Direct drive transmission system and control method

Abstract

SUMMARY OF THE PRESENT EMBODIMENT A direct drive transmission system and control method is provided. [Solution] The direct drive transmission system includes a substrate, a guide rail, a plurality of stators, a mover, a plurality of drivers, and a controller, the stators are used to drive the mover to slide on the guide rail, the transmission lines on which each stator is located are arranged as a low-precision segment and a high-precision segment connected to each other, the direct drive transmission system includes a first switching signal device and a plurality of second switching signal devices, the first switching signal device and the second switching signal device are installed correspondingly, and each second switching signal device is electrically connected to a corresponding driver or both are electrically connected to a controller. The present invention can reduce the usage of the position feedback device and reduce the cost of the device by adopting the switching signal device instead of the expensive position feedback device in the low-precision segment. At the same time, the motion control in the low-precision segment of the mover is simple, so that the control cost can be reduced and the cost can be further significantly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of direct drive transmissions, and particularly to a direct drive transmission system and a control method.

Background Art

[0002] With the development of direct drive transmission system technology, the control methods of direct drive transmission systems have been widely applied to various direct drive motors.

[0003] In the prior art, a direct drive transmission system comprises a stator formed by a plurality of windings, a position feedback device for feeding back the relative position between the stator and the rotor, and a cooperative control algorithm is used between the stators to drive the rotor by energizing the coils in the windings. However, position feedback devices (such as raster scales and magnetic scales) are expensive, and there are areas in the transmission system that do not require high positioning accuracy, but these areas still employ position feedback devices, thus increasing the cost of the direct drive transmission system.

[0004] Therefore, there is a need to provide a new direct drive transmission system.

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a direct drive transmission system and a control method that can solve the technical problem of the high cost of the direct drive transmission system in the prior art.

Means for Solving the Problems

[0006] The technical solution of the present invention is as follows.

[0007] The direct drive transmission system includes a substrate, guide rails fixed to the substrate, a plurality of stators fixed to the substrate and sequentially connected along the extending direction of the guide rails, movable elements assembled to slide on the guide rails and spaced apart from the stators, a plurality of drivers electrically connected one-to-one to each of the stators, and a controller electrically connected to the drivers, wherein the stators are used to drive the movable elements to slide on the guide rails, and the transmission lines on which each stator is located are arranged as low-precision segments and high-precision segments connected to each other, and the direct drive transmission system includes a first switching signal device fixed to the movable elements, and a plurality of second switching signal devices fixed to the substrate and corresponding one-to-one to each stator located in the low-precision segments, wherein the first switching signal device and the second switching signal devices are installed in correspondence, and each of the second switching signal devices is electrically connected to the corresponding driver, or both are electrically connected to the controller.

[0008] To allow selection, the stator has a tip along the sliding direction of the movable element, the second switching signal device is located at the tip of the stator, and two first switching signal devices are provided, each located at both ends of the movable element.

[0009] Each of the second switching signal devices is electrically connected to a driver connected to two adjacent stators so that it can be electrically connected to the corresponding driver, allowing for selection.

[0010] To enable selection, the stator comprises a first permeable body fixed to the substrate, a plurality of protrusions formed projecting outward from the surface of the first permeable body away from the substrate, and a plurality of coils circumferentially fixed in a one-to-one correspondence on the outside of each protrusion, wherein the plurality of protrusions are distributed at intervals along the extending direction of the guide rail, and adjacent pairs of coils are spaced apart, and all coils of the same stator are electrically connected to a driver corresponding to the stator.

[0011] To enable selection, the movable element includes a mounting plate slidably assembled on the guide rail, a second permeable body fixed to the side of the mounting plate closer to the substrate, and a plurality of magnet steels fixed to the side of the second permeable body away from the mounting plate, wherein the plurality of magnet steels are arranged in a one-to-one correspondence with and opposite to the plurality of coils, and the magnet steels and the projections are spaced apart.

[0012] A control method for a direct drive transmission system used in any one of the direct drive transmission systems described in the above paragraph, wherein the control method for the direct drive transmission system is: Receiving the trigger signal from the second switching signal device, Based on the trigger signal, determine the driver to be driven, This includes issuing a control command corresponding to the driver to be driven.

[0013] To enable selection, one of the first switching signal devices is provided at each end of the movable element, and based on the trigger signal, the driver to be driven is determined, The method involves obtaining a specific value of the second switching signal device corresponding to the trigger signal, wherein the specific value is the ranking of the stator corresponding to the second switching signal device in the sliding direction of the movable element. This includes determining that the driver connected to the stator corresponding to the specified value is the driver that will drive the stator.

[0014] To enable selection, a specific value of the second switching signal device corresponding to the trigger signal is obtained. Obtaining a pointer to the trigger signal, The method involves determining a specific value in the mapping table of a second switching signal device corresponding to the trigger signal based on the pointer, wherein the mapping table is pre-configured within the controller, and the mapping table includes the mapping relationship between the pointer, the stator, and the specific value.

[0015] To allow selection, the stator has a tip along the sliding direction of the movable element, the second switching signal device is located at the tip of the stator, and each of the second switching signal devices is electrically connected to a driver connected to two adjacent stators, and the driver to be driven is determined based on the trigger signal, Based on the trigger signal, two stators are obtained that are installed adjacent to the second switching signal device corresponding to the trigger signal. This includes determining which driver is to drive the two drivers connected to the stators.

[0016] To allow for selection, drivers connected to stators located within the low-precision segment drive the corresponding stators using either non-inductive control or frequency-converting control, and all drivers connected to all stators are electrically connected to the same controller. [Effects of the Invention]

[0017] The beneficial effects of this invention are as follows:

[0018] When each second switching signal device is electrically connected to a corresponding driver, the driver receives a trigger signal generated by the second switching signal device and transmits it to the controller, and the controller issues a corresponding control command to the corresponding driver based on the trigger signal. When each second switching signal device is electrically connected to the controller, the controller receives a trigger signal generated by the second switching signal device and issues a corresponding control command to the corresponding driver based on the trigger signal. The controller issues a corresponding control command to the driver based on the trigger signal generated when the first switching signal device triggers the second switching signal device, driving the stator to slide the movable element on the guide rail under the control of the driver, thereby achieving motion control of the movable element in the low-precision segment of the transmission line. In other words, in this invention, by employing switching signal devices instead of expensive position feedback devices in the low-precision segment of the transmission line, the amount of position feedback device used can be reduced, and the cost of the device can be reduced. At the same time, because motion control of the movable element in the low-precision segment of the transmission line is simple, control costs can be reduced, and furthermore, the cost of the direct drive transmission system can be reduced. [Brief explanation of the drawing]

[0019] [Figure 1] Figure 1 shows the configuration of a direct drive transmission system according to an embodiment of the present invention. [Figure 2] Figure 2 is a cross-sectional view along AA in Figure 1. [Figure 3] Figure 3 is a front view of a direct drive transmission system according to an embodiment of the present invention. [Figure 4] Figure 4 is a basic flowchart of the control method for a direct drive transmission system according to an embodiment of the present invention. [Figure 5] Figure 5 is a specific flowchart of the control method for a direct drive transmission system according to an embodiment of the present invention.

Best Mode for Carrying Out the Invention

[0020] Hereinafter, the present invention will be further described in combination with the drawings and embodiments.

[0021] As shown in FIGS. 1, FIG. 2 and FIG. 3, an embodiment of the present invention provides a direct drive transmission system, the direct drive transmission system includes a substrate 1, a guide rail 2 fixed to the substrate 1, a plurality of stators 3 fixed to the substrate 1 and sequentially connected along the extending direction of the guide rail 2, a mover 4 slidably assembled on the guide rail 2 and installed at an interval from the stator 3, a plurality of drivers (not shown) electrically connected to each stator 3 in a one-to-one correspondence, and a controller (not shown) electrically connected to the driver. The stator 3 is used to drive the mover 4 to slide on the guide rail 2. The transmission lines where each stator 3 is located are arranged as low-precision segments and high-precision segments that are connected to each other. The direct drive transmission system includes a first switching signal device 5 fixed to the mover 4, and a plurality of second switching signal devices 6 fixed to the substrate 1 and corresponding to each stator 3 located in the low-precision segment in a one-to-one correspondence. The first switching signal device 5 and the second switching signal device 6 are installed corresponding to each other. Each second switching signal device 6 is electrically connected to the corresponding driver or both are electrically connected to the controller.

[0022] To understand this, when each second switching signal device 6 is electrically connected to a corresponding driver, the driver receives a trigger signal generated by the second switching signal device 6 and transmits it to the controller, and the controller issues a corresponding control command to the corresponding driver based on the trigger signal. When each second switching signal device 6 is electrically connected to the controller, the controller receives a trigger signal generated by the second switching signal device 6 and issues a corresponding control command to the corresponding driver based on the trigger signal. The controller issues a corresponding control command to the driver based on the trigger signal generated when the first switching signal device 5 triggers the second switching signal device 6, driving the stator 3 to slide the movable element 4 on the guide rail 2 under the control of the driver, thereby achieving motion control of the movable element 4 in the low-precision segment of the transmission line. In other words, in this invention, by employing switching signal devices instead of expensive position feedback devices in the low-precision segment of the transmission line, the amount of position feedback devices used can be reduced, and the cost of the device can be reduced. At the same time, because motion control of the movable element 4 in the low-precision segment of the transmission line is simple, control costs can be reduced, and furthermore, the cost of the direct drive transmission system can be reduced.

[0023] As shown in Figures 1, 2, and 3, in one embodiment, the stator 3 comprises a first permeable body 31 fixed to a substrate 1, a plurality of protrusions 32 formed projecting outward from the surface of the first permeable body 31 away from the substrate 1, and a plurality of coils 33 fixed around each protrusion 32 in a one-to-one correspondence. The plurality of protrusions 32 are distributed at intervals along the extending direction of the guide rail 2, and two adjacent coils 33 are spaced apart. All coils 33 of the same stator 3 are electrically connected to a driver corresponding to the stator 3. Specifically, the first permeable body 31 may be a permeable plate, and the protrusions 32 may be rectangular plates. Each protrusion 32 is distributed at uniform intervals, and the coils 33 form windings together with the protrusions 32. The distribution of the traveling wave magnetic field generated after an appropriate current is passed through the windings becomes relatively uniform. By spacing out two adjacent coils 33, heat dissipation space can be provided for the coils 33, and it is also advantageous to arrange the lead wires around the outside of the projection 32 to form the coils 33. Since all coils 33 of the same stator 3 are electrically connected to the corresponding stator 3 driver, one driver can drive one stator 3, reducing the number of drivers used in the direct drive transmission system and lowering the cost of the direct drive transmission system.

[0024] As shown in Figures 1, 2, and 3, in one embodiment, the movable element 4 includes a mounting plate 41 slidably assembled on a guide rail 2, a second permeable body 42 fixed to the side of the mounting plate 41 closer to the substrate 1, and a plurality of magnet steels 43 fixed to the side of the second permeable body away from the mounting plate 41, wherein the plurality of magnet steels 43 are installed in a one-to-one correspondence with a plurality of coils 33 and facing each other, and the magnet steels 43 and the projections 32 are spaced apart. Specifically, a total of two guide rails 2 are provided and installed spaced apart, and both ends of the mounting plate 41 are slidably assembled to the two guide rails 2, which is advantageous in improving the sliding stability of the movable element 4. The second permeable body 42 is flat, and multiple magnet steels 43 are uniformly distributed on the second permeable body 42, and the multiple magnet steels 43 are installed facing multiple coils 33 in a one-to-one correspondence. As a result, the coils 33 and the projections 32 together form a winding and are installed facing the magnet steels 43. To understand this, when the direct drive transmission system is in standby mode, the magnet steels 43 induce a magnetic field, a gap magnetic field is generated between the magnet steels 43 and the winding, and when an appropriate current is passed through the winding, a traveling wave magnetic field is generated. In this case, the gap magnetic field and the traveling wave magnetic field interact with each other, generating thrust between the magnet steels 43 and the winding, which drives the stator 3 to slide the movable element 4 along the guide rail 2 in the direction of the thrust.

[0025] As shown in Figures 1, 2, and 3, in one embodiment, the movable element 4 includes a sliding plate 44 that is assembled on both sides so as to be slidable on the guide rail 2 and fixed to a mounting plate 41, a first stopper is provided on the sliding plate 44 and a second stopper is provided on the guide rail 2, and both the first stopper and the second stopper restrict the sliding plate 44 to slide only in the guiding direction of the guide rail 2. Specifically, the first stopper may be a stopper portion formed by bending one end of the sliding plate 44 90° toward the base plate 1 and then bending it 90° toward the guide rail 2, and the second stopper may be a stopper groove that is opened on opposite sides of the guide rail 2 and extends along the guiding direction of the guide rail 2, the stopper portion extending into the stopper groove prevents the sliding plate 44 from coming off the guide rail 2 and ensures the stability of the sliding of the movable element 4 on the guide rail 2.

[0026] Furthermore, the external dimensions of the second permeable body 42 are the same as those of the first permeable body 31, and multiple windings and multiple magnet steels 43 are installed facing each other in a one-to-one ratio, so as to match the drive range of one stator 3 with that of one movable element 4. The number of movable elements 4, the number of stators 3, and the number of windings and magnet steels 43 can all be set according to the actual situation and are not limited here. High-precision segments and low-precision segments are installed alternately, and the movable element 4 can move from high-precision segments to low-precision segments, and from low-precision segments to high-precision segments.

[0027] As shown in Figures 1, 2, and 3, in one embodiment, the stator 3 has a front and a end along the sliding direction of the movable element 4, the second switching signal device 6 is located at the front of the stator 3, and two first switching signal devices 5 are provided, each located at both ends of the movable element 4. Specifically, the first switching signal device 5 may be a trigger sheet, and the second switching signal device 6 may be a photoelectric switch, which helps to reduce the cost of the device. By positioning the second switching signal device 6 at the front of the stator 3, it is possible to timely determine whether the movable element 4 has started to enter the low-precision segment or has started to enter the stator corresponding to the second switching signal device 6 based on the trigger signal generated by the second switching signal device 6. Here, one of the two first switching signal devices 5 triggers the second switching signal device 6, causing the second switching signal device 6 to be triggered for the first time, and the other triggers the second switching signal device 6, causing the second switching signal device 6 to be triggered for the second time.

[0028] Furthermore, each second switching signal device 6 is electrically connected to a driver connected to two adjacent stators 3 so as to be electrically connected to the corresponding driver. Specifically, within the low-precision segment of the transmission line, the trigger signal generated by each second switching signal device 6 is divided into two channels and transmitted to the drivers connected to the two adjacent stators 3. When the trigger signal is first transmitted to the drivers connected to the two adjacent stators 3, the controller receives the trigger signal transmitted from the driver and determines that the movable element 4 will begin to move away from the leading stator 3 and towards the rear stator 3 along the sliding direction of the movable element 4. When the trigger signal is transmitted a second time to the drivers connected to the two adjacent stators 3, the controller can determine that the movable element 4 will begin to move just outside the drive range of the leading stator 3 and away from the rear stator 3 along the sliding direction of the movable element 4.

[0029] In addition, in the low-precision segment and high-precision segment of the transmission line, the second switching signal device 6 is used for the low-precision segment. Corresponding The tip of the stator 3, i.e., the low-precision segment. Corresponding Stator 3 and high-precision segment Corresponding It is located between the stator 3 and the driver. When the second switching signal device 6 generates a trigger signal, the drivers connected to the two adjacent stators 3 receive the trigger signal and transmit it to the controller, which can determine, based on the trigger signal, that the movable element 4 should begin to move away from the high-precision segment and enter the low-precision segment.

[0030] In one embodiment, each second switching signal device 6 is electrically connected to a controller, which receives a trigger signal generated by the second switching signal device and issues a control command corresponding to the driver of the corresponding trigger signal based on the trigger signal. For the same second switching signal device 6, when the controller first receives a trigger signal generated by the second switching signal device 6, it can determine that the movable element 4 begins to move away from the leading of the two stators 3 and towards the rear of the two stators, along the sliding direction of the movable element 4. When the controller receives the trigger signal a second time, the controller can determine that the movable element 4 begins to move just outside the drive range of the leading of the two stators 3 and away from the rear of the two stators, along the sliding direction of the movable element 4.

[0031] Furthermore, when the movable element 4 moves toward the stator 3, the controller can ensure the acceleration performance of the movable element 4 by issuing a control command to the driver connected to that stator 3 to increase the output current. When the movable element 4 moves toward the next stator 3 connected to that stator 3, the controller can avoid speed fluctuations of the movable element 4 by issuing a control command to the driver connected to this stator 3 to decrease the output current. As can be understood, this dynamic current adjustment helps to conserve power in the driver and reduce the operating costs of the direct drive transmission system.

[0032] Depending on the actual situation, the second switching signal device 6 may be located at the end of the stator 3, but the first low-precision segment must be placed after the high-precision segment in order to determine the real-time position of the movable element 4. When the second switching signal device 6 is triggered for the first time, the movable element 4 is just fully within the drive range of the stator 3 corresponding to the second switching signal device 6, and when the second switching signal device 6 is triggered for the second time, the movable element 4 is just completely outside the drive range of the stator 3 corresponding to the second switching signal device 6.

[0033] As shown in Figures 1, 2, and 3, in one embodiment, the direct drive transmission system comprises a first position feedback device 7 fixed to the movable element 4, and a plurality of second position feedback devices fixed to the substrate 1 and corresponding one-to-one to each stator 3 located in a high-precision segment. The first position feedback device 7 and the second position feedback devices are installed in correspondence, and both the first position feedback device 7 and the second position feedback devices are electrically connected to the driver. Specifically, the first position feedback device 7 may be a read head, and the second position feedback devices may be a raster scale or a magnetic scale, thereby ensuring high accuracy in detecting the position of the movable element 4 within the high-precision segment. The first position feedback device 7 and the second position feedback devices work together to determine the real-time position of the movable element 4. The driver transmits this real-time position information to the controller, which controls the driver to issue control commands corresponding to the drivers of the corresponding stators 3 based on this real-time position information.

[0034] As shown in Figure 4, in an embodiment of the present invention, a control method for a direct drive transmission system used in the direct drive transmission system is further provided, and the control method for the direct drive transmission system is Step S10 involves receiving a trigger signal from the second switching signal device 6, Step S11 determines the driver to be driven based on the trigger signal, The process includes step S12, which issues a control command corresponding to the driver to be driven.

[0035] Specifically, in step S10, the first switching signal device 5 of the movable element 4 triggers the second switching signal device 6 to generate a trigger signal, each trigger signal containing position information of the movable element 4, and the position information of the movable element 4 contained in each trigger signal is different. The controller can receive the trigger signal generated by the second switching signal device 6 via the driver, or it can receive the trigger signal directly. That is, the controller does not need transmission via the driver and can directly receive the position information of the movable element 4, simplifying the control method of the transmission system. In step S12, the corresponding control command issued by the controller to the driver to be driven includes the driver outputting an increased current to the stator 3, the driver outputting a decreased current to the stator 3, and the driver outputting a constant current to the stator 3, thereby driving the stator 3 to stably slide the movable element 4 on the guide rail 2.

[0036] In one embodiment, a first switching signal device 5 is provided at each end of the movable element 4, and both first switching signal devices 5 on the movable element 4 can trigger a second switching signal device 6 to generate a trigger signal, that is, the same second switching signal device 6 is triggered twice, generating two trigger signals at different timings, and the positions of the movable element 4 corresponding to the two trigger signals are different. Each movable element 4 is matched to the drive range of one stator 3. As shown in Figure 5, the control method of the direct drive transmission system in this embodiment is: Step S20 involves receiving a trigger signal from the second switching signal device 6, Step S21 to obtain a pointer to the trigger signal, Step S22 determines a specific value in the mapping table of the second switching signal device corresponding to the trigger signal based on a pointer, Step S23 determines the driver to be used to drive the driver connected to the stator 3 corresponding to a specific value, This may include step S24, which issues a control command corresponding to the driver to be driven.

[0037] Specifically, the controller is provided with multiple pins that are connected in a one-to-one correspondence to multiple second switching signal devices 6, each pin is provided with one corresponding pointer, and each pointer points to a specific position in the mapping table. In step S22, a mapping table is pre-configured in the controller, and the mapping table includes the mapping relationships between pointers, stators 3, and specific values. To facilitate understanding of the mapping table, a specific example will be given below. TIFF0007861258000001.tif64161

[0038] In this embodiment, since the magnetic field range of all the magnet steel 43 of one movable element 4 matches the driving range of all the windings of one stator 3, the driver connected to the stator 3 corresponding to a specific value is identified as the driver to be driven. Depending on the actual situation, if the magnetic field range of all the magnet steel 43 of one movable element 4 is greater than the driving range of all the windings of multiple stator 3, then the driver connected to the stator 3 corresponding to a specific value, and the drivers connected to all the stator 3s between the stator 3s corresponding to a specific value, are all identified as the drivers to be driven.

[0039] In this embodiment, the second switching signal device 6 is located at the tip of the stator 3. When the same second switching signal device 6 is triggered for the first time (i.e., triggered by the first switching signal device 5 at the right end), the movable element 4 is about to enter the drive range of the stator 3 corresponding to the second switching signal device 6. At this time, the movable element 4 moves toward the stator 3, and the driver connected to the stator 3 is the driver attempting to drive it. The controller issues a control command to the driver attempting to drive, outputting an increased current to the winding, thereby ensuring the acceleration performance of the movable element 4. When the same second switching signal device 6 is triggered for the second time (i.e., triggered by the first switching signal device at the left end), the movable element 4 is completely within the drive range of the stator 3 corresponding to the second switching signal device 6. At this time, the movable element 4 is about to move toward the stator 3, and the driver connected to the stator 3 is the driver attempting to drive it. The controller issues a control command to the driver attempting to drive, outputting a reduced current to the winding, thereby ensuring the acceleration performance of the movable element 4 and controlling the movement of the movable element 4 within the low-precision segment.

[0040] When the movable element 4 moves from a high-precision segment to a low-precision segment, the first position feedback device 7 and the second position feedback device work together to detect the real-time position of the movable element 4 in real time and determine whether or not the movable element 4 is inside the low-precision segment. Specifically, if a part of the movable element 4 can no longer be detected, it is confirmed that that part of the movable element 4 has entered the low-precision segment, and at this time, the controller controls the direct drive transmission system in the manner described above. When the movable element 4 moves from a low-precision segment to a high-precision segment, if the real-time position of the movable element 4 can be detected through the cooperation of the first position feedback device 7 and the second position feedback device, it is confirmed that the movable element 4 has entered the high-precision segment, and at this time, the driver transmits the received real-time position information of the movable element 4 to the controller, and the controller issues a corresponding control command to the driver based on the real-time position information of the movable element 4, thereby controlling the movement of the movable element 4 within the high-precision segment.

[0041] In one embodiment, step S11 is, Step S110 involves arranging low-precision segments on the transmission line in order along the sliding direction of the movable element 4 to obtain a low-precision segment with a Class 1 number, Step S112 involves arranging multiple second switching signal devices 6 located within the same low-precision segment in order along the sliding direction of the movable element 4 to obtain a second switching signal device 6 with a class 2 number. Step S113 determines, based on the trigger signal, the Class 1 number of the low-precision segment corresponding to the trigger signal and the Class 2 number of the second switching signal device 6 corresponding to the trigger signal. Step S114 involves combining the determined Class 1 number of the low-precision segment with the Class 2 number of the second switching signal device 6 to obtain a specific value for the second switching signal device 6. The step S115 may further include determining a driver that is connected to a stator 3 corresponding to a specific value and intends to drive that driver.

[0042] Specifically, in step S110, each low-precision segment on the transmission line can be sequentially arranged alphabetically and numerically. For example, the first class number of the first low-precision segment is A, and the second class number of the second low-precision segment is B. In step S111, each second switching signal device 6 on the transmission line can be sequentially arranged alphabetically and numerically. For example, the second class number of the first second switching signal device 6 is 1, and the second class number of the second second switching signal device 6 is 2. Therefore, in step S114, the specific value of the second second switching signal device 6 in the first low-precision segment is A2, and the specific value of the first second switching signal device 6 in the third low-precision segment is C1.

[0043] In one embodiment, the stator 3 has a tip aligned with the sliding direction of the movable element 4, a second switching signal device 6 is located at the tip of the stator 3, and each second switching signal device 6 is electrically connected to a driver connected to two adjacent stators 3. Step S11 is, Step S110 involves obtaining two stators 3 installed adjacent to a second switching signal device 6 corresponding to the trigger signal, based on the trigger signal. The process may include step S111, which determines which driver is to be driven by the two drivers connected to the stators 3.

[0044] In this embodiment, the driver receives a trigger signal generated by the second switching signal device and transmits it to the controller. Based on the trigger signal, the controller issues a control command corresponding to the driver corresponding to the trigger signal. Since each driver has two channels of trigger signal input, the amount of position feedback device used can be reduced, control efficiency can be increased, and design costs can be reduced.

[0045] In some embodiments, a driver connected to a stator 3 located within a low-precision segment drives the corresponding stator 3 with either non-inductive control or frequency-converting control. If the driver employs non-inductive control, it controls the stator 3 using a non-inductive algorithm. Non-inductive algorithms include sliding-mode algorithms, model-referenced adaptive control algorithms, state observer algorithms, Kalman filter algorithms, and Ruwenberger observer algorithms.

[0046] In one embodiment, since all drivers connected to the stator 3 are electrically connected to the same controller, it is possible to avoid excessive differences in the current output from different drivers or the generation of currents that cause the movable elements 4 to act in different directions, thereby avoiding speed fluctuations of the same movable element 4 due to differences in the control commands received by the drivers during motion.

[0047] The above are merely preferred embodiments of the present invention, and improvements can be made by those skilled in the art, provided they do not deviate from the inventive concept of the present invention, and all such improvements should be understood to fall within the scope of protection of the present invention.

Claims

1. A direct drive transmission system comprising a substrate, a guide rail fixed to the substrate, a plurality of stators fixed to the substrate and sequentially connected along the extending direction of the guide rail, a movable element assembled to slide on the guide rail and spaced apart from the stators, a plurality of drivers electrically connected one-to-one to each of the stators, and a controller electrically connected to the drivers, wherein the stators are used to drive the movable element to slide on the guide rail, The transmission line on which each stator is located is arranged to form a low-precision segment and a high-precision segment that are connected to each other, with some of the stators located in the low-precision segment and other parts of the stators located in the high-precision segment. The direct drive transmission system is, A first switching signal device and a first position feedback device are fixed to the movable element. A plurality of second switching signal devices are fixed to the substrate so as to be adjacent to a plurality of stators which are some of the stators located in the low-precision segment, arranged along the extending direction of the guide rail, The system comprises a plurality of second position feedback devices fixed to the substrate so as to correspond to each of the plurality of stators that serve as stators in other parts located in the high-precision segment, Each of the second switching signal devices is electrically connected to each of the drivers that are electrically connected to each of the stators adjacent to each of the second switching signal devices, or both are electrically connected to the controller. Each of the second position feedback devices is electrically connected to each of the drivers that are electrically connected to each of the stators adjacent to each of the second position feedback devices. When the movable element slides along the guide rail and enters the low-precision segment, the position of the movable element is detected by the first switching signal device and the second switching signal device. When the movable element slides along the guide rail and enters the high-precision segment, the position of the movable element is detected by the first position feedback device and the second position feedback device. The detection accuracy of the position of the movable element detected in the high-precision segment is higher than the detection accuracy of the position of the movable element detected in the low-precision segment. The first switching signal device is a trigger sheet, Each of the aforementioned second switching signal devices is a photoelectric switch, The first position feedback device is a read head, Each of the second position feedback devices is a raster scale or a magnetic scale. A direct drive transmission system characterized by the following features.

2. The stator has a tip that is aligned with the sliding direction of the movable element, the second switching signal device is located at the tip of the stator, and two first switching signal devices are provided, each located at both ends in the sliding direction of the movable element. The direct drive transmission system according to feature 1.

3. Each of the second switching signal devices is electrically connected to a driver connected to two adjacent stators, so as to be electrically connected to the corresponding driver. The direct drive transmission system according to feature 2.

4. The stator comprises a first permeable body fixed to the substrate, a plurality of protrusions formed projecting outward from the surface of the first permeable body away from the substrate, and a plurality of coils fixed around each protrusion in a one-to-one correspondence, wherein the plurality of protrusions are distributed at intervals along the extending direction of the guide rail, two adjacent coils are spaced apart, and all coils of the same stator are electrically connected to a driver corresponding to the stator. The direct drive transmission system according to feature 1.

5. The movable element includes a mounting plate assembled to slide on the guide rail, a second permeable body fixed to the side of the mounting plate closer to the substrate, and a plurality of magnet steels fixed to the side of the second permeable body away from the mounting plate, wherein the plurality of magnet steels are installed in a one-to-one correspondence with and opposite to the plurality of coils, and the magnet steels and the protrusions are installed with a gap between them. The direct drive transmission system according to feature 4.

6. A control method for a direct drive transmission system, used in the direct drive transmission system according to any one of claims 1 to 5, The control method for the direct drive transmission system is as follows: Receiving the trigger signal from the second switching signal device, Based on the trigger signal, determine the driver to be driven, This includes issuing a control command corresponding to the driver to be driven, A control method for a direct drive transmission system characterized by the following features.

7. One of the first switching signal devices is provided at each end of the sliding direction of the movable element. Determining the driver to be driven based on the trigger signal is: The method involves obtaining a specific value of the second switching signal device corresponding to the trigger signal, wherein the specific value is the ranking of the stator corresponding to the second switching signal device in the sliding direction of the movable element. This includes determining which driver is intended to drive the driver connected to the stator corresponding to the specified value, The control method for a direct drive transmission system according to feature 6.

8. To obtain a specific value of the second switching signal device corresponding to the trigger signal, Obtaining a pointer to the trigger signal, The process involves determining a specific value in the mapping table of a second switching signal device corresponding to the trigger signal based on the pointer, wherein the mapping table is pre-configured within the controller, and the mapping table includes the mapping relationship between the pointer, the stator, and the specific value. A control method for a direct drive transmission system according to feature 7.

9. The stator has a tip along the sliding direction of the movable element, the second switching signal device is located at the tip of the stator, and each of the second switching signal devices is electrically connected to a driver connected to two adjacent stators. Determining the driver to be driven based on the trigger signal is: Based on the trigger signal, two stators are obtained that are installed adjacent to the second switching signal device corresponding to the trigger signal. This includes determining which driver is to drive the two drivers connected to the stators, The control method for a direct drive transmission system according to feature 6.

10. Drivers connected to stators located within the aforementioned low-precision segment drive the corresponding stators using frequency conversion control, and all drivers connected to stators are electrically connected to the same controller. The control method for a direct drive transmission system according to feature 6.

Images