阅读说明：本技术 直线电机自动门控制装置和控制方法 (Automatic door control device and control method for linear motor ) 是由 张圣祥 于 2020-10-29 设计创作，主要内容包括：本发明公开一种直线电机自动门控制装置和控制方法,控制装置包括直线电机和驱动控制器,直线电机包括动子和定子,定子由两段相同电磁参数的绕组构成,两段绕组之间存在间隔,所述间隔满足使两段绕组的正弦反电势相位一致；动子的长度为一段绕组的长度与两段绕组之间的间隔之和,使得动子在全行程运动过程中,与一段或者两段绕组的耦合面积保持不变,驱动控制器包括第一驱动控制器和第二驱动控制器,分别通过控制第一绕组和第二绕组的通断电来驱动动子移动。本发明避免了反电势跌落带来的推力损失,且不会同时与三个定子铁芯端部耦合,从而降低定位力带来的推力波动,且运行更加平稳,消除了两绕组直接切换带来的噪音问题。(The invention discloses a linear motor automatic door control device and a control method, wherein the control device comprises a linear motor and a drive controller, the linear motor comprises a rotor and a stator, the stator consists of two sections of windings with the same electromagnetic parameters, and an interval exists between the two sections of windings, wherein the interval meets the requirement that the sinusoidal back electromotive force phases of the two sections of windings are consistent; the length of the rotor is the sum of the length of one section of winding and the interval between two sections of windings, so that the coupling area of the rotor and one section or two sections of windings is kept unchanged in the full-stroke motion process, and the driving controller comprises a first driving controller and a second driving controller which are used for driving the rotor to move by controlling the on-off of the first winding and the second winding respectively. The invention avoids thrust loss caused by counter potential drop, and can not be coupled with the end parts of the three stator cores simultaneously, thereby reducing thrust fluctuation caused by positioning force, having more stable operation, and eliminating the noise problem caused by direct switching of two windings.)

1. The linear motor automatic door control device is characterized by comprising a linear motor and a drive controller,

the linear motor comprises a rotor and a stator, wherein the stator consists of two sections of windings with the same electromagnetic parameters, namely a first winding and a second winding, and a gap exists between the two sections of windings, and the gap meets the requirement that the sinusoidal counter potential phases of the two sections of windings are consistent; the length of the rotor is the sum of the length of one section of winding and the interval between two sections of windings, so that the coupling area of the rotor and one or two sections of windings is kept unchanged in the full-stroke motion process, and the rotor cannot be coupled with the end parts of iron cores of three stators at the same time;

the driving controller comprises a first driving controller and a second driving controller, and the mover is driven to move by controlling the on-off of the first winding and the second winding respectively.

2. The linear motor automatic door control device according to claim 1, wherein the first drive controller and the second drive controller each comprise a control module, a power amplification module and a position detection module, wherein the control module is configured to receive a door opening and closing instruction, collect voltage, current and position signals, and generate two paths of motor PWM control signals; the power amplification module is used for carrying out power amplification on the PWM control signal of the control module; the position detection module is used for detecting the position or the angular speed of the rotor.

3. The linear motor automatic door control apparatus of claim 2, wherein the control module of the first drive controller and the control module of the second drive controller are in data communication via a communication interface.

4. The linear motor automatic door control apparatus of claim 2, wherein the first drive controller and the second drive controller share a control module, and data sharing and transmission are performed by internal variables.

5. The linear motor automatic door control apparatus of claim 2, wherein the control module, the power amplification module and the position detection module are each disposed on a separate PCB or integrated on a single PCB.

6. The automatic door control method by using the linear motor automatic door control device as claimed in any one of claims 1 to 5, characterized in that after the automatic door is powered on, the two driving controllers respectively perform self-learning processes, and the position detection module acquires the coupling and moving stroke of the mover and the two sections of windings, including a door opening process and a door closing process, wherein in the door opening process, after receiving a door opening command, the first driving controller drives the mover to gradually move towards the second driving controller;

when the rotor is only coupled with the first winding, only the first driving controller controls the first winding to be electrified, the second winding controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the first winding;

when the rotor is coupled with the first winding and the second winding simultaneously along with the movement of the rotor to the second drive controller, the first drive controller conducts power-on control on the first winding, the second drive controller conducts power-on control on the second winding, and the driving force of the rotor is derived from the common power-on of the first winding and the second winding;

when the rotor is only coupled with the second winding, only the second driving controller controls the second winding to be electrified, the first winding driving controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the second winding;

the door closing process is specifically that after a door closing command is received, the second driving controller drives the rotor to gradually move towards the first driving controller;

when the rotor is only coupled with the second winding, only the second driving controller controls the second winding to be electrified, the first driving controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the second winding;

when the rotor is coupled with the second winding and the first winding at the same time, the second driving controller controls the second winding to be electrified, the first driving controller controls the first winding to be electrified, and the driving force of the rotor is derived from the joint electrification of the second winding and the first winding;

when the rotor is only coupled with the first winding, only the first driving controller controls the first winding to be electrified, the second driving controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the first winding.

7. The linear motor automatic door control method according to claim 6, characterized in that, during door opening, when the rotor is coupled with the first winding and the second winding simultaneously, if the coupling area of the rotor and the first winding is larger than or equal to the coupling area of the rotor and the second winding, the second drive controller tracks the three-phase drive current of the first drive controller to the first winding for the three-phase drive current of the second winding; and if the coupling area of the rotor and the first winding is smaller than that of the rotor and the second winding, the first drive controller tracks the three-phase drive current of the first winding with the three-phase drive current of the second drive controller to the second winding so as to keep the amplitude phase consistent.

8. The linear motor automatic door control method according to claim 6, wherein during door closing, when the mover is coupled with the second winding and the first winding simultaneously, if the coupling area of the mover and the second winding is greater than or equal to the coupling area of the mover and the first winding, the first drive controller tracks the three-phase drive current of the first winding with the three-phase drive current of the second drive controller for the second winding; and if the coupling area of the rotor and the second winding is smaller than that of the rotor and the first winding, the second drive controller tracks the three-phase drive current of the second winding with the three-phase drive current of the first drive controller to the first winding so as to keep the amplitude phase consistent.

Technical Field

The invention relates to the technical field of automatic door control, in particular to a linear motor automatic door control device and a control method.

Background

The traditional automatic door mostly adopts a driving mode of 'a rotating motor, a gear/turbine speed reducer and a synchronous belt', and has the defects of low transmission efficiency, high noise, unstable operation, high installation cost and the like. Along with the application and popularization of the linear motor technology in the industrial field, the linear motor has the outstanding advantages of high response speed, simple structure, low noise and no mechanical wear, so that the magnetic suspension door body directly driven by the linear motor is highly concerned in the field of automatic doors, and various products are popularized and used in the market. In the topology of the linear motor of the automatic door, a moving magnetic track of a coil is basically adopted, namely a moving door body is hung on a secondary track formed by a permanent magnet, and because the stroke of the door is generally long, the heating problem caused by copper loss is reduced by adopting a two-section coil sectional control mode in the primary stage. In the sectional control method, a stator switching control mode based on a switch hall or a linear hall is generally adopted in the prior art, and as described in the chinese patent "method for linear motor automatic gate vector control based on a linear hall sensor" (publication number CN 107465373a), a switching power supply form is adopted in which power is supplied to a stator section coupled to a mover and power is not supplied to another section correspondingly as the mover moves left and right. The form is simple in logic and easy to implement. However, the problem that the switching process is discontinuous, the area of the stator coupled by the rotor is suddenly changed, the back electromotive force drops and is unbalanced, thrust fluctuation is inevitably caused in the switching process, the moving process of the rotor is coupled with the end parts of a plurality of stator cores, the positioning force is superposed, the speed stability is further influenced, and even the noise of 'rattling' is generated, so that the switching method is unacceptable in some application occasions requiring high silence and high stability.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a control device and a control method of an automatic door of a linear motor aiming at the requirement of smooth control of thrust of the automatic door of the linear motor in the stator switching process.

The invention provides a linear motor automatic door control device on one hand, which comprises a linear motor and a drive controller, wherein the linear motor comprises a rotor and a stator, the stator consists of two sections of windings with the same electromagnetic parameters, namely a first winding and a second winding, and an interval exists between the two sections of windings, and the interval meets the requirement that the sinusoidal counter potential phases of the two sections of windings are consistent; the length of the rotor is the sum of the length of one section of winding and the interval between two sections of windings, so that the coupling area of the rotor and one or two sections of windings is kept unchanged in the full-stroke motion process, and the rotor cannot be coupled with the end parts of iron cores of three stators at the same time; the driving controller comprises a first driving controller and a second driving controller, and the mover is driven to move by controlling the on-off of the first winding and the second winding respectively.

Further, the first drive controller and the second drive controller both comprise a control module, a power amplification module and a position detection module, wherein the control module is used for receiving a door opening and closing instruction, collecting voltage, current and position signals and generating two paths of motor PWM control signals; the power amplification module is used for carrying out power amplification on the PWM control signal of the control module; the position detection module is used for detecting the position or the angular speed of the rotor.

In a preferred embodiment, the control module of the first drive controller and the control module of the second drive controller interact data through a communication interface.

In a preferred embodiment, the first drive controller and the second drive controller share a control module, and data sharing and transmission are performed through internal variables.

Further, the control module, the power amplification module and the position detection module are respectively arranged on a separate PCB or integrated on a single PCB.

In a second aspect, the invention provides a method for controlling an automatic door of a linear motor, wherein after the automatic door is powered on, two driving controllers respectively perform a self-learning process, the position detection module is used for acquiring the coupling and moving stroke of a rotor and two sections of windings, the process comprises a door opening process and a door closing process,

the door opening process is specifically that after a door opening instruction is received, the first driving controller drives the rotor to gradually move towards the second driving controller; when the rotor is only coupled with the first winding, only the first driving controller controls the first winding to be electrified, the second winding controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the first winding; when the rotor is coupled with the first winding and the second winding simultaneously along with the movement of the rotor to the second drive controller, the first drive controller conducts power-on control on the first winding, the second drive controller conducts power-on control on the second winding, and the driving force of the rotor is derived from the common power-on of the first winding and the second winding; when the rotor is only coupled with the second winding, only the second driving controller controls the second winding to be electrified, the first winding driving controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the second winding;

the door closing process is specifically that after a door closing command is received, the second driving controller drives the rotor to gradually move towards the first driving controller; when the rotor is only coupled with the second winding, only the second driving controller controls the second winding to be electrified, the first driving controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the second winding; when the rotor is coupled with the second winding and the first winding at the same time, the second driving controller controls the second winding to be electrified, the first driving controller controls the first winding to be electrified, and the driving force of the rotor is derived from the joint electrification of the second winding and the first winding; when the rotor is only coupled with the first winding, only the first driving controller controls the first winding to be electrified, the second driving controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the first winding.

Further, in the door opening process, when the rotor is coupled with the first winding and the second winding simultaneously, if the coupling area of the rotor and the first winding is larger than or equal to the coupling area of the rotor and the second winding, the second drive controller tracks the three-phase drive current of the first drive controller to the first winding for the three-phase drive current of the second winding; and if the coupling area of the rotor and the first winding is smaller than that of the rotor and the second winding, the first drive controller tracks the three-phase drive current of the first winding with the three-phase drive current of the second drive controller to the second winding so as to keep the amplitude phase consistent.

Further, in the door closing process, when the rotor is coupled with the second winding and the first winding simultaneously, if the coupling area of the rotor and the second winding is larger than or equal to the coupling area of the rotor and the first winding, the first drive controller tracks the three-phase drive current of the first winding with the three-phase drive current of the second drive controller; and if the coupling area of the rotor and the second winding is smaller than that of the rotor and the first winding, the second drive controller tracks the three-phase drive current of the second winding with the three-phase drive current of the first drive controller to the first winding so as to keep the amplitude phase consistent.

Compared with the prior art, the invention has the following beneficial effects:

1) the linear motor stator is composed of two sections of windings with the same parameters, the coupling area of the rotor and one or two sections of windings is kept unchanged in the movement process, the thrust loss caused by falling of counter electromotive force is avoided, and the rotor cannot be coupled with the end parts of three stator iron cores at the same time, so that the thrust fluctuation caused by positioning force is reduced.

2) In the process of opening and closing the door of the rotor of the linear motor, a current alternative tracking control mode is adopted according to the coupled stator section of the rotor, so that the thrust in the switching process is kept constant, the operation is more stable, and the problem of noise caused by direct switching of two windings is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an automatic door control device of a linear motor according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a motor drive controller in the linear motor automatic door control apparatus;

FIG. 3 is a block diagram of the motor drive controller of the embodiment of FIG. 2;

description of reference numerals:

1-first winding, 2-second winding, 3-mover, 4-first Hall array, 5-second Hall array, 6-drive controller, 7-left backstop, 8-right backstop.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 is a schematic structural diagram of an automatic door control device of a linear motor according to an embodiment. The linear motor stator consists of a first winding 1 and a second winding 2 which are completely identical, the lengths of the two windings are L1, the interval of the windings is L2, and the length design of L2 meets the requirement that the phases of sinusoidal counter potentials of the first winding 1 and the second winding 2 are consistent. The linear motor rotor 3 moves left and right along the track, and a magnetic field air gap is formed between the rotor 3 and the first winding 1 and the second winding 2. The mover 3 has a length L3 and satisfies L3 ═ L1+ L2, so that the sum of areas of the mover coupled with the two windings at any time is constant.

The linear motor automatic door control device of the embodiment further comprises a first driving controller and a second driving controller, and the first driving controller and the second driving controller are used for driving the rotor 3 to move by controlling the power on and power off of the first winding 1 and the second winding 2 respectively. The first driving controller and the second driving controller respectively comprise a control module, a power amplification module and a position detection module.

In some embodiments, the control module is composed of an MCU/DSP and its peripheral circuits, and is responsible for receiving a door opening and closing instruction, collecting voltage, current, and position signals, operating a motor control algorithm, and generating two paths of motor PWM control signals. The current signal comprises three-phase current of the motor and bus current; the voltage signal comprises a bus voltage; the position signal refers to the electrical angle or absolute position of the motor mover 3 relative to the coupled motor stator. And after the signals are amplified by the operational amplifier circuit, the signals are sent to an on-chip AD (analog to digital) or an off-chip ADC (analog to digital converter) of the MCU/DSP for reading and acquisition. The control module runs an FOC (magnetic field orientation control) algorithm, and two paths of PWM (pulse-width modulation) signals are generated through an on-chip timer, wherein each path of PWM signal corresponds to one section of motor winding.

The power amplification module consists of power devices such as MOSFET/IGBT/IPM and the like and a driving circuit thereof and is responsible for carrying out power amplification on the PWM signal output by the control module. The power amplification module comprises a motor current sampling resistor, a voltage sampling resistor or a Hall current sensor circuit and transmits a sampling signal to the control module for reading.

The position detection module is responsible for collecting the position or the electric angle of the motor rotor 3 and comprises magnetic induction devices with similar functions such as linear Hall devices or Anisotropic Magnetoresistive (AMR) devices.

In fig. 1, two sets of linear hall sensor arrays, which are denoted as a first hall array 4 and a second hall array 5, are disposed between a first winding 1 and a second winding 2 and near the windings as position detection modules. A motor drive controller 6 is placed between the two hall arrays. The automatic door has a total length L4, and left and right stoppers 7 and 8 are placed at left and right extreme positions, respectively.

On a physical layer, the first winding and the second winding can be respectively provided with an independent driving controller, each independent driving controller comprises a control module and a power amplification module, and data interaction is carried out between the two control modules through a communication interface; or the control modules of the two drive controllers can be shared, the control function is realized on one MCU/DSP, and data sharing and transmission are carried out through internal variables.

Fig. 2 shows an embodiment of a motor drive controller, which is composed of two identical drive controllers, denoted as a first drive controller and a second drive controller, for controlling winding # 1 and winding # 2, respectively. Each driving controller is composed of a control module, a power amplification module and a position detection module. The control module comprises a microprocessor consisting of an STM32 singlechip and an analog signal conditioning circuit consisting of an operational amplifier, the microprocessor is internally provided with a multichannel on-chip ADC, winding phase current and voltage signals obtained by a sampling resistor are conditioned and then sent to the ADC for reading and conversion, and PWM control signals are output to the power amplification module. The position detection module is composed of three linear Hall sensors with 120-degree electrical angle intervals, three analog signals are subjected to AD conversion by a microprocessor in the control module, and the electric angle position of the motor rotor is obtained after calculation. The power amplification module is a grid drive circuit formed by IR2101, drives a three-phase full-bridge inverter formed by 6 power MOSFETs, and performs power amplification on three PMW control signals from the control module, so that corresponding motor windings form an alternating magnetic field, and the alternating magnetic field interacts with a rotor magnetic field to drive the rotor 3 to move. And two control modules adopt the two-way SPI communication of a hardware interface controlled by a microprocessor, and can transmit control commands and parameters in real time. The control module, the power amplification module and the position detection module are respectively arranged on an independent PCB or integrated on a PCB.

Fig. 3 is a block diagram of a driving controller in some embodiments, the driving controller of the winding adopts an SVPWM driving method based on FOC control, and the driving controller includes a double closed-loop control system composed of a speed controller and a current controller. The input of the speed controller is a motion control speed planning instruction in the door opening and closing process, the output is a current control instruction, and the feedback is rotor speed feedback obtained through a position detection module through difference. The input of the current controller is the output of the speed controller, the output drives the motor stator (winding) after SVPWM modulation and power amplification, and the feedback is the rotor electric angle and phase current signals obtained by the position detection module.

After the automatic door is installed and electrified, the first driving controller and the second driving controller run a self-learning program, the mover 3 is driven to move in a reciprocating mode at a constant speed, and the moving travel distance of the mover 3 is obtained through the position detection module. The speed planning instruction is a speed instruction value corresponding to acceleration, uniform speed, deceleration and low speed planned according to the position of the mover 3 in the stroke in the door opening and closing process.

Another embodiment of the present invention provides a method for controlling an automatic door of a linear motor, wherein a driving controller corresponding to each winding, namely a first driving controller and a second driving controller, comprises two closed-loop control systems of a speed controller and a current controller which operate independently. And each driving controller runs a magnetic Field Orientation Control (FOC) algorithm through the acquisition of the position detection module information and the phase current of the corresponding winding to control the corresponding segmented winding.

After the automatic door is powered on, the two driving controllers respectively perform a self-learning process, and the stroke of the coupling and movement of the rotor and the two sections of windings is obtained through the position detection module, wherein the self-learning process comprises a door opening process and a door closing process.

After receiving the door opening command, the first driving controller drives the rotor to gradually move towards the second driving controller, which is called a door opening process. When the rotor is only coupled with the first winding, the first drive controller controls the first winding to be electrified, the second drive controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the first winding; when the rotor is coupled with the first winding and the second winding simultaneously, the first driving controller controls the first winding to be electrified, the second driving controller controls the second winding to be electrified, and the driving force of the rotor is derived from the joint electrification of the first winding and the second winding; when the rotor is only coupled with the second winding, the second driving controller controls the second winding to be electrified, the first driving controller is kept powered off, and the driving force of the rotor only comes from the electrification of the second winding.

When the rotor is coupled with the first winding and the second winding simultaneously in the door opening process, and the coupling area of the rotor and the first winding is larger than or equal to the coupling area of the rotor and the second winding, the second driving controller tracks the three-phase driving current of the first winding driving controller to the first winding for the three-phase driving current of the second winding, and the amplitude phase is kept consistent.

When the rotor is coupled with the first winding and the second winding simultaneously in the door opening process, and the coupling area of the rotor and the first winding is smaller than that of the rotor and the second winding, the first driving controller tracks the three-phase driving current of the first winding to the three-phase driving current of the second driving controller to the second winding, and the amplitude phase is kept consistent.

After receiving the door closing command, the second driving controller drives the rotor to gradually move towards the first driving controller, which is called a door closing process. When the rotor is only coupled with the second winding, the second driving controller controls the second winding to be electrified, the first driving controller keeps power off, and the driving force of the rotor only comes from the electrification of the second winding; when the rotor is coupled with the second winding and the first winding simultaneously, the second driving controller controls the second winding to be electrified, the first driving controller controls the first winding to be electrified, and the driving force of the rotor is derived from the joint electrification of the second winding and the first winding; when the rotor is only coupled with the first winding, only the first driving controller controls the first winding to be electrified, the second driving controller keeps being powered off, and the driving force of the rotor only comes from the electrification of the first winding.

When the rotor is coupled with the second winding and the first winding simultaneously in the door closing process, and the coupling area of the rotor and the second winding is larger than or equal to that of the rotor and the first winding, the first driving controller tracks the three-phase driving current of the first winding to the second winding by the second driving controller, and the amplitude phase is kept consistent;

when the rotor is coupled with the second winding and the first winding simultaneously in the door closing process, and the coupling area of the rotor and the second winding is smaller than that of the rotor and the first winding, the second driving controller tracks the three-phase driving current of the first driving controller to the first winding for the three-phase driving current of the second winding, and the amplitude phase is kept consistent.

Referring to fig. 1, the embodiment of the current alternation tracking control is as follows:

1) taking the case that the rotor is at the first position, the automatic door is completely closed and receives a door opening signal, the rotor moves rightwards according to the planned speed under the driving of the first driving controller, and the two position detection modules acquire the real-time position of the rotor;

2) when the rotor is positioned between the first position and the second position, the rotor is only coupled with the winding 1#, only the first driving controller is electrified to work, and the winding 2# is not electrified;

3) when the rotor is located between the position II and the position III, the rotor is simultaneously coupled with the winding 1# and the winding 2# and the coupling area with the winding 1# is larger than that with the winding 2#, in the interval, two driving controllers are electrified and work simultaneously, the first driving controller is a main driver, a speed loop and a current loop are operated, the second driving controller is a slave driver, only the current loop is operated, the current loop is given from the main driver and transmitted in real time through an SPI (serial peripheral interface), and the current amplitude and the phase of the winding 2# are controlled to follow the winding 1 #;

4) when the rotor reaches the third position, the first drive controller transmits all parameters in the speed ring and the current ring to the second drive controller through the SPI interface at one time, and the control initiative is handed over;

5) when the rotor is located between the third position and the fourth position, the rotor is simultaneously coupled with the winding 1# and the winding 2# and the coupling area with the winding 2# is larger than that with the winding 1#, in the interval, the two driving controllers are electrified and work simultaneously, the second driving controller is a main driver, a speed loop and a current loop are operated, the first driving controller is a slave driver and only operates the current loop, the current loop is given from the main driver and transmitted in real time through an SPI (serial peripheral interface), and the current amplitude and the phase of the winding 1# are controlled to follow the winding 2 #;

6) when the rotor is between the position (IV) and the position (V), the rotor is only coupled with the winding 2#, only the second driving controller is electrified to work, and the winding 1# is not electrified.

When the automatic door receives a door closing signal, the mover starts to move from right to left, and the tracking control process is similar to that described above and is not described again.

Conventionally, the speed controller and the current controller both adopt PID control, and particularly, in order to improve the current response characteristic, the current controller can also adopt current prediction control.

The above-mentioned "first", "second", "open", "close", "left" and "right" are only a convenient direction mark, and can be redefined according to the actual situation, all belong to the inventive idea of the present invention, and are within the scope of the claimed invention.

The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features.