unit 230.

[0065] In one embodiment, the motor drive unit 230 simultaneously feeds back the actual motor current to the current loop and the angular displacement or linear position caused by the motor's rotation to the velocity loop and position loop.

[0066] By repeating the above steps, closed-loop control of the motor-moving element is formed, and precise control of its position and speed is achieved.

[0067] A preferred embodiment of the magnetic transport line provided by the present invention is: With a length of 5 meters and featuring 16 motor shafts per meter, and including a magnetic transport line in which three moving elements reciprocate along the magnetic transport line, this magnetic transport line actuator comprises 80 motor stators and 3 motor moving elements, of which a maximum of 10 are effective shafts, accounting for approximately 12.5% ​​of the total number of shafts.

[0068] The drive system includes the following: 1) 80 magnetic position sensors 2) 80 motor drive units Here, each motor drive unit includes a drive communication module, a waveform generation module, a power drive inverter module, and a data acquisition module. All related control functions can be performed using a single small-capacity FPGA (9K equivalent logic unit).

[0069] Four motor drive units are integrated into a single motor drive board, resulting in a total of 20 motor drive boards.

[0070] 3) Integrated drive control motion controller: Each motion controller integrates one motion control unit and one motor control unit.

[0071] Here, the motion control unit includes a program execution module; The motor control unit includes a first communication module, a second communication module, an effective axis management module, a motor calculation module, a calculation resource scheduling and allocation module, and a storage and distribution module.

[0072] The drive system's operation control steps employ the following closed-loop control: When the system is powered on and initialized, the motor mover does not exist by default.

[0073] The program execution module generates drive commands. The magnetic position sensor periodically detects the position of the motor mover and transmits it to the motor control unit via the first communication module.

[0074] The data collection module periodically detects the motor stator current and transmits it to the motor control unit via the first communication module.

[0075] The effective axis management module acquires relevant information (position, velocity, current), calculates the effective axis addresses of the three moving elements, and forms a motor stator selection command.

[0076] The computing resource scheduling and allocation module assigns the mobile axis calculation to the corresponding computing resource.

[0077] The motor calculation module completes control-related calculations (including position loops, velocity loops, and current loops) and outputs the results to the save and distribution modules.

[0078] The save and distribution module saves the results and outputs them sequentially to the motor drive unit based on the address.

[0079] The data packets are sequentially transmitted to the motor drive unit with the corresponding address, enter the power drive inverter module, and generate the corresponding three-phase current.

[0080] By repeating the above process, a closed-loop control effect is achieved in the motor mover. As can be seen from the embodiments described above, the magnetic transport line drive system, magnetic transport line, and control method for the magnetic transport line drive system proposed by the present invention can fundamentally solve the problems of the prior art. By concentrating calculations in the motor control unit and performing centralized calculations, the motor drive unit, which is the most numerous unit, can be greatly simplified and costs can be greatly reduced. Furthermore, since the motor drive unit does not require complex calculations, the number of chips and other electronic components required for the unit itself is also greatly reduced, lowering costs and improving reliability at the same time. In addition, by installing a computing resource scheduling and assignment module and a switching control unit, the communication delay from the motor control unit to each motor drive unit becomes smaller than the control cycle, and multiple loops can be supported, improving the system's scalability while avoiding system delays.

[0081] The terms and expressions used herein are for illustrative purposes only, and the invention should not be limited to these terms and expressions. The use of these terms and expressions does not imply the exclusion of equivalent features of any examples and descriptions (or parts thereof), and it should be recognized that various possible modifications are also included in the claims. Other modifications, alterations, and substitutions are also possible. Correspondingly, the claims are deemed to cover all such equivalents.

[0082] Similarly, although the present invention has been described with reference to current specific embodiments, it should be noted that those skilled in the art should recognize that the above embodiments are used solely for the purpose of illustrating the present invention, and that various equivalent modifications or substitutions are possible without departing from the spirit of the invention, and therefore, all modifications or variations of the above embodiments within the substantial spirit of the invention fall within the claims of this application. [Explanation of symbols]

[0083] Explanation of the symbols 100, Actuator 110. Motor stator 111, Effective axis 112, Inactive axis 120, Motorized Movement 200, Drive System 210. Motion control unit 211. Program execution module 212. Collision detection module 213. Motor stator management module 220, Motor control unit 221, First communication module 222, Second communication module 223. Effective axis management module 224. Motor Calculation Module 225. Computational Resource Scheduling and Allocation Module 226, Save / Distribute Module 230, Motor drive unit 231. Drive communication module 232. Waveform generation module 233. Power drive inverter module 234, Collection Module 235. Fault handling module 236. Power Management Module 240, Position sensing unit 250, Replacement control unit

Claims

1. A magnetic transport line drive system for driving actuators of a magnetic transport line based on a command, wherein the actuators include a plurality of motor stators and a plurality of motor moving elements. A motion control unit that generates drive commands based on the aforementioned commands, A number of position sensing units corresponding to the motor stator, for detecting the quantity information and position information of the motor moving elements, A motor control unit that calculates the quantity information and address information of the effective shafts based on the drive command and the quantity information and position information of the motor mover, and generates a motor stator selection command for selecting the specified motor stator and an inverter setting command for generating the specified drive current, The system comprises a number of motor drive units corresponding to the motor stators, which generate a drive current and supply it to the corresponding motor stator based on the motor stator selection command and the inverter setting command. The motor control unit is The motor control unit and the motor drive unit and / or the position sensing unit A first communication module that enables data transmission between and A second communication module for realizing data transmission between the motor control unit and the motion control unit, An effective axis management module that calculates the quantity information and address information of the effective axis based on the quantity information and position information of the motor moving element and generates the motor stator selection command, A motor calculation module that generates an inverter setting command and outputs it to the motor drive unit based on the drive command, the motor stator selection command, and the current information of each phase of the motor stator, A computing resource scheduling and assignment module that selects one or more motor computing modules to complete calculations based on the motor stator selection command, A magnetic transport line drive system further comprising a storage and distribution module that stores calculation results and distributes them to the first communication module.

2. The motor drive unit is A drive communication module for enabling data transmission between the motor drive unit and an external source, A waveform generation module that generates an inverter control waveform based on the inverter setting command, The magnetic transport line drive system according to claim 1, further comprising a power drive inverter module that generates a drive current based on the inverter control waveform and supplies it to the designated motor stator.

3. The motor drive unit is The magnetic transport line drive system according to claim 2, further comprising a data collection module that collects current information, voltage information, and temperature information of each phase of the motor stator and feeds them back to the motor control unit.

4. The motor drive unit is The magnetic transport line drive system according to claim 2, further comprising a fault processing module that determines whether a fault affecting the operation of the magnetic transport line has occurred based on the speed information, position information, and current information of each phase of the motor stator in the magnetic transport line, receives a fault signal if a fault has occurred, and outputs a stop command to the power drive inverter module.

5. The motion control unit is A program execution module that generates the drive command based on the command, A magnetic transport line drive system according to any one of claims 1 to 4, comprising: a collision detection module that determines whether the drive command will cause a collision of the motor mover, outputs the drive command to the motor control unit if the determination result is NO, and waits until the determination result becomes NO before outputting the drive command if the determination result is YES.

6. The magnetic transport line drive system according to any one of claims 1 to 4, characterized in that it has a plurality of loops connected in parallel to each other, formed by the series connection of a plurality of position sensing units, and a plurality of loops connected in parallel to each other, formed by the series connection of a plurality of motor drive units.

7. Based on the motor stator selection command, data transmission is realized between the motor control unit and the position sensing unit and / or the motor drive unit in each loop. The magnetic transport line drive system according to claim 6, further comprising a control unit.

8. A magnetic transport line comprising an actuator including multiple motor stators and multiple motor moving elements, A magnetic transport line further comprising the magnetic transport line drive system described in claim 1.

9. A control method for a magnetic transport line drive system for controlling based on an effective axis and driving an actuator of a magnetic transport line in response to a command, wherein the actuator includes a plurality of motor stators and a plurality of motor movers, A drive command generation step that generates a drive command based on a command, A motor mobile detection step that acquires the quantity information and position information of the motor mobile, A valid axis address calculation step that calculates the number information and address information of the valid axis based on the quantity information and position information of the motor moving element, A motor stator selection step that generates a motor stator selection command based on the address information of the effective shaft, Based on the motor stator selection command, the computational resources required for the control loop calculation step are allocated, and the computational resource scheduling step that follows the motor stator selection step is performed. A control loop calculation step that completes the calculation of position loops, speed loops, and current loops based on the position information of the motor moving element, the current information of each phase of the motor stator, and the inverter setting command from the previous cycle, and generates an inverter setting command. A drive current generation step includes saving the inverter setting command, selecting the corresponding motor stator based on the motor stator selection command, and generating a drive current to drive the motor stator, A control method for a magnetic transport line drive system, characterized in that the above steps are repeated to form closed-loop control of the motor mover.

10. A control method for a magnetic transport line drive system according to claim 9, further comprising a collision detection step following the drive command generation step, wherein the method determines whether the drive command will cause a collision of the motor mover, outputs the drive command if the determination result is NO, waits until the determination result becomes NO if the determination result is YES, and outputs the drive command.

Images