阅读说明：本技术 基于拟纵波弹性理论的多动子、多定子直线电机控制系统 (Multi-rotor and multi-stator linear motor control system based on pseudo-longitudinal wave elastic theory ) 是由 文通 李傲霜 王中仪 韩邦成 郑世强 李海涛 于 2020-12-16 设计创作，主要内容包括：本公开涉及一种基于拟纵波弹性理论的多动子、多定子直线电机控制系统,针对每个动子,包括：DSP系统、基于拟纵波弹性理论的多动子协同控制模块、通信模块、无位置传感器估计模块、驱动模块及电流检测反馈模块；通信模块获取相邻动子的位置和速度信号,无位置传感器估计模块对当前动子位置、速度进行检测、估计,经基于拟纵波弹性理论的多动子协同控制模块的安全位置计算算法计算出当前动子的期望位置,拟纵波弹性理论控制算法将动子期望位置、实际位置相对比并求解出使动子达到期望位置时所需施加的电磁力,进一步转化为电流,电流检测反馈模块获得的电流值作为电流的反馈值,并通过驱动模块实现直线电机的高精度控制。(The utility model relates to a many active cells, many stators linear electric motor control system based on simulation longitudinal wave elasticity theory includes to every active cell: the system comprises a DSP system, a multi-rotor cooperative control module based on a pseudo-longitudinal wave elastic theory, a communication module, a position-sensorless estimation module, a driving module and a current detection feedback module; the method comprises the steps that a communication module acquires position and speed signals of adjacent rotors, a position sensorless estimation module detects and estimates the position and speed of a current rotor, an expected position of the current rotor is calculated through a safety position calculation algorithm of a multi-rotor cooperative control module based on a pseudo-longitudinal wave elastic theory, the expected position and an actual position of the rotor are compared through the pseudo-longitudinal wave elastic theory control algorithm, electromagnetic force required to be applied when the rotor reaches the expected position is solved, the electromagnetic force is further converted into current, a current value obtained by a current detection feedback module is used as a feedback value of the current, and high-precision control of the linear motor is achieved through a driving module.)

1. A multi-rotor and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory is characterized by comprising for each rotor: the multi-rotor cooperative control system comprises a multi-rotor cooperative control module, an upper computer interface circuit, a driving module, a current detection control module, a position and speed detection module and a communication module;

the position and speed detection module is used for detecting a position and speed signal of the current rotor and sending the position and speed signal to the multi-rotor cooperative control module;

the communication module is used for receiving position and speed signals of the adjacent rotors sent by the communication modules of the adjacent rotor control systems and sending the position and speed signals to the multi-rotor cooperative control module; the communication module is used for sending the position and speed signals of the current rotor to the adjacent rotor control system;

the multi-rotor cooperative control module obtains the expected speed and position of the leading rotor from an upper computer through the upper computer interface circuit, and takes the expected speed and the expected position as the reference values of the speed and position closed-loop control of the leading rotor; the current expectation value, the speed expectation value and the position expectation value of the current rotor are determined based on the position and speed signals of the adjacent rotors, the position and speed signals of the current rotor and the expected speed and position of the leading rotor in combination with a pseudo-longitudinal wave elasticity theory;

the current detection control module detects the current value of the motor as the current feedback value of the motor, and combines the current expected value to realize current closed-loop control and generate a motor driving signal;

the driving module is used for controlling the motor based on the motor driving signal.

2. The control system according to claim 1, wherein the multi-mover cooperative control module comprises a safe position calculation module and a pseudo-longitudinal wave elastic theory calculation module;

the safety position calculation module is used for determining expected position and speed values of the current rotor based on the position and speed signals of the adjacent rotor and the position and speed signals of the current rotor, and the expected position and speed values serve as an input value of the pseudo-longitudinal wave elastic theory calculation module;

the dynamic model is established between the rotors based on the position and the speed expected value of the current rotor and the pseudo-longitudinal wave elastic theory calculation module, and the electromagnetic force required to be applied when the current rotor reaches the expected position is determined by combining the motor electromagnetic model so as to determine the current expected value of the current rotor and send the current expected value to the current detection control module.

3. The control system of claim 2, wherein the pseudo-compressional elastic theory is: connecting the rotors in series by using virtual springs, wherein the rigidity and the balance length of each section of spring are determined based on the speed and the load mass of the rotors connected with the two ends of each section of spring;

the larger the speed and the load mass of the rotor are, the larger the rigidity of the virtual spring is, and the longer the balance distance is; when the position of the controlled rotor is not at the expected position, the virtual spring generates elastic deformation so as to generate elastic force, so that the distance between the rotors is changed, and finally the controlled rotor reaches the expected position; the virtual spring force is fed back to the control system as the execution input of the stator coil, and the control system generates corresponding electromagnetic force and acts on the rotor.

4. The control system of claim 2, wherein the current sensing control module comprises: the current protection circuit comprises a current sensor, an overcurrent protection signal generating circuit, a current sensor interface circuit, an AD control module, a current closed-loop control module and a PWM pulse generating module;

the AD control module is used for controlling the current sensor interface circuit to acquire the current feedback value based on the current sensor and sending the current feedback value to the current closed-loop control module;

the current closed-loop control module is used for determining a current output value based on the current feedback value and the current expected value;

the PWM pulse generation module is used for determining a PWM pulse signal required for driving the current rotor based on the current output value;

the overcurrent protection signal generating circuit is used for generating an overcurrent protection signal based on the current value obtained by the current sensor so as to realize overcurrent protection of the driving module.

5. The control system of claim 4, wherein the motor drive signal comprises a PWM pulse signal.

6. The control system of claim 1, wherein the drive module comprises a high-speed optical coupling isolation circuit, a drive circuit, and a three-phase inverter bridge circuit.

7. The control system of claim 4, wherein the position and velocity detection module comprises a raster pulse detection circuit, a back emf voltage detection circuit, and a position and velocity solution module;

the grating pulse detection circuit is used for determining a grating counting pulse signal representing the action range relationship between the rotor and the stator in a motor with multiple rotors and multiple stators, and sending the grating counting pulse signal to the position and speed resolving module;

the back electromotive voltage detection circuit is used for acquiring a back electromotive voltage signal of the stator winding loop and sending the back electromotive voltage signal to the position and speed calculation module;

and the position and speed calculating module is used for determining a position and speed signal of the current rotor based on the grating counting pulse signal and the back electromotive force voltage signal and sending the position and speed signal to the safety position calculating module.

8. The control system of claim 1, wherein the communication module comprises a data transmission module and a data reception module;

the data sending module is used for sending the position and speed signals of the current rotor to the communication module of the adjacent rotor control system;

and the data receiving module is used for receiving position and speed signals of the adjacent rotors, sent by the communication modules of the adjacent rotor control systems, and sending the position and speed signals to the multi-rotor cooperative control module.

9. The control system of claim 7, further comprising a digital signal processing module comprising:

the power supply configuration chip is used for supplying power to the digital signal processing chip;

the digital signal processing chip is internally provided with a computer program for executing a safety position calculation algorithm, executing a control algorithm based on a pseudo-longitudinal wave elastic theory, executing a position and speed calculation algorithm, executing an AD control algorithm, executing a current closed-loop control algorithm and executing a PWM pulse generation algorithm so as to realize the functions of the corresponding modules.

10. The control system of claim 9, wherein the digital signal processing chip is a TI corporation C2000 series chip; the drive module adopts a DRV8301 drive board of TI company; the communication module adopts TI company CC3220 series chips.

Technical Field

The disclosure relates to the technical field of digital control systems, in particular to a multi-rotor and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory.

Background

The linear motor (i.e. linear motor) can directly generate linear motion and can directly convert electric energy into mechanical energy required by the linear motion. Compared with a rotary motor, the linear motor has no mechanical contact, the transmission force is generated in an air gap, and no friction is generated except for a linear motor guide rail; the running stroke is not limited in theory, and the performance is not influenced by the change of the stroke size; a wider range of running speed can be provided, and the advantages are more prominent particularly in a high-speed state; in addition, the linear motor has the characteristics of high acceleration, stable operation, high precision, high repeatability and the like, can well solve the problems of transmission efficiency, reliability and the like, and is low in cost and easy to maintain. The linear motor has higher efficiency and power factor, and along with the high-speed development of the permanent magnet material, particularly after the high-performance permanent magnet material neodymium iron boron (NdFeB) appears, the permanent magnet linear synchronous motor has greater superiority compared with other high-speed precise systems due to the characteristics of small loss, high force energy index, high response speed and the like.

In order to improve the efficiency of the transmission system and save the cost, in the process of realizing the motor in practical application, a plurality of stators are usually not connected in series, and a gap is arranged between the adjacent stators, so that the number of the stators used is reduced for the same distance. On the basis, the number of the movers is increased, so that the movers can move on the tracks formed by connecting the stators in series, the movers slide in the gaps of the stators, and speed control is performed when the movers pass through the upper parts of the stators, so that a long-distance linear transmission system is realized. Aiming at a long-distance transportation system with multiple rotors and multiple stators in non-fixed pairing, in order to ensure that all rotors in the system can operate orderly and efficiently, the distance and the relative operation speed between the rotors need to be adjusted in real time. However, the accuracy of the conventional control method for multi-mover cooperative control is low.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, the present disclosure provides a multi-mover and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory. In the control system, the expected distance between the movers is calculated by using an automatic driving and following model in the traffic field for reference, so that the expected position of the controlled mover is determined. A starting mechanics model is established between the rotors based on a pseudo-longitudinal wave elasticity theory, and a motor electromagnetism model is combined for derivation, so that the transmission efficiency of the motor during transmission is ensured, collision between the rotors is prevented, the safety distance between the rotors is ensured, long-distance transportation is safely realized, and the control accuracy is improved.

The utility model provides a many active cells, many stators linear electric motor control system based on simulation longitudinal wave elasticity theory, to every active cell, includes: the multi-rotor cooperative control system comprises a multi-rotor cooperative control module, an upper computer interface circuit, a driving module, a current detection control module, a position and speed detection module and a communication module;

the position and speed detection module is used for detecting a position and speed signal of the current rotor and sending the position and speed signal to the multi-rotor cooperative control module;

the communication module is used for receiving position and speed signals of the adjacent rotors sent by the communication modules of the adjacent rotor control systems and sending the position and speed signals to the multi-rotor cooperative control module; the communication module is used for sending the position and speed signals of the current rotor to the adjacent rotor control system;

the multi-rotor cooperative control module obtains the expected speed and position of the leading rotor from an upper computer through the upper computer interface circuit, and takes the expected speed and the expected position as the reference values of the speed and position closed-loop control of the leading rotor; the current expectation value, the speed expectation value and the position expectation value of the current rotor are determined based on the position and speed signals of the adjacent rotors, the position and speed signals of the current rotor and the expected speed and position of the leading rotor in combination with a pseudo-longitudinal wave elasticity theory;

the current detection control module detects the current value of the motor as the current feedback value of the motor, and combines the current expected value to realize current closed-loop control and generate a motor driving signal;

the driving module is used for controlling the motor based on the motor driving signal.

In some embodiments, the multi-mover cooperative control module includes a safety position calculation module and a pseudo-longitudinal wave elastic theory calculation module;

the safety position calculation module is used for determining expected position and speed values of the current rotor based on the position and speed signals of the adjacent rotor and the position and speed signals of the current rotor, and the expected position and speed values serve as an input value of the pseudo-longitudinal wave elastic theory calculation module;

the dynamic model is established between the rotors based on the position and the speed expected value of the current rotor and the pseudo-longitudinal wave elastic theory calculation module, and the electromagnetic force required to be applied when the current rotor reaches the expected position is determined by combining the motor electromagnetic model so as to determine the current expected value of the current rotor and send the current expected value to the current detection control module.

In some embodiments, the theory of pseudo-compressional elasticity is: connecting the rotors in series by using virtual springs, wherein the rigidity and the balance length of each section of spring are determined based on the speed and the load mass of the rotors connected with the two ends of each section of spring;

the larger the speed and the load mass of the rotor are, the larger the rigidity of the virtual spring is, and the longer the balance distance is; when the position of the controlled rotor is not at the expected position, the virtual spring generates elastic deformation so as to generate elastic force, so that the distance between the rotors is changed, and finally the controlled rotor reaches the expected position; the virtual spring force is fed back to the control system as the execution input of the stator coil, and the control system generates corresponding electromagnetic force and acts on the rotor.

In some embodiments, the current detection control module comprises: the current protection circuit comprises a current sensor, an overcurrent protection signal generating circuit, a current sensor interface circuit, an AD control module, a current closed-loop control module and a PWM pulse generating module;

the AD control module is used for controlling the current sensor interface circuit to acquire the current feedback value based on the current sensor and sending the current feedback value to the current closed-loop control module;

the current closed-loop control module is used for determining a current output value based on the current feedback value and the current expected value;

the PWM pulse generation module is used for determining a PWM pulse signal required for driving the current rotor based on the current output value;

the overcurrent protection signal generating circuit is used for generating an overcurrent protection signal based on the current value obtained by the current sensor so as to realize overcurrent protection of the driving module.

In some embodiments, the motor drive signal comprises a PWM pulse signal.

In some embodiments, the driving module comprises a high-speed optical coupling isolation circuit, a driving circuit and a three-phase inverter bridge circuit.

In some embodiments, the position and velocity detection module includes a raster pulse detection circuit, a back emf voltage detection circuit, and a position and velocity resolution module;

the grating pulse detection circuit is used for determining a grating counting pulse signal representing the action range relationship between the rotor and the stator in a motor with multiple rotors and multiple stators, and sending the grating counting pulse signal to the position and speed resolving module;

the back electromotive voltage detection circuit is used for acquiring a back electromotive voltage signal of the stator winding loop and sending the back electromotive voltage signal to the position and speed calculation module;

and the position and speed calculating module is used for determining a position and speed signal of the current rotor based on the grating counting pulse signal and the back electromotive force voltage signal and sending the position and speed signal to the safety position calculating module.

In some embodiments, the communication module comprises a data transmission module and a data reception module;

the data sending module is used for sending the position and speed signals of the current rotor to the communication module of the adjacent rotor control system;

and the data receiving module is used for receiving position and speed signals of the adjacent rotors, sent by the communication modules of the adjacent rotor control systems, and sending the position and speed signals to the multi-rotor cooperative control module.

In some embodiments, the control system further comprises a digital signal processing module comprising:

the power supply configuration chip is used for supplying power to the digital signal processing chip;

the digital signal processing chip is internally provided with a computer program for executing a safety position calculation algorithm, executing a control algorithm based on a pseudo-longitudinal wave elastic theory, executing a position and speed calculation algorithm, executing an AD control algorithm, executing a current closed-loop control algorithm and executing a PWM pulse generation algorithm so as to realize the functions of the corresponding modules.

In some embodiments, the digital signal processing chip employs a TI company C2000 series chip; the drive module adopts a DRV8301 drive board of TI company; the communication module adopts TI company CC3220 series chips.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

in the multi-rotor and multi-stator linear motor control system based on the pseudo-longitudinal wave elastic theory provided by the embodiment of the disclosure, the multi-rotor and multi-stator linear motor control is realized based on the pseudo-longitudinal wave elastic theory, and compared with the traditional multi-motor cooperative control system, the distance between the rotors can be always maintained at the optimal distance, so that the manufacturing cost is reduced, and the transportation efficiency is improved; meanwhile, each rotor can be controlled only by measurable local information (such as position and speed information), and compared with a global communication mode, the required information is less, the problem of error accumulation is avoided, and the control precision is improved; in addition, a spring damping system used by a pseudo-longitudinal wave elastic theory is very stable physically, so that the control system has high robustness, and particularly, under the conditions of model uncertainty and sensor measurement noise, information of the rotor is transmitted to adjacent rotors through the elastic force of a virtual spring, so that the interaction between the rotors is determined, and the cooperativity is improved compared with that of a traditional dynamic model.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a multi-mover and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of another multi-mover and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of a working principle of a multi-mover and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of a working principle of a multi-mover cooperative control module based on a pseudo-longitudinal wave elastic theory in a multi-mover and multi-stator linear motor control system based on the pseudo-longitudinal wave elastic theory provided in the embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The technical scheme of the embodiment of the disclosure provides a new method for describing local interaction between adjacent winding sectional permanent magnet linear synchronous motors, a multi-stator and multi-rotor linear motor control system based on a pseudo-longitudinal wave elasticity theory is established, the overall coordination performance of the whole system is improved, and long-distance transportation is realized safely and efficiently.

The control system provided by the embodiment of the disclosure is realized according to the following principle: the communication module acquires position and speed signals of adjacent rotors, the position and speed of a controlled rotor is detected and estimated by the position-sensorless estimation module (namely the position and speed detection module), and the position and speed signals are sent to the multi-rotor cooperative control module; calculating the position to which the controlled rotor should reach, namely the expected position of the controlled rotor through a safety position calculation algorithm of a multi-rotor cooperative control module based on a pseudo-longitudinal wave elastic theory; the quasi-longitudinal wave elastic theory control algorithm compares the expected position with the actual position of the rotor, and solves the electromagnetic force required to be applied when the rotor reaches the expected position, and further converts the electromagnetic force into current, the current value obtained by a current detection feedback module (included in a current detection control module) is used as the feedback value of the current, the current detection feedback module generates an overcurrent protection signal on one hand to realize the overcurrent protection of the circuit, and the detected current value of the motor is fed back and input to a DSP system (namely a DSP module) on the other hand. And the DSP system performs closed-loop control, generates a PWM pulse signal through a PWM pulse generation algorithm, and generates a driving current pulse required by motor driving control after the pulse signal passes through a driving module. Therefore, the linear motor is controlled with low power consumption and high precision.

It should be noted that the DSP system can implement the data processing part of the functions of the current detection control module, the multi-mover cooperative control module, and the position and speed detection module.

The following describes an exemplary multi-mover and multi-stator linear motor control system based on pseudo-longitudinal wave elastic theory according to an embodiment of the present disclosure with reference to fig. 1 to 3.

Fig. 1 is a schematic structural diagram of a multi-mover and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory according to an embodiment of the present disclosure. Referring to fig. 1, the control system includes, for each mover: the multi-rotor cooperative control module 110, the upper computer interface circuit 120, the driving module 130, the current detection control module 140, the position and speed detection module 150 and the communication module 160; the position and speed detection module 150 is configured to detect a position and speed signal of a current mover and send the position and speed signal to the multi-mover cooperative control module 110; the communication module 160 is configured to receive position and speed signals of an adjacent mover sent by the communication module 160 of the adjacent mover control system, and send the position and speed signals to the multi-mover cooperative control module 110; and a communication module 160 for transmitting a position and speed signal of the current mover to an adjacent mover control system; the multi-mover cooperative control module 110 obtains the expected speed and position of the leading mover from the upper computer through the upper computer interface circuit 120, and uses the expected speed and the expected position as the reference values of the speed and position closed-loop control of the leading mover; the device is also used for determining a current expected value, a speed expected value and a position expected value of the current rotor based on the position and speed signals of the adjacent rotors, the position and speed signals of the current rotor and the expected speed and position of the leading rotor in combination with a pseudo-longitudinal wave elasticity theory; the current detection control module 140 detects the current value of the motor as the current feedback value of the motor, and combines the current expected value to realize current closed-loop control and generate a motor driving signal; the driving module 130 is configured to control the motor based on the motor driving signal.

The pseudo-longitudinal wave elastic theory can be understood as a theoretical model, the model corresponds to an actual system, a plurality of rotors are supposed to be connected by a series of virtual springs, the minimum safe distance between the two rotors is defined as the balance distance, and the virtual elastic stiffness is determined according to the load mass and the speed of the rotors. The virtual elastic stiffness and the minimum safe distance are related to the load mass and the speed of the virtual spring connection rotor. When the balance distance is kept between the rotors, the elastic longitudinal wave array has no elastic potential energy; when the distance between the rotors does not meet the balance distance, virtual elastic potential energy is generated in the elastic longitudinal wave train.

Based on the above, when the pseudo-longitudinal wave elastic theory model is applied to multi-rotor cooperative control, a spring-damping virtual system is provided based on the pseudo-longitudinal wave elastic theory to describe the interaction relationship between the rotors. When the load mass or the speed of a rotor in the system changes, the virtual elastic stiffness or the balance distance can be changed; at this time, the virtual spring generates a virtual elastic force, which is a desired output of the driving force of the motor stator, and the virtual elastic force is fed back to the controller of the motor to generate a corresponding current to control the speed and the position of the mover.

Based on this, the control principle of the control system is as follows: the communication module 160 acquires position and speed signals of adjacent movers, the position and speed detection module 150 detects and estimates the position and speed of the controlled mover, and sends the acquired position and speed signals to the mover cooperative control module 110; the multi-mover cooperative control module 110 obtains the expected speed and position of the leading mover from the upper computer through the upper computer interface circuit 120; determining the position, the speed and the working current of the controlled mover which should be reached through the multi-mover cooperative control module 110 based on the pseudo-longitudinal wave elasticity theory, namely determining a current expected value (namely, a desired current), a speed expected value (namely, a desired speed) and a position expected value (namely, a desired position); the current detection control module 140 uses the obtained current value as a feedback value of the current, on one hand, an overcurrent protection signal is generated to realize overcurrent protection of the circuit, and on the other hand, closed-loop control of the current is realized based on the detected current feedback value of the motor and the expected current; at the same time, a driving signal is generated, and the driving signal generates a driving current pulse required for motor driving control after passing through the driving module 130. Through the scheme, the linear motor is controlled in a low-power-consumption and high-precision mode. The cooperative control method greatly improves the cooperative control efficiency of the multiple rotors, maintains the spacing between the rotors at the optimal distance all the time, reduces the manufacturing cost and improves the transportation efficiency.

In some embodiments, fig. 2 is a schematic structural diagram of another multi-mover and multi-stator linear motor control system based on pseudo-longitudinal wave elastic theory according to an embodiment of the present disclosure. On the basis of fig. 1, referring to fig. 2, the multi-mover cooperative control module 110 includes a safety position calculation module 111 and a pseudo-longitudinal wave elastic theory calculation module 112; the safety position calculation module 111 is configured to determine a position and speed expected value of the current mover based on the position and speed signals of the adjacent mover and the position and speed signals of the current mover, and use the position and speed expected value as an input value of the pseudo-longitudinal wave elastic theory calculation module; the pseudo-longitudinal wave elastic theory calculation module 112 establishes a dynamic model between the movers based on the current position and speed expected value of the mover and based on the pseudo-longitudinal wave elastic theory, determines the electromagnetic force required to be applied when the current mover reaches the expected position by combining with the motor electromagnetic model to determine the current expected value of the current mover, and sends the current expected value to the current detection control module 140.

The safety position calculation module 111 may be implemented by a safety position calculation algorithm, and the pseudo-longitudinal wave elastic theory calculation module 112 may be implemented by a pseudo-longitudinal wave elastic theory calculation algorithm.

In some embodiments, the theory of compressional elasticity is: connecting the rotors in series by using virtual springs, wherein the rigidity and the balance length of each section of spring are determined based on the speed and the load mass of the rotors connected with the two ends of each section of spring; the larger the speed and the load mass of the rotor are, the larger the rigidity of the virtual spring is, and the longer the balance distance is; when the position of the controlled rotor is not at the expected position, the virtual spring generates elastic deformation so as to generate elastic force, so that the distance between the rotors is changed, and finally the controlled rotor reaches the expected position; the virtual spring force is fed back to the control system as the execution input of the stator coil, and the control system generates corresponding electromagnetic force and acts on the rotor.

Therefore, when the position or the speed of the rotor changes, the virtual spring connected with the rotor generates elastic force through elastic deformation, the elastic force corresponds to electromagnetic force, and further corresponds to the change of a driving signal of the motor, so that the rotor can be accurately controlled based on the pseudo-longitudinal wave elasticity theory.

In some embodiments, with continued reference to fig. 2, the current sense control module 140 includes: a current sensor 141, an overcurrent protection signal generation circuit 142, a current sensor interface circuit 143, an AD control module 144, a current closed-loop control module 145, and a PWM pulse generation module 146; the AD control module 144 is configured to control the current sensor interface circuit 143 to obtain a current feedback value based on the current sensor 141, and send the current feedback value to the current closed-loop control module 145; the current closed-loop control module 145 is used for determining a current output value based on the current feedback value and the current expected value; the PWM pulse generation module 146 is configured to determine a PWM pulse signal required to drive the current mover based on the current output value; the overcurrent protection signal generation circuit 142 is configured to generate an overcurrent protection signal based on the current value obtained by the current sensor 141, so as to implement overcurrent protection on the driving module 130.

The current sensor 141 is used for detecting the real-time working current of the motor and transmitting the real-time working current to the overcurrent protection signal generating circuit 142 and the current sensor interface circuit 143; the real-time operating current may be obtained based on the driving current pulse signal of the driving module 130.

The over-current protection signal generating circuit 142 is configured to generate an over-current protection signal to implement over-current protection. Therefore, the motor is beneficial to ensuring the safe operation of the motor.

The current sensor interface circuit 143 obtains a current signal under the control of the AD control module 144, and feeds the current signal back to the current closed-loop control module 145; the current closed-loop control module 145 generates a current output value based on the desired current and the real-time current and transmits the current output value to the PWM pulse generation module 146, and the PWM pulse generation module 146 generates PWM pulse signals, such as PWM1 through PWM6, based on the current output value it receives and transmits the PWM pulse signals as drive signals (i.e., motor drive signals) to the drive module 130.

Illustratively, the PWM pulse generation module 146 may be implemented using a PWM pulse generation algorithm, the current closed-loop control module 145 may be implemented using a current closed-loop control algorithm, and the AD control module 144 may be implemented using an AD control algorithm.

Based on the above, the motor driving signal includes a PWM pulse signal.

In some embodiments, with continued reference to fig. 2, the drive module 130 includes a high-speed optical coupler isolation circuit 131, a drive circuit 132, and a three-phase inverter bridge circuit 133.

In some embodiments, with continued reference to fig. 2, the position and velocity detection module 150 includes a raster pulse detection circuit 151, a back emf voltage detection circuit 152, and a position and velocity resolution module 153; the grating pulse detection circuit 151 is used for determining a grating counting pulse signal representing the action range relationship between the rotor and the stator in a motor with multiple rotors and multiple stators, and sending the grating counting pulse signal to the position and speed resolving module 153; the back electromotive voltage detection circuit 152 is used for acquiring a back electromotive voltage signal of the stator winding loop and sending the back electromotive voltage signal to the position and speed calculation module 153; and a position and speed calculating module 153 for determining a position and speed signal of the current mover based on the raster count pulse signal and the back emf voltage signal, and transmitting the position and speed signal to the safety position calculating module 111.

Among them, the raster pulse detection circuit 151 sends a count pulse signal to the position and speed calculation module 153, the counter electromotive voltage detection circuit 152 sends a counter electromotive voltage signal to the position and speed calculation module 153, and the position and speed calculation module 153 determines a position and speed signal of the current mover based on the raster count pulse signal and the counter electromotive voltage signal, that is, determines a real-time position value and speed value.

For example, the position and velocity solution module 153 may be implemented using a position and velocity solution algorithm.

In some embodiments, with continued reference to fig. 2, the communication module 160 includes a data sending module 161 and a data receiving module 162; the data transmission module 161 is configured to transmit a position and a speed signal of the current mover to a communication module of an adjacent mover control system; the data receiving module 162 is configured to receive position and speed signals of the adjacent mover, which are sent by the communication module of the adjacent mover control system, and send the position and speed signals to the multi-mover cooperative control module 110.

In other embodiments, when the control system is configured to implement control over multiple movers, the communication module may further include an adjacent mover control system data receiving module and an adjacent mover control system data transmitting module; the communication modules of the current rotor control system and the adjacent rotor control systems can be integrated in the same chip.

In some embodiments, with continued reference to fig. 2, the control system further includes a digital signal processing module 170 (i.e., a DSP module) that includes a digital signal processing chip (i.e., a DSP chip) and a power configuration chip for supplying power to the digital signal processing chip; the digital signal processing chip is internally provided with a computer program for executing a safety position calculation algorithm, executing a control algorithm based on a pseudo-longitudinal wave elastic theory, executing a position and speed calculation algorithm, executing an AD control algorithm, executing a current closed-loop control algorithm and executing a PWM pulse generation algorithm so as to realize the functions of the corresponding modules.

The DSP module 170 may be composed of a hardware circuit part and a control algorithm part implemented in the DSP chip based on hardware programming; the hardware circuit part is composed of a DSP chip and a corresponding power supply configuration chip, and the control algorithm is realized in the DSP chip based on hardware programming so as to realize the data processing function of each module.

In some embodiments, the digital signal processing chip employs a TI corporation C2000 series chip; the drive module 130 adopts a DRV8301 drive board of TI company; the communication module 160 employs a TI company CC3220 series chip.

The communication module 160 adopts a CC3220 chip of the TI company to develop a wireless data transmission function, uses a TCP socket to realize wireless data transmission, and uses a data sending end as a TCP client and a data receiving end as a TCP server. Although the communication module 160 (also referred to as a wireless data transmission module) is built for a multi-mover and multi-stator linear motor control system, the application of the communication module 160 is not general, and can be used as a data transmission mode commonly used in a control system. The user can modify the relevant parameters in the software algorithm according to the application requirement of the user to meet the requirement of the user on the system, and the software algorithm has the advantages of wider application range and stronger flexibility.

In other embodiments, the communication module 160 may also use other types of chips, which is not limited in this disclosure.

In other embodiments, the DSP chip may also adopt other types of chips, which is not limited in this disclosure.

On the basis of the foregoing embodiment, the multi-mover and multi-stator linear motor control system based on the pseudo-longitudinal wave elastic theory according to the embodiment of the present disclosure includes, for each mover, a DSP module 170, an upper computer interface circuit 120, a driving module 130, a current detection feedback module (a hardware structure of the current detection control module 140, which is composed of three parts, namely, a current sensor, an overcurrent protection signal generation circuit, and a current sensor interface circuit), a position-sensorless estimation module 150 (i.e., a position and speed detection module 150), a communication module 160, and a multi-mover cooperative control module 110 based on the pseudo-longitudinal wave elastic theory. The DSP module 170 obtains the desired speed and the desired position from the upper computer 100 through the upper computer interface circuit 120 as the position of the leading mover, the speed and the position reference value in the speed closed-loop control algorithm (disposed in the pseudo-longitudinal wave elastic theory control module 112); the sensorless estimation module 150 outputs a counter potential voltage signal based on the counter pulse signal output from the raster pulse detection circuit 151 and based on the counter potential voltage detection circuit 152, and the counter pulse signal estimates the position and speed of the current mover through a position and speed calculation algorithm (also referred to as a position and speed estimation algorithm) in the DSP module 170; a data sending module 161 in the communication module 160 sends the position and the speed of the current mover to a data receiving module (not shown in the figure) of an adjacent mover control system; a data receiving module (162) receives position and speed information sent by a data sending module (not shown in the figure) of an adjacent mover control system, the position and speed information and the current mover position and speed information output by the position sensor-free estimation module 150 are input to the DSP module 170, and a safety position calculation module 111 in a multi-mover cooperative control module 110 based on the pseudo-longitudinal wave elastic theory in the DSP module 170 calculates a speed and position reference value of a current mover as a speed and position reference value in a current mover pseudo-longitudinal wave elastic theory control algorithm 112; meanwhile, the current detection feedback module detects the current value of the motor, the overcurrent protection signal generation circuit 142 generates an overcurrent protection signal and feeds the overcurrent protection signal back to the driving module 130 to realize overcurrent protection, the current value is sampled and subjected to analog-to-digital conversion under the control of the DSP module 170 and then fed back to the DSP module 170, closed-loop control is performed in the DSP module 170 to generate PWM pulses, and the PWM pulses generate control current required by the motor after passing through the driving module 130, so that the control of the permanent magnet linear synchronous motor is realized.

The DSP block 170 includes: the hardware circuit part comprises a DSP chip, and the control algorithm part realized in the DSP chip based on hardware programming comprises: the multi-rotor cooperative control algorithm based on the pseudo-longitudinal wave elastic theory comprises a safety position calculation algorithm and a pseudo-longitudinal wave elastic theory control algorithm, a position and speed calculation algorithm, a PWM pulse generation algorithm, an AD control algorithm, a current closed-loop control algorithm and a pseudo-longitudinal wave elastic theory control algorithm. The DSP block 170 obtains a count pulse signal from the raster pulse detection circuit 151 and a counter potential voltage signal from the counter potential voltage detection circuit 152; the position value and the speed value of the current rotor are estimated through a position and speed calculation algorithm, the expected position of the current rotor is calculated through a safety position calculation algorithm by combining the position and the speed of the adjacent rotor obtained from the data receiving module 162, the expected position of the current rotor is generated through a difference between the expected position and the actual position of the current rotor, an input signal of a pseudo-longitudinal wave elastic theory control algorithm is generated, the pseudo-longitudinal wave elastic theory control algorithm can directly solve a current reference value for controlling the current rotor, a current sensor interface circuit controlled by an AD control algorithm obtains a feedback value of motor current, and the current reference value and the feedback value are subjected to a difference through a current closed-loop control algorithm to obtain a current output value so as to realize closed-loop control. Then, a PWM pulse generating algorithm is used to generate PWM pulses required for driving the motor, and the motor mover is finally driven to operate through the driving module 130.

Exemplarily, fig. 3 is a schematic diagram of an operating principle of a multi-mover and multi-stator linear motor control system based on a pseudo-longitudinal wave elastic theory according to an embodiment of the present disclosure. With reference to fig. 2 and 3, the control principle of the control system is as follows: the position and speed signals of adjacent rotors are acquired by the communication module, the position and speed of the controlled rotor are detected and estimated by the position sensorless estimation module, the position to be reached by the controlled rotor is calculated by a safety position calculation algorithm of the multi-rotor cooperative control module based on the pseudo-longitudinal wave elasticity theory, the expected position and the actual position of the rotor are compared by the pseudo-longitudinal wave elasticity theory control algorithm, electromagnetic force required to be applied when the rotor reaches the expected position is solved, the electromagnetic force is further converted into current, the current value obtained by the current detection feedback module is used as the feedback value of the current, the current detection feedback module generates an overcurrent protection signal to realize overcurrent protection of the circuit on one hand, and the detected current value of the motor is fed back to the DSP system on the other hand. And the DSP system performs closed-loop control, generates a PWM pulse signal through a PWM pulse generation algorithm, and generates a driving current pulse required by motor driving control after the pulse signal passes through a driving module. Through the scheme, the linear motor is controlled in a low-power-consumption and high-precision mode. The cooperative control algorithm greatly improves the cooperative control efficiency of the multiple rotors, the distance between the rotors is always maintained at the optimal distance, the manufacturing cost is reduced, and the transportation efficiency is improved.

Fig. 4 is a schematic diagram of a working principle of a multi-mover cooperative control module based on a pseudo-longitudinal wave elastic theory in a multi-mover and multi-stator linear motor control system based on the pseudo-longitudinal wave elastic theory provided in the embodiment of the present disclosure, and illustrates a schematic block diagram of the multi-mover cooperative control module based on the pseudo-longitudinal wave elastic theory in the embodiment of the present disclosure. As shown in fig. 4, the multi-mover cooperative control module based on the pseudo-longitudinal wave elastic theory includes: the device comprises a communication module, a safe position calculation algorithm and a pseudo-longitudinal wave elastic theory calculation algorithm. In the module, a communication module acquires position and speed signals of adjacent rotors and transmits the position and speed signals to a safe position calculation module, meanwhile, the position and speed of a controlled rotor estimated by a position sensor-free estimation module are also transmitted to the safe position calculation module, the position which the controlled rotor should reach is calculated, a pseudo-longitudinal wave elastic theory control algorithm compares the expected position and the actual position of the rotor and solves the electromagnetic force which needs to be applied when the rotor reaches the expected position, and the electromagnetic force is further converted into current, so that closed-loop control based on the pseudo-longitudinal wave elastic theory is realized. The invention maps the pseudo-longitudinal wave elastic theory to the motion state of the rotor, the interaction relation between the rotors, the power consumption of the stator and other parameters, establishes a starting mechanics model between the rotors based on the pseudo-longitudinal wave elastic theory, calculates the expected distance between the rotors by using an automatic driving following model in the traffic field, and solves the expected position of the controlled rotor, thereby realizing the high-precision control of the time-sharing and sequence-by-sequence driving of a plurality of rotors of the permanent magnet linear synchronous motor.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be 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 foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.