Control method for randomly combined and rapid motion of side-by-side seamless slide plate group

Abstract

Disclosed in the present invention is a control method for randomly combined and rapid motion of a side-by-side seamless slide plate group, which belongs to the technical field of mechanical automation control. The slide plate group comprises a frame, wherein a support rod is horizontally provided at the top of the frame, several support plates are rotatably connected to the outer side of the support rod, a permanent magnet linear synchronous motor is provided on the top surface of each support plate, a linear slide rail is provided on the top surface of each permanent magnet linear synchronous motor, a sliding block is slidably connected to the outer side of each linear slide rail, a mounting plate and a slide plate are sequentially provided on the top surface of each sliding block, the side surfaces of the slide plates seamlessly join with each other, a bent end of each mounting plate extends to a side surface of the permanent magnet linear synchronous motor and is in threaded connection with a connecting plate, and each connecting plate is fixedly connected to a rotor side surface of the permanent magnet linear synchronous motor. In the present invention, the permanent magnet linear synchronous motor, multiple groups of slide plate mechanisms in side-by-side seamless arrangement and distribution, and an innovative technology of fuzzy active disturbance rejection control are combined to solve the problems in the prior art of a reciprocating linear slip motion mechanism having a complex structure, high energy consumption, slow response speed and low universality.

Description

A rapid motion control method for random combination of seamless side-by-side group skateboards Technical Field

[0001] The invention belongs to the technical field of mechanical automation control, and in particular to a method for controlling the rapid movement of a random combination of seamless side-by-side group slides. Background Art

[0002] Automation control technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical care, services and families. The use of automation technology can not only liberate people from heavy physical labor, some mental labor and harsh and dangerous working environments, but also greatly improve labor productivity;

[0003] The utility model patent with publication number CN 217832522 U discloses a welding and flipping device for an offshore platform pile leg, which relates to the technical field of welding. A welding and flipping device for an offshore platform pile leg comprises a base plate, two sets of support plates, a support platform, a fixed plate, a rotating shaft, a disc and a servo motor. The support platform is fixedly mounted on the upper end of the base plate through two sets of support plates, the fixed plate is fixedly mounted on the upper end of the support platform, the rotating shaft is rotatably mounted on the fixed plate, the disc is fixedly mounted on the right end of the rotating shaft, a clamping device is provided on the disc, the left end of the rotating shaft is connected to the output end of the servo motor, and the servo motor is fixedly mounted on the fixed plate; wherein the supporting wheel part in the middle of the pile leg is mainly a reciprocating multiple-group slide mechanism, comprising multiple groups of slides, multiple groups of support wheels, a movable plate, a rotating shaft, a circular plate, a lifting device and a moving device. Turning on the driving motor drives the first screw to rotate, so that the two groups of sliders move away from each other, the two groups of sliders move the two groups of circular wheels away from each other through two sets of connecting plates, the two groups of circular wheels raise the lifting plate through two sets of inclined blocks, and the lifting plate raises the multiple groups of support wheels through multiple groups of slides. The upper ends of the plurality of support wheels are pressed tightly against the lower ends of the pile legs, so that the middle parts of the pile legs are supported by the plurality of support wheels. Then, the servo motor is turned on to drive the pile legs to rotate through the rotating shaft. The pile legs drive the rotating shaft and the friction wheel to rotate through the circular plate until the sand holes on the pile legs are located at the upper ends. Then, the screw is rotated, and the screw drives the friction disc to descend until the lower end of the friction disc contacts and is pressed tightly against the upper end of the friction wheel. Then, an external welding device is used to weld and repair the sand holes on the pile legs. During the welding process of the pile legs, the right end of the pile leg is supported by the clamping device on the circular plate, and the middle part of the pile leg is supported by the plurality of support wheels. Therefore, the bending stress on the pile leg itself is reduced, the deformation of the pile leg is reduced, and the reliability during the welding process is improved. At the same time, since the distance between the circular disc and the circular plate can be adjusted, it can clamp pile legs of different lengths, with low limitations, easy use and high practicality.

[0004] The utility model patent with publication number CN 215395776 U discloses a floor core board curtain threading machine, which relates to the technical field of bottom board processing. A floor core board curtain threading machine includes a base, multiple sets of pillars, multiple sets of reinforcements, a top plate, multiple sets of slides, multiple sets of sleeves, multiple sets of first hydraulic cylinders, multiple sets of telescopic columns, multiple sets of springs, a pressing frame, a pressing plate, multiple sets of tension springs, a cutting device and a conveying device. First, the wooden board to be cut is placed on the conveying device. By opening the multiple sets of first hydraulic cylinders and pushing the multiple sets of slides downward, the multiple sets of telescopic columns drive the pressing frame downward, thereby pressing and fixing the multiple sets of wooden boards on the conveying device at the same time. The fixed wooden boards are cut and grooved by the cutting device. By providing a pressing plate, the effect of simultaneously fixing the multiple sets of wooden boards is improved, the shaking of the wooden boards during cutting is reduced, the cutting accuracy is improved, the workload of the personnel fixing the wooden boards is reduced, and the working efficiency of the device is improved. The cutting device includes a slider, a fixing part, a screw, a first motor, a second hydraulic cylinder and a cutting mechanism. By turning on the first motor to drive the screw to rotate, the slider moves left and right. The slider drives the cutting mechanism through the second hydraulic cylinder to cut and groove multiple groups of wooden boards fixed on the conveying device, thereby improving the processing efficiency and stability of the wooden board grooving. By controlling the telescopic length of the second hydraulic cylinder, the cutting mechanism is driven to rise and fall, thereby controlling the grooving depth, improving the accuracy of the device in controlling different grooving depths, reducing the use limitations of the device, and improving the practicality of the device.

[0005] Utility model patent publication number CN 217136036 U discloses a multifunctional vegetable seeder, belonging to the field of vegetable planting technology. The device comprises a mobile vehicle, a seed box, a motor A, a rotating shaft, a rotating shaft, a first sprocket, a second sprocket, a chain, a drop pipe, multiple sets of seeding pipes, multiple sets of valves, multiple sets of slides, multiple sets of plowshares, and a lifting mechanism. The lifting mechanism comprises a drive motor, a connecting frame, a lead screw, a lifting block, a support plate, and a support plate. The drive motor and connecting frame are both fixedly mounted on the mobile vehicle. The lead screw is rotatably mounted on the connecting frame. The upper end of the lead screw is connected to the output end of the drive motor. The lead screw is screwed to the lifting block. The support plate and the support plate are respectively fixedly mounted on the left and right sides of the lifting block. The multiple sets of slides are fixedly mounted on the support plate, and the multiple sets of seeding pipes are fixedly mounted on the support plate. When the drive motor is turned on, the lead screw rotates. The rotating lead screw drives the support plate and the support plate downward via the lifting block. The support plate drives the multiple sets of slides downward, which in turn drives the multiple sets of plowshares downward until the multiple sets of plowshares are inserted into the soil to a suitable depth. Since the height of multiple sets of plowshares can be adjusted, they can plow furrows of different depths in the soil according to the different vegetable seeds. It is easy to use, has few limitations, and is highly practical.

[0006] The aforementioned patents all utilize reciprocating slide devices to achieve automation and reduced labor in areas such as welding, base plate processing, and vegetable cultivation. This improves labor productivity, reduces production costs, and features a simple structure and easy implementation. However, the use of a drive motor and ball screw to drive the slide back and forth results in a long transmission chain and large transmission gaps due to the presence of an intermediate transmission structure, significantly limiting the equipment's operating efficiency and preventing the slide mechanism from responding quickly on various automated production lines. The use of a pneumatic cylinder to achieve the slide's up and down movement results in a complex structure and high resource consumption.

[0007] Summary of the Invention

[0008] Purpose of the invention: To provide a method for controlling the rapid motion of random combinations of seamless group skateboards in parallel, so as to solve the above-mentioned problems existing in the prior art.

[0009] Technical solution: A side-by-side seamless group of skateboards, including a frame, a support rod horizontally provided on the top of the frame, a number of support plates rotatably connected to the outer side of the support rod, a permanent magnet linear synchronous motor provided on the top surface of each support plate, a linear slide rail provided on the top surface of each permanent magnet linear synchronous motor, a slider slidably connected to the outer side of each linear slide rail, a mounting plate provided on the top surface of each slider, a skateboard threadedly connected to the top surface of each mounting plate, the side surfaces of each skateboard seamlessly fit, the bent end of each mounting plate extends to the side surface of the permanent magnet linear synchronous motor and is threadedly connected to a connecting plate, each connecting plate is fixedly connected to the side surface of the mover of the permanent magnet linear synchronous motor, a grating scale is provided at the bottom of each permanent magnet linear synchronous motor, and the end of each connecting plate away from the slider extends to the bottom of the grating scale and is provided with a light-transmitting hole, and an adjustment part for adjusting the angle of the skateboard is provided on the top of the bracket.

[0010] Preferably, each of the permanent magnet linear synchronous motors is provided with a top block at both ends, and the side of each of the top blocks close to the permanent magnet linear synchronous motor is fixedly connected to the end of its corresponding linear slide rail, and the side of each of the top blocks close to the slider is provided with a rubber block, and each of the rubber blocks is adapted to the linear slide rail.

[0011] Preferably, each linear guide rail is provided with a wire groove on both sides along its length direction, and each slider is provided with a ridge on both sides of the inner wall, and each ridge is slidably connected to the wire groove.

[0012] Preferably, the adjusting member includes a wedge-shaped groove arranged on the bottom surface of each slide plate, a wedge-shaped block is slidably connected inside each wedge groove, a wedge-shaped groove extends from the bottom surface of each wedge block and is provided with the same strip plate, and two hydraulic rods are rotatably connected to the top of the bracket, and the output ends of the two hydraulic rods are fixedly connected to the bottom surface of the strip plate.

[0013] A fuzzy active disturbance rejection controller design method includes the following steps:

[0014] Step 1: Determine the input quantity that needs to be manipulated by the controlled system. Given the permanent magnet linear synchronous motor rotor speed v, the output quantity of the controlled system is the permanent magnet linear synchronous motor q-axis current iq*;

[0015] Step 2: Establish a mathematical model of the permanent magnet linear synchronous motor to determine the order of the active disturbance rejection controller;

[0016] Step 3: Define the interference signal of the system by various known and unknown components;

[0017] Step 4: Design fuzzy logic, combine it with the nonlinear state error feedback law in the active disturbance rejection controller, and adjust the parameters of the nonlinear state error feedback law online to achieve rapid response of the group slide.

[0018] Preferably, the mathematical model of the permanent magnet linear synchronous motor in step 2 under the dq axis rotating coordinates is:

[0019] The electromagnetic thrust equation is:

[0020] The equation of motion is:

[0021] Where: F e is the electromagnetic thrust; u d 、u q 、i d 、i q are the d-axis and q-axis voltage and current components respectively; R s is the armature winding resistance; v is the rotor speed; L sd , L sq are the d-axis and q-axis inductances respectively; ψ f is the permanent magnet flux; τ is the permanent magnet pole pitch; n p is the pole pair number; F L is the total disturbance of the system; M is the mass of the mover; B m is the viscous friction coefficient.

[0022] A control method for a side-by-side seamless group of skateboards, wherein the specific control process includes the following steps:

[0023] S1, permanent magnet linear synchronous motor v r After the TD transition, the tracking signal v1 is obtained, and its first differential signal v2 is extracted, so that the sliding plate moves in a fast response;

[0024] S2, through the ESO action, estimates the operating status of the system in real time and obtains the observed values ​​of the system disturbance, such as the change in the temperature of the permanent magnet linear synchronous motor itself, as well as the internal disturbance y1 caused by the change in resistance and inductance, and the external load disturbance y3;

[0025] S3, v1, v2 are respectively compared with the estimated value y1 and the differential signal y2 of the q-axis current iq from the permanent magnet linear synchronous motor after ESO, and the error signals e1 and e2 are obtained;

[0026] S4, controlled object v r After ESO expansion observation, the external load is observed to obtain the real-time action amount of the external disturbance of the system, y3, which is used to actively feedback and compensate the disturbance of the control quantity u by u=u0-(y3+f0(y1,y2)) / b0, forming a feedback structure with automatic compensation of system disturbances and realizing dynamic linearization of uncertain systems.

[0027] S5, error signals e1 and e2 are simultaneously input to the fuzzy controller to obtain the optimal parameters of NLSEF and then used as the input of NLSEF to obtain the i q The control quantity u0 is used to compensate for various disturbances;

[0028] Among them, v r is the given output permanent magnet linear synchronous motor speed; v1 is v r The tracking signal of v2 is v r u0 is the control quantity of iq during the operation of the system; u is the compensation control quantity; y1 is the tracking signal of v; v is the real-time speed of the permanent magnet linear synchronous motor rotor collected by the rotary encoder; y2 is the differential signal of y1; y3 is the observed quantity of the external load disturbance of the system; f0(y1,y2) is the known internal disturbance of the system.

[0029] Preferably, in steps S1 to S6, the multiple sets of parallel permanent magnet linear synchronous motor control systems receive the same command signal from the host computer, and their operating states are independent of each other.

[0030] In summary, the beneficial effects of the present invention are:

[0031] 1. The slider is driven to slide back and forth on the linear slide rail by a permanent magnet linear synchronous motor, and the slide is driven to move synchronously and reciprocatingly in a linear manner, overcoming the problems of the traditional rotary motor that requires a transmission mechanism composed of chains, gears and other components to complete the linear motion of the driven element, such as long drive chain, low transmission efficiency and poor working stability.

[0032] 2. The hydraulic rod pushes the strip plate to drive the wedge block to slide in the wedge groove at the bottom of the skateboard, so that the skateboard rotates and its angle is adjusted, thereby improving the universality of the group skateboard.

[0033] 3. Aiming at the phenomenon that the permanent magnet linear synchronous motor is directly connected to the load and is sensitive to load changes, thus generating thrust fluctuations, the speed regulator of the permanent magnet linear synchronous motor speed loop is improved, and a fuzzy anti-disturbance control controller is designed. The control strategies of vector control and fuzzy anti-disturbance control are integrated, combining the advantages of fuzzy control and anti-disturbance control. Fuzzy rules are used to compensate for the nonlinear state error feedback law, and the tracking error signal and its differential signal are input into the fuzzy anti-disturbance control controller. The anti-disturbance control parameters are modified online using fuzzy control rules to meet the requirements of the anti-disturbance control parameters during the reciprocating motion of the slide. The controller has a simple structure and can fully improve the phenomena of input signal smoothness, motion disturbance, and difficulty in matching parameters caused by the strict requirements on the accuracy, stability and fast response of the motion system, so that the system has higher accuracy and robustness.

[0034] 4. A multi-permanent magnet linear synchronous motor parallel control strategy is adopted for the group slide. After sending instructions to the controlled permanent magnet linear synchronous motor, each permanent magnet linear synchronous motor operates according to the instructions without interfering with each other. The permanent magnet linear synchronous motors have an opposing relationship with each other, which has the advantages of simple control method and control principle, and no delay in start and stop signals.

[0035] 5. Through the high integration of vector control and fuzzy anti-disturbance control of a single permanent magnet linear synchronous motor with the parallel control strategy of multiple single machines, the control result of non-interference between single slides and coordinated linkage of any multiple slides is achieved, which makes the system have high positioning accuracy, simple mechanical structure, high efficiency and energy saving, rapid response and high stability. Each slide can respond independently and can form a slide group with any other slides for joint response. The random combination of slides can achieve rapid response in multiple positions and can meet various requirements under different loads, effectively eliminating the influence of load on the robustness of the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG1 is a schematic structural diagram of the present invention;

[0037] FIG2 is a schematic structural diagram of a single skateboard module of the present invention;

[0038] FIG3 is an enlarged view of A in FIG2 of the present invention;

[0039] FIG3 is a structural diagram of the fuzzy active disturbance rejection control of the present invention;

[0040] FIG4 is a structural diagram of the parallel control of group slides of the present invention.

[0041] The accompanying drawings are marked as follows: 1. frame; 2. support rod; 3. support plate; 4. permanent magnet linear synchronous motor; 5. linear slide rail; 6. slider; 7. mounting plate; 8. slide plate; 9. connecting plate; 10. grating scale; 11. light hole; 12. top block; 13. rubber block; 14. wire groove; 15. ridge; 16. wedge groove; 17. wedge block; 18. strip plate; 19. hydraulic rod. DETAILED DESCRIPTION

[0042] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0043] A side-by-side seamless group skateboard, as shown in Figures 1 and 2, includes a frame 1, a support rod 2 is horizontally provided on the top of the frame 1, and several support plates 3 are rotatably connected to the outside of the support rod 2, and a permanent magnet linear synchronous motor 4 is provided on the top surface of each support plate 3. A linear slide rail 5 is provided on the top surface of each permanent magnet linear synchronous motor 4, and a slider 6 is slidably connected to the outside of each linear slide rail 5. A mounting plate 7 is provided on the top surface of each slider 6, and a skateboard 8 is threadedly connected to the top surface of each mounting plate 7. The sides of each skateboard 8 are seamlessly fitted, and the bent end of each mounting plate 7 extends to the side of the permanent magnet linear synchronous motor 4 and is threadedly connected to a connecting plate 9. Each connecting plate 9 is fixedly connected to the side of the mover of the permanent magnet linear synchronous motor 4, and a grating scale 10 is provided at the bottom of each permanent magnet linear synchronous motor 4. The end of each connecting plate 9 away from the slider 6 extends to the bottom of the grating scale 10 and is provided with a light-transmitting hole 11. An adjusting part for adjusting the angle of the skateboard 8 is provided on the top of the bracket.

[0044] As shown in Figures 1 and 2, after the difference between the position signal of the permanent magnet linear synchronous motor 4 and the position given instruction fed back by the grating is processed by the position controller and the speed instruction is output, the difference between the speed feedback value and the speed instruction is processed by the speed controller to output the current instruction, and then the difference between the current feedback value and the given current instruction is processed by the current controller and the signal is output to the inverter, and then three-phase alternating current is input to the primary winding of the permanent magnet linear synchronous motor 4, and a traveling wave magnetic field is generated in the air gap, which interacts with the excitation magnetic field of the permanent magnet to form an electromagnetic force, pushing the mover to move in a straight line, and then the mover drives the slider 6 to slide back and forth on the linear slide rail 5, and drives the slide plate 8 to move synchronously in a reciprocating straight line, overcoming the problems of traditional rotating motors that require a transmission mechanism composed of chains, gears and other components to complete the linear motion of the driven element, such as long driving chain, low transmission efficiency, and poor working stability.

[0045] As shown in Figure 2, top blocks 12 are distributed at both ends of each permanent magnet linear synchronous motor 4. The side of each top block 12 close to the permanent magnet linear synchronous motor 4 is fixedly connected to the end of the corresponding linear slide rail 5. The side of each top block 12 close to the slider 6 is provided with a rubber block 13. Each rubber block 13 is adapted to the linear slide rail 5. The slider 6 is limited by the top block 12, and the rubber pad prevents the slider 6 from directly contacting the top block 12, thereby playing a role of buffering protection.

[0046] As shown in FIG3 , each linear guide rail 5 is provided with a wire groove 14 along its length direction on both sides, and each slider 6 is provided with a ridge 15 on both sides of the inner wall. Each ridge 15 is slidably connected to the wire groove 14 . This arrangement prevents the slider 6 from detaching from the linear guide rail 5 .

[0047] As shown in Figures 1 and 2, the adjusting member includes a wedge-shaped groove 16 arranged on the bottom surface of each slide plate 8, and a wedge block 17 is slidably connected inside each wedge groove 16. The bottom surface of each wedge block 17 extends from a wedge groove 16 and is provided with the same strip plate 18. Two hydraulic rods 19 are rotatably connected to the top of the bracket, and the output ends of the two hydraulic rods 19 are fixedly connected to the bottom surface of the strip plate 18. The hydraulic rods 19 push the strip plate 18 to drive the wedge block 17 to slide in the wedge groove 16 at the bottom of the slide plate 8, so that the slide plate 8 rotates and its angle is adjusted, thereby improving the universality of the group slide plates 8.

[0048] As shown in Figure 4, the zero-transmission direct drive mode of the permanent magnet linear synchronous motor causes uncertainties such as load variation, nonlinear friction, thrust fluctuation, and external interference to act directly on the permanent magnet linear synchronous motor's rotor, thereby degrading the position tracking accuracy of the permanent magnet linear synchronous motor. A fuzzy active disturbance rejection controller is designed based on the permanent magnet linear synchronous motor to improve the position tracking accuracy of the permanent magnet linear synchronous motor. The design method includes the following steps:

[0049] Step 1: Determine the input quantity that needs to be manipulated by the controlled system. Given the permanent magnet linear synchronous motor rotor speed v, the output quantity of the controlled system is the permanent magnet linear synchronous motor q-axis current iq*;

[0050] Step 2: Establish a mathematical model of the permanent magnet linear synchronous motor to determine the order of the active disturbance rejection controller;

[0051] Step 3: Define the interference signal of the system by various known and unknown components;

[0052] Step 4: Design fuzzy logic, combine it with the nonlinear state error feedback law in the active disturbance rejection controller, and adjust the parameters of the nonlinear state error feedback law online to achieve rapid response of the group slide.

[0053] Specifically, the mathematical model of the permanent magnet linear synchronous motor in step 2 under the dq axis rotating coordinates is:

[0054] The electromagnetic thrust equation is:

[0055] The equation of motion is:

[0056] Where: F e is the electromagnetic thrust; u d 、u q 、i d 、i q are the d-axis and q-axis voltage and current components respectively; R s is the armature winding resistance; v is the rotor speed; L sd , L sq are the d-axis and q-axis inductances respectively; ψ f is the permanent magnet flux; τ is the permanent magnet pole pitch; n p is the pole pair number; F L is the total disturbance of the system; M is the mass of the mover; B m is the viscous friction coefficient.

[0057] A control method for a side-by-side seamless group of skateboards is shown in FIG4 . The specific control process includes the following steps:

[0058] S1, permanent magnet linear synchronous motor v r After the TD transition, the tracking signal v1 is obtained, and its first differential signal v2 is extracted, so that the sliding plate moves in a fast response;

[0059] S2, through the ESO action, estimates the operating status of the system in real time and obtains the observed values ​​of the system disturbance, such as the change in the temperature of the permanent magnet linear synchronous motor itself, as well as the internal disturbance y1 caused by the change in resistance and inductance, and the external load disturbance y3;

[0060] S3, v1, v2 are respectively compared with the estimated value y1 and the differential signal y2 of the q-axis current iq from the permanent magnet linear synchronous motor after ESO, and the error signals e1 and e2 are obtained;

[0061] S4, controlled object v r After ESO expansion observation, the external load is observed to obtain the real-time action amount of the external disturbance of the system, y3, which is used to actively feedback and compensate the disturbance of the control quantity u by u=u0-(y3+f0(y1,y2)) / b0, forming a feedback structure with automatic compensation of system disturbances and realizing dynamic linearization of uncertain systems.

[0062] S5, error signals e1 and e2 are simultaneously input to the fuzzy controller to obtain the optimal parameters of NLSEF and then used as the input of NLSEF to obtain the i q The control quantity u0 is used to compensate for various disturbances;

[0063] Among them, v r is the given output permanent magnet linear synchronous motor speed; v1 is v r The tracking signal of v2 is v r The differential signal of iq is u0; u is the control quantity of iq during the operation of the system; u is the compensation control quantity; y1 is the tracking signal of v; v is the real-time speed of the permanent magnet linear synchronous motor rotor collected by the rotary encoder; y2 is the differential signal of y1; y3 is the external load disturbance observation of the system; f0(y1,y2) is the known internal disturbance of the system; i q * is the given q-axis current;

[0064] The above control method improves the speed regulator of the permanent magnet linear synchronous motor speed loop to address the phenomenon that the permanent magnet linear synchronous motor is directly connected to the load and is sensitive to load changes, resulting in thrust fluctuations. A fuzzy anti-disturbance control controller is designed, which integrates the control strategies of vector control and fuzzy anti-disturbance control, combines the advantages of fuzzy control and anti-disturbance control, uses fuzzy rules to compensate for the nonlinear state error feedback law, inputs the tracking error signal and its differential signal into the fuzzy anti-disturbance control, and uses fuzzy control rules to modify the anti-disturbance control parameters online to meet the requirements of the anti-disturbance control parameters during the reciprocating motion of the slide. The controller has a simple structure and can fully improve the phenomena of input signal smoothness, motion disturbance, and difficulty in matching parameters caused by the strict requirements on the accuracy, stability and fast response of the motion system, so that the system has higher accuracy and robustness.

[0065] As shown in Figure 5, in steps S1 to S6, multiple sets of parallel permanent magnet linear synchronous motor control systems receive the same command signal from the host computer, and their operating states are independent of each other, realizing random combination movement of the slides, achieving the control result of no interference between single slides and coordinated linkage of any multiple slides, so that the system has high positioning accuracy, simple mechanical structure, high efficiency and energy saving, rapid response, and high stability. Each slide can respond independently, and can form a slide group with any other slides to respond jointly. The random combination of slides can achieve rapid response in multiple positions and can meet multiple requirements under different loads, effectively eliminating the influence of load on the robustness of the entire system. In Figure 5, v r The speed command is the difference between the position signal of the grating feedback motor and the position given command, which is processed by the position controller and output. i 、F i are the real-time speed and external load disturbance of the i-th motor rotor (i=1, 2, 3,…, N).

[0066] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. A side-by-side seamless group slide, comprising a frame (1), characterized in that: A support rod (2) is horizontally arranged on the top of the frame (1); a plurality of support plates (3) are rotatably connected to the outer side of the support rod (2); a permanent magnet linear synchronous motor (4) is arranged on the top surface of each support plate (3); a linear guide rail (5) is arranged on the top surface of each permanent magnet linear synchronous motor (4); a slider (6) is slidably connected to the outer side of each linear guide rail (5); a mounting plate (7) is arranged on the top surface of each slider (6); a slide plate (8) is threadedly connected to the top surface of each mounting plate (7); and each slide plate (8) is The sides are seamlessly fitted, the bent ends of each mounting plate (7) extend to the side of the permanent magnet linear synchronous motor (4) and are threadedly connected to a connecting plate (9), each connecting plate (9) is fixedly connected to the side of the mover of the permanent magnet linear synchronous motor (4), a grating scale (10) is provided at the bottom of each permanent magnet linear synchronous motor (4), one end of each connecting plate (9) away from the slider (6) extends to the bottom of the grating scale (10) and is provided with a light-transmitting hole (11), and an adjusting member for adjusting the angle of the slide plate (8) is provided at the top of the bracket.

2. A side-by-side seamless group skateboard according to claim 1, characterized in that: Each of the permanent magnet linear synchronous motors (4) is provided with a top block (12) at both ends; a side of each of the top blocks (12) close to the permanent magnet linear synchronous motor (4) is fixedly connected to an end of a corresponding linear slide rail (5); a side of each of the top blocks (12) close to the slider (6) is provided with a rubber block (13); and each of the rubber blocks (13) is adapted to the linear slide rail (5).

3. The side-by-side seamless group skateboard according to claim 1, characterized in that: Each linear slide rail (5) is provided with a wire groove (14) on both sides along its length direction, and each slider (6) is provided with a ridge (15) on both sides of its inner wall, and each ridge (15) is slidably connected to the wire groove (14).

4. The side-by-side seamless group skateboard according to claim 1, characterized in that: The adjusting member comprises a wedge-shaped groove (16) arranged on the bottom surface of each slide plate (8), each wedge-shaped groove (16) is slidably connected with a wedge-shaped block (17) inside, and each wedge-shaped block (17) extends out of the bottom surface of the wedge-shaped groove (16) and is provided with a same strip plate (18), and two hydraulic rods (19) are rotatably connected to the top of the bracket, and the output ends of the two hydraulic rods (19) are fixedly connected to the bottom surface of the strip plate (18).

5. A fuzzy active disturbance rejection controller, characterized in that: The design methodology includes the following steps: Step 1: Clarify the input quantity that needs to be manipulated by the controlled system. Given the permanent magnet linear synchronous motor rotor speed v, the output quantity of the controlled system is the permanent magnet linear synchronous motor q-axis current iq*; Step 2: Establish a mathematical model of the permanent magnet linear synchronous motor to determine the order of the active disturbance rejection controller; Step 3: Define the interference signal of the system by various known and unknown components; Step 4: Design fuzzy logic, combine it with the nonlinear state error feedback law in the ADRC, adjust the parameters of the nonlinear state error feedback law online, and achieve rapid response of the group slide.

6. A fuzzy active disturbance rejection controller according to claim 5, characterized in that: The mathematical model of the permanent magnet linear synchronous motor in step 2 under the dq axis rotating coordinates is: The electromagnetic thrust equation is: The equation of motion is: Where: F e is the electromagnetic thrust; u d 、u q 、i d 、i q are the d-axis and q-axis voltage and current components respectively; R s is the armature winding resistance; v is the rotor speed; L sd , L sq are the d-axis and q-axis inductances respectively; ψ f is the permanent magnet flux; τ is the permanent magnet pole pitch; n p is the pole pair number; F L is the total disturbance of the system; M is the mass of the mover; B m is the viscous friction coefficient.

7. A control method for a side-by-side seamless group of slides, characterized in that: The specific control process includes the following steps: S1, permanent magnet linear synchronous motor v r After TD transition, the tracking signal v1 is obtained, and its first differential signal v2 is extracted, so that the sliding plate moves quickly. S2, through the ESO function, the system's operating state is estimated in real time and the observed value of the system disturbance is obtained, such as the change of the permanent magnet linear synchronous motor's own temperature, and the internal disturbance y1 caused by the change of resistance and inductance, and the external load disturbance y 3 ; S3, v1, v2 are compared with the estimated value y1 and the differential signal y2 of the q-axis current iq from the permanent magnet linear synchronous motor respectively, and then the error signals e1 and e2 are obtained; S4, controlled object v r After the external load is observed by ESO expansion, the real-time action amount of the external disturbance of the system is estimated y3. y3 actively feedbacks the control quantity u to compensate for the disturbance u=u0-(y3+f0(y1,y2)) / b0, forming a feedback structure with automatic compensation for system disturbances, and realizing the dynamic linearization of the uncertain system. S5, error signals e1 and e2 are simultaneously input to the fuzzy controller to obtain the optimal parameters of NLSEF, and then used as the input of NLSEF to obtain the i q The control quantity u0 is used to compensate for various disturbances; Among them, v r is the given output permanent magnet linear synchronous motor speed; v1 is v r The tracking signal of v2 is v r The differential signal of iq; u0 is the control quantity of iq during the operation of the system; u is the compensation control quantity; y1 is the tracking signal of v; v is the real-time speed of the permanent magnet linear synchronous motor rotor collected by the rotary encoder; y2 is the differential signal of y1; y3 is the observed quantity of the external load disturbance of the system; f0(y1,y2) is the known internal disturbance of the system.

8. A method for controlling a side-by-side seamless group of skateboards according to claim 7, characterized in that: In the steps S1 to S6, the multiple sets of parallel permanent magnet linear synchronous motor control systems receive the same command signal from the host computer, and the operating states are independent of each other.

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