阅读说明：本技术 匀速永磁同步直线电机及其响应方程推导方法 (Constant-speed permanent magnet synchronous linear motor and response equation derivation method thereof ) 是由 罗群 罗亮 赵吉文 于 2019-11-15 设计创作，主要内容包括：本发明涉及直线电机领域，公开了一种匀速永磁同步直线电机及其响应方程推导方法，包括次级定子以及与次级定子构成滑移配合的初级动子，初级动子顶端工作台设置有载物槽，载物槽槽口连接负载板，载物槽槽腔壁上布置有激光发射器、激光感应器，负载板上安装有用于将激光发射器产生的激光束反射至激光感应器接受范围内的反射镜。反射镜一方面将激光束反射至激光感应器接受范围内，一方面反应负载板在不同负载程度下的变化，改变激光束的行径路线，再被激光感应器快速捕捉，达到快速响应的目的。(The invention relates to the field of linear motors and discloses a constant-speed permanent magnet synchronous linear motor and a derivation method of a response equation thereof. The reflector reflects the laser beam to the laser sensor in the receiving range, reflects the change of the load board in different load degrees, changes the path of the laser beam, and is captured by the laser sensor quickly, so as to achieve the purpose of quick response.)

1. The utility model provides a synchronous linear electric motor of uniform velocity permanent magnetism, constitute primary active cell (20) of sliding fit including secondary stator (10) and with secondary stator (10), primary active cell (20) top workstation (21) is provided with carries thing groove (30), its characterized in that, carry thing groove (30) notch and connect load board (40), arranged on the wall of the groove chamber of carrying thing groove (30) laser emitter (33), laser sensor (34), install on load board (40) and be used for reflecting to laser sensor (34) the laser beam that laser emitter (33) produced speculum (50) within range of accepting.

2. The uniform speed permanent magnet synchronous linear motor according to claim 1, wherein the reflector (50) comprises a primary mirror (51) for reflecting the laser beam to the receiving range of the laser sensor (34) and a secondary mirror (52) for reflecting the laser beam generated by the laser emitter (33) to the receiving range of the primary mirror (51), the laser emitter (33) and the laser sensor (34) are respectively installed on the opposite slot cavity walls of the objective slot (30), the secondary mirror (52) is arranged on the same side of the laser sensor (34), and the primary mirror (51) is arranged on the same side of the laser emitter (33).

3. The constant-speed permanent magnet synchronous linear motor according to claim 2, wherein the top end of the primary mirror (51) is connected with the bottom of the load plate (40) through a connecting plate (54), the bottom of the loading groove (30) corresponding to the secondary mirror (52) is separately provided with a limiting groove (35), the bottom end of the secondary mirror (52) extends into the limiting groove (35) and is connected with the bottom of the limiting groove (35) through a spring (36), the top end of the secondary mirror (52) is provided with a primary magnet (53), and the bottom end of the load plate (40) is provided with a secondary magnet (41) which is a synonym magnet with the primary magnet (53) corresponding to the secondary mirror (52).

4. The uniform speed permanent magnet synchronous linear motor according to claim 3, wherein an intermediate plate (37) is arranged between the laser sensor (34) and the side wall of the loading groove (30), the intermediate plate (37) penetrates through the side wall of the loading groove (30) and extends to the outside and is connected with an end cover (38), and the end cover (38) is in threaded connection with the side wall of the loading groove (30).

5. The uniform velocity permanent magnet synchronous linear motor according to claim 4, characterized in that the inner side of the slot wall (31) of the loading slot (30) is provided with an inwardly extending mounting seat (32), and the load plate (40) is screwed on the mounting seat (32).

6. The method for deriving the response equation of the constant velocity permanent magnet synchronous linear motor according to claim 5, comprising the steps of:

s1, building a finite element model of the constant-speed permanent magnet synchronous linear motor, changing the load weight, collecting a laser displacement data set corresponding to the laser sensor (34) under different load pressures, and sorting discrete data of the load weight-laser displacement data equation to obtain a load weight-laser displacement data equation;

s2, building the uniform speed permanent magnet synchronous linear motor experiment model, changing load weight, collecting a thrust difference value set when the uniform speed permanent magnet synchronous linear motor keeps uniform speed under different load pressures, sorting discrete data of a load weight-experiment thrust difference value equation, and using smooth curves to establish a load weight-thrust difference value equation respectively;

and S3, integrating the load weight-laser displacement data equation and the load weight-thrust difference equation in a simultaneous manner to obtain the laser displacement-thrust difference equation.

Technical Field

The invention relates to the field of linear motors, in particular to a constant-speed permanent magnet synchronous linear motor and a response equation derivation method thereof.

Background

With the updating and popularization of the structure of the permanent magnet synchronous linear motor, the practical application environment and range are increasingly complex, the rotor cannot bear constant load force in the working process, the change of the load force means that the rotor needs to maintain stable displacement at the same operation speed, the thrust needs to be correspondingly improved, high requirements are provided for the response time and the disturbance resistance of the permanent magnet synchronous linear motor, meanwhile, due to the fact that the structure of the permanent magnet synchronous linear motor is nonlinear, strongly coupled and uncertain, the friction force is detected in a short stroke in a fuzzy mode, a controller cannot timely process feedback, and the requirements for high precision and quick response of the permanent magnet synchronous linear motor are difficult to achieve.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the permanent magnet synchronous linear motor which can quickly respond to load change and keep constant speed all the time.

The invention solves the technical problems through the following technical means: the utility model provides a synchronous linear electric motor of at uniform velocity permanent magnetism, includes secondary stator and constitutes the primary active cell of the complex that slides with secondary stator, and primary active cell top workstation is provided with carries the thing groove, carries a thing groove notch and connects the load board, has arranged laser emitter, laser sensor on carrying thing groove cavity wall, installs on the load board to be used for reflecting the speculum of laser beam to laser sensor acceptance range that laser emitter produced.

The invention has the advantages that: the laser transmitter and the laser sensor are respectively used for transmitting and receiving laser displacement signals, the reflector reflects the laser beams to the laser sensor receiving range on the one hand, reflects the change of the load plate under different load degrees on the one hand, changes the traveling path of the laser beams, and is quickly captured by the laser sensor to achieve the purpose of quick response.

The invention further aims to provide a method for deriving a response equation of the constant-speed permanent magnet synchronous linear motor.

The invention solves the technical problems through the following technical means:

s1, building a finite element model of the constant-speed permanent magnet synchronous linear motor, changing the load weight, collecting laser displacement data sets corresponding to the laser sensors under different load pressures, and sorting discrete data of the load weight-simulated laser displacement data equation to obtain a load weight-simulated laser displacement data equation;

s2, building the uniform speed permanent magnet synchronous linear motor experiment model, changing load weight, collecting a thrust difference value set when the uniform speed permanent magnet synchronous linear motor keeps uniform speed under different load pressures, sorting discrete data of a load weight-experiment thrust difference value equation, and using smooth curves to establish a load weight-experiment thrust difference value equation respectively;

and S3, integrating the load weight-simulated laser displacement data equation and the load weight-experimental thrust difference equation in a simultaneous manner to obtain the laser displacement-experimental thrust difference equation.

The invention has the advantages that: firstly, a load weight-simulated laser displacement data equation is obtained through a virtual experiment, discrete data of the load weight-experimental thrust difference equation are obtained through real operation, and a laser displacement-experimental thrust difference equation is obtained through a simultaneous equation; in practice, the controller can make corresponding thrust response to the collected laser displacement instantly according to a laser displacement-experimental thrust difference equation, so that the permanent magnet synchronous linear motor keeps constant speed.

Drawings

FIG. 1 is a side view of an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the whole of the present invention.

Fig. 3 is an exploded view of the structure of the present invention.

Fig. 4 is a side view of another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A constant-speed permanent magnet synchronous linear motor comprises a secondary stator 10 and a primary rotor 20 which is in sliding fit with the secondary stator 10, wherein a working table 21 at the top end of the primary rotor 20 is provided with a carrying groove 30, a notch of the carrying groove 30 is connected with a load plate 40, and the load plate 40 is used for directly contacting with a load and bearing load pressure; the loading plate 40 is provided with a reflector 50 for reflecting the laser beam generated by the laser emitter 33 to the receiving range of the laser sensor 34. As shown in fig. 1, the change of the weight of the load on the load board 40 directly causes the deformation of the load board 40, and the mirror 50 connected to the load board 40 is provided to sense the deformation and directly react to the change of the laser beam path, so that the laser sensor 34 rapidly receives the signal and transmits the signal to the controller.

Wherein, the inner side of the slot wall 31 of the loading slot 30 is provided with an installation seat 32 extending inwards, and the loading plate 40 is screwed on the installation seat 32.

If the load weight on the load board 40 does not change much, the deformation degree of the load board 40 may be caused, and in order to amplify the capturing effect of the reflector 50, as shown in fig. 2-3, the reflector 50 includes a primary mirror 51 for reflecting the laser beam to the receiving range of the laser sensor 34 and a secondary mirror 52 for reflecting the laser beam generated by the laser emitter 33 to the receiving range of the primary mirror 51, the laser emitter 33 and the laser sensor 34 are respectively installed on the opposite slot cavity walls of the loading slot 30, the secondary mirror 52 is disposed at the same side as the laser sensor 34, and the primary mirror 51 is disposed at the same side as the laser emitter 33. By arranging the primary mirror 51 and the secondary mirror 52, the reflection path of the laser beam is further lengthened, and the reflection path of the laser beam is changed by using the primary mirror 51 and the secondary mirror 52 to simultaneously follow the deformation of the load plate 40, so that the sensitivity of the embodiment is improved.

As shown in fig. 4, the top end of the primary mirror 51 is connected to the bottom of the load plate 40 through a connecting plate 54, the bottom of the loading slot 30 corresponding to the secondary mirror 52 is separately provided with a limiting slot 35, the bottom end of the secondary mirror 52 extends into the limiting slot 35 and is connected to the bottom of the limiting slot 35 through a spring 36, the top end of the secondary mirror 52 is provided with a primary magnet 53, and the bottom end of the load plate 40 is provided with a secondary magnet 41 which is a synonym magnet with the primary magnet 53 corresponding to the secondary mirror 52. The secondary mirror 52 compresses the spring 36, the secondary magnet 41 and the primary magnet 53 attract each other in a different name, and the force of the secondary mirror 52 in the vertical direction is balanced. When the load board 40 deforms, the gap between the secondary magnet 41 and the secondary magnet 41 changes, the existing stress balance of the secondary mirror 52 in the vertical direction is broken, and the secondary mirror 52 compresses or releases the spring 36, so that the displacement change occurs in the vertical direction. The response sensitivity of the embodiment is further improved by designing dynamic balance.

The laser sensor 34 is used as a monitoring device, and needs to be kept static when the load plate 40 is deformed due to load increase, so as to reduce data errors, therefore, as a specific connection mode of the laser sensor 34, an intermediate plate 37 is arranged between the laser sensor 34 and the side wall of the loading groove 30, the intermediate plate 37 extends to the outside through the side wall of the loading groove 30 and is connected with an end cover 38, and the end cover 38 is screwed with the side wall of the loading groove 30. The stability of the laser sensor 34 is improved by increasing the coupling strength of the laser sensor 34 and the loading slot 30.

The derivation method of the response equation of the uniform-speed permanent magnet synchronous linear motor comprises the following steps:

s1, building the finite element model of the constant-speed permanent magnet synchronous linear motor, changing the load weight, collecting laser displacement data sets corresponding to the laser sensor 34 under different load pressures, and sorting the discrete data of the load weight-laser displacement data equation to obtain the load weight-laser displacement data equation. The permanent magnet synchronous linear motor structure is established, and a data equation can be obtained by building a finite element model according to the stress change rule.

S2, building the uniform speed permanent magnet synchronous linear motor experiment model, changing load weight, collecting the thrust difference value set when the uniform speed permanent magnet synchronous linear motor keeps uniform speed under different load pressures, sorting the load weight-thrust difference value equation discrete data, and using smooth curves to establish a parallel connection respectively to obtain the load weight-thrust difference value equation. Through actual experimental operation, a thrust difference group when the constant-speed permanent magnet synchronous linear motor keeps constant speed under different load pressures is obtained, and other factors causing the thrust to change along with the change in the permanent magnet synchronous linear motor are contained.

And S3, integrating the load weight-laser displacement data equation and the load weight-thrust difference equation in a simultaneous manner to obtain the laser displacement-thrust difference equation. Therefore, the controller can deduce a thrust difference value according to the laser displacement detected by the laser sensor 34, and the rapid response of the permanent magnet synchronous linear motor is realized.

It is noted that, in this document, relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.