CN107015573B - Control method and system of electromagnetic motion platform - Google Patents
Control method and system of electromagnetic motion platform Download PDFInfo
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- CN107015573B CN107015573B CN201710166952.4A CN201710166952A CN107015573B CN 107015573 B CN107015573 B CN 107015573B CN 201710166952 A CN201710166952 A CN 201710166952A CN 107015573 B CN107015573 B CN 107015573B
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Abstract
The invention discloses a control method and a system of an electromagnetic motion platform, wherein the system comprises the following steps: motion data acquisition unit, position control unit, current control unit and electromagnetic type motion platform, wherein, the electromagnetic type motion platform includes at least: the permanent magnet control device comprises a plurality of permanent magnets arranged on an upper platform, a plurality of electromagnetic coils arranged on a lower platform and position sensors arranged on the permanent magnets, wherein a motion data acquisition unit is used for acquiring motion data of the permanent magnets and sending the motion data of the permanent magnets to a position control unit, the position control unit is used for calculating current values passing through the electromagnetic coils according to the motion data of the permanent magnets and sending the current values of the electromagnetic coils to a current control unit, the current control unit is used for controlling currents led into the electromagnetic coils according to the received current values of the electromagnetic coils, and the position sensors are used for feeding back the motion position data of the permanent magnets to the position control unit.
Description
Technical Field
The invention relates to the technical field of motion simulation experience, in particular to a control method and a control system of an electromagnetic motion platform.
Background
The driving sources of the control system of the prior multi-degree-of-freedom motion platform are two types, namely a servo motor, a lead screw and a linear motor. The servo motor and the lead screw are heavy, the linear motor is heavy, and the size of a track of the linear motor is long, so that the two driving sources cannot realize the miniaturization and the light weight of the multi-degree-of-freedom motion platform. When the two driving sources are driven, mechanical structure friction exists, and noise is easily generated by the mechanical structure friction, so that the service life of the driving source is reduced. In addition, the control of the driving source only carries out closed-loop feedback on the driving execution mechanism (such as a motor), and the transmission mechanism (such as an electric cylinder, an air cylinder and a transmission hinge) behind the driving execution mechanism does not carry out closed-loop feedback.
Disclosure of Invention
The invention aims to provide a new technical scheme of a control method and a control system of an electromagnetic motion platform.
According to an aspect of the present invention, there is provided a control system for an electromagnetic motion platform, comprising: motion data acquisition unit, position control unit, current control unit and electromagnetic type motion platform, wherein, the electromagnetic type motion platform includes at least: a plurality of permanent magnets arranged on the upper platform, a plurality of electromagnetic coils arranged on the lower platform and position sensors arranged on the permanent magnets, wherein the motion data acquisition unit is used for acquiring the motion data of the permanent magnets, and the motion data of each permanent magnet is sent to the position control unit, the position control unit is used for calculating the current value of the current led into each electromagnetic coil according to the motion data of each permanent magnet, and the current value of the current led into each electromagnetic coil is sent to the current control unit, the current control unit is used for controlling the current led into each electromagnetic coil according to the received current value of the current led into each electromagnetic coil, the position sensor is used for feeding back the movement position data of each permanent magnet to the position control unit.
Optionally, the motion data acquiring unit at least comprises: the device comprises a receiving unit and a motion data inverse solution unit, wherein the receiving unit is used for receiving a motion instruction of the electromagnetic motion platform external equipment, obtaining motion data of the electromagnetic motion platform according to the motion instruction, and sending the motion data of the electromagnetic motion platform to the motion data inverse solution unit,
the motion data inverse solution unit is used for inversely solving the motion data of each permanent magnet according to the motion data of the electromagnetic motion platform.
Optionally, the electromagnetic motion platform further includes: the current sensors are arranged at two ends of each electromagnetic coil and used for feeding back the actual current value of the current led into each electromagnetic coil to the current control unit.
Optionally, the electromagnetic motion platform further includes: and one end of the supporting component is connected with the upper platform, and the other end of the supporting component is connected with the lower platform.
Optionally, the support member comprises at least: the universal joint comprises a plurality of guide rods, a flange plate and a universal joint, wherein one ends of the guide rods are fixed on the lower platform, gaps are reserved at the other ends of the guide rods and the upper platform, through holes with the same number of the guide rods are formed in the flange plate, each guide rod penetrates through one through hole, one end of the universal joint is connected with the flange plate, and the other end of the universal joint is connected with the upper platform.
Optionally, the support component includes three guide rods, and the three guide rods are uniformly fixed on the lower platform.
Optionally, the current control unit comprises at least: the current driving circuit comprises a current operation unit, a current modulation unit and a current driving amplification unit.
Optionally, the electromagnetic motion platform includes three permanent magnets and three electromagnetic coils, where the three permanent magnets are uniformly fixed on the upper platform, and the three electromagnetic coils are uniformly fixed on the lower platform.
According to a second aspect of the present invention, there is provided a method for controlling an electromagnetic motion platform, the electromagnetic motion platform comprising: a plurality of permanent magnets arranged on the upper platform and a plurality of electromagnetic coils arranged on the lower platform,
the method comprises the following steps: acquiring motion data of each permanent magnet; calculating the current value of the current led into each electromagnetic coil according to the motion data of each permanent magnet; controlling the current led into each electromagnetic coil according to the current value of the current led into each electromagnetic coil; after the control current is introduced into each electromagnetic coil, each permanent magnet moves to a corresponding position, and the movement position data of each permanent magnet is obtained; and adjusting the calculated current which is led into each electromagnetic coil according to the acquired motion position data of each permanent magnet.
Optionally, the acquiring the motion data of each permanent magnet includes: receiving a motion instruction of the external equipment of the electromagnetic motion platform, and obtaining motion data of the electromagnetic motion platform according to the motion instruction; and inversely solving according to the motion data of the electromagnetic motion platform to obtain the motion data of each permanent magnet.
Optionally, after the control current is applied to each electromagnetic coil, the method further includes: measuring the actual current value of the current led into each electromagnetic coil; and adjusting the current value of the control current led into each electromagnetic coil according to the actual current value of the current led into each electromagnetic coil.
According to the control method and the control system of the electromagnetic type motion platform, magnetic fields with different strengths are generated by controlling the magnitude of current flowing into each electromagnetic coil, the magnetic fields interact with corresponding permanent magnets to generate suction or thrust, and further various motion postures of the upper platform are realized. In addition, the motion position data of each permanent magnet is fed back to the position control unit through the position sensor arranged on each permanent magnet, so that closed-loop control of the electromagnetic motion platform is realized.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram illustrating a control system of an electromagnetic motion platform according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an electromagnetic motion platform according to an embodiment of the present invention.
Fig. 3 is another schematic structural diagram of a control system of an electromagnetic motion platform according to an embodiment of the present invention.
Fig. 4 is a process flow diagram of a method for controlling an electromagnetic motion platform according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The invention provides a control system of an electromagnetic motion platform. Fig. 1 is a schematic structural diagram illustrating a control system of an electromagnetic motion platform according to an embodiment of the present invention. Fig. 2 is a schematic structural diagram of an electromagnetic motion platform according to an embodiment of the present invention. Referring to fig. 1, a control system 100 for an electromagnetic motion platform includes at least: a motion data acquisition unit 110, a position control unit 120, a current control unit 130 and an electromagnetic motion platform 140. Referring to fig. 1 and 2, the electromagnetic motion platform 140 at least includes: an upper platform 1410, a lower platform 1420, a plurality of permanent magnets 1430, a plurality of electromagnetic coils 1440, and a position sensor 1450, wherein the plurality of permanent magnets 1430 are disposed on the upper platform 1410, the plurality of electromagnetic coils 1440 are disposed on the lower platform 1420, and each permanent magnet has a position sensor 1450 disposed thereon. Each electromagnetic coil generates magnetic fields with different strengths according to the magnitude of current flowing through the electromagnetic coil, and the magnetic fields interact with the corresponding permanent magnet to generate attraction or thrust, so that various motion postures of the upper platform are realized. The motion data acquiring unit 110 shown in fig. 1 is configured to acquire motion data of the respective permanent magnets and transmit the motion data of the respective permanent magnets to the position control unit 120. The position control unit 120 is configured to calculate a current value of the current flowing into each electromagnetic coil according to the received motion data of each permanent magnet, and send the calculated current value of the current flowing into each electromagnetic coil to the current control unit 130. The current control unit 130 is configured to control the current applied to each electromagnetic coil according to the received current value of the current applied to each electromagnetic coil. The position sensor 1450 disposed on each permanent magnet is used to feed back the sensed movement position data of each permanent magnet to the position control unit 120.
The control system of the electromagnetic motion platform provided by the invention generates magnetic fields with different strengths by controlling the magnitude of current flowing into each electromagnetic coil, and generates suction force or thrust force by interacting with the corresponding permanent magnet, thereby realizing various motion postures of the upper platform. In addition, the motion position data of each permanent magnet is fed back to the position control unit through the position sensor arranged on each permanent magnet, so that closed-loop control of the electromagnetic motion platform is realized.
In the embodiment of the present invention, referring to fig. 3, the motion data acquiring unit 110 at least includes a receiving unit 1110 and a motion data inverse solving unit 1120. The receiving unit 1110 is configured to receive a motion instruction of an external device of the electromagnetic motion platform, and obtain motion data of the electromagnetic motion platform according to the motion instruction. Specifically, the external device of the electromagnetic motion platform is a gamepad, a user operates the gamepad to control the motion of the electromagnetic motion platform according to game contents, and when the user operates the gamepad to send a motion instruction, the gamepad sends the motion instruction to a control system of the electromagnetic motion platform. After receiving the motion command, the receiving unit 1110 in the control system of the electromagnetic motion platform obtains the motion data of the electromagnetic motion platform, such as the acceleration data and the angular velocity data of the electromagnetic motion platform, according to the motion command, and sends the motion data of the electromagnetic motion platform to the motion data inverse solution unit 1120. The motion data inverse solution unit 1120 receives the motion data of the electromagnetic motion platform, and performs inverse solution operation on the motion data of the electromagnetic motion platform to obtain the motion data of each permanent magnet, for example, the displacement, rotation angle, and angular velocity data of each permanent magnet. The external equipment of the electromagnetic motion platform related to the embodiment of the invention is not limited to a game handle, and can also be a hand ring and a remote controller.
Referring to fig. 3, the electromagnetic motion platform 140 further includes: a plurality of current sensors 1460, and the current sensors 1460 are provided at both ends of each electromagnetic coil. The current sensor 1460 is configured to feed back the sensed actual current value flowing into each electromagnetic coil to the current control unit 130, so that the current control unit 130 compares the received actual current value flowing into each electromagnetic coil with the calculated current value flowing through each electromagnetic coil to perform current compensation operation.
In the embodiment of the present invention, the electromagnetic motion platform 140 further includes: and a support member, wherein one end of the support member is connected to the upper platform 1410 and the other end of the support member is connected to the lower platform 1420. Referring to fig. 2, the support member includes at least: a plurality of guide rods 1470a, a flange 1470b, and a gimbal 1470 c. One end of each of the plurality of guide rods 1470a is fixed to the lower platform 1420, when the electromagnetic motion platform is in a non-operating state, a gap is left between the other end of each of the plurality of guide rods 1470a and the upper platform 1410, through holes in the number equal to that of the guide rods 1470a are formed in the flange 1470b, each of the guide rods passes through one of the through holes, one end of the universal joint 1470c is connected to the flange 1470b, for example, by bolts, and the other end of the universal joint 1470c is connected to the upper platform 1410, for example, by bolts. When the electromagnetic moving platform is in a non-operating state, the flange 1470b is placed on the lower platform 1420, and when the magnetic field generated by each electromagnetic coil causes each permanent magnet to provide a lifting driving force, the upper platform 1410 moves upward, and the upper platform 1410 pulls the flange 1470b to slide upward along the guide bar 1470a through the universal joint 1470 c. In the embodiment of the present invention, the number of the guide rods may be three, and the three guides are uniformly fixed on the lower platform 1420, wherein the number of the guide rods is not limited to three, but may be any other number of guide rods.
In the embodiment of the present invention, referring to fig. 3, the current control unit 130 at least includes: a control unit 1310 and a current-driven amplification unit 1320. The control unit 1310 is used for modulating the current passing through each electromagnetic coil to control the magnitude and the change rate of the magnetic field intensity generated by each electromagnetic coil, wherein the modulation mode of the control unit 1310 is various, such as pulse width modulation, pulse frequency modulation and current amplitude modulation, preferably pulse frequency modulation. The current driving amplifying unit 1320 is configured to perform power amplification processing on the current signal output by the control unit 1310.
Referring to fig. 2, in the embodiment of the present invention, the electromagnetic motion platform includes three permanent magnets and three electromagnetic coils, wherein the three permanent magnets are uniformly fixed on the upper platform, the three electromagnetic coils are uniformly fixed on the lower platform, and each permanent magnet is arranged opposite to one electromagnetic coil. When current is introduced to the three electromagnetic coils, the electromagnetic coils can generate thrust or suction to the permanent magnet. The upper platform is balanced when the thrust generated by either solenoid is equal to the weight component of the upper platform at that point, the platform has an upward acceleration at that point when the thrust generated by either solenoid is greater than the weight component of the upper platform at that point, and the platform has a downward acceleration at that point when the thrust of either solenoid is less than the weight component of the upper platform at that point. When all three solenoids are energized with appropriate current levels, the upper platform will achieve either upward or downward motion. Because the combination of the electromagnetic coil and the permanent magnet is lack of constraint connection, the universal joint limits the degree of freedom of the upper platform in the motion process of the upper platform, so that the rotary motion central shaft of the upper platform can only be positioned at the axis of the universal joint.
Based on the same inventive concept, the invention also provides a control method of the electromagnetic type motion platform, wherein the electromagnetic type motion platform at least comprises the following steps: a plurality of permanent magnets disposed on the upper platform and a plurality of electromagnetic coils disposed on the lower platform. Fig. 4 is a process flow diagram of a method for controlling an electromagnetic motion platform according to an embodiment of the present invention. Referring to fig. 4, the method includes at least the following steps S402 to S410.
Step S402, acquiring motion data of each permanent magnet;
step S404, calculating current values of currents led into the electromagnetic coils according to the motion data of the permanent magnets;
step S406, controlling the current led into each electromagnetic coil according to the current value of the current led into each electromagnetic coil;
step S408, after the control current is introduced into each electromagnetic coil, each permanent magnet moves to a corresponding position, and the movement position data of each permanent magnet is obtained;
and step S410, adjusting the calculated current which is led into each electromagnetic coil according to the acquired motion position data of each permanent magnet.
In an embodiment of the present invention, the step S402 specifically includes: receiving a motion instruction of the external equipment of the electromagnetic motion platform, and obtaining motion data of the electromagnetic motion platform according to the motion instruction; and inversely solving according to the motion data of the electromagnetic motion platform to obtain the motion data of each permanent magnet. Specifically, the external device of the electromagnetic motion platform is a gamepad, a user operates the gamepad to control the motion of the electromagnetic motion platform according to game contents, the user operates the gamepad to send a motion instruction, motion data of the electromagnetic motion platform, such as acceleration data and angular velocity data of the electromagnetic motion platform, is obtained according to the motion instruction, and then the motion data of the electromagnetic motion platform is processed, that is, inverse solution operation is performed on the motion data of the electromagnetic motion platform, so as to obtain motion data of each permanent magnet, such as displacement, rotation angle and angular velocity data of each permanent magnet. The external equipment of the electromagnetic motion platform related to the embodiment of the invention is not limited to a game handle, and can also be a hand ring and a remote controller.
In the embodiment of the present invention, after the control current is supplied to each electromagnetic coil, the method further includes: measuring the actual current value of the current led into each electromagnetic coil; and adjusting the current value of the control current led into each electromagnetic coil according to the actual current value of the current led into each electromagnetic coil. Specifically, the actual current value introduced into each electromagnetic coil is compared with the calculated current value introduced into each electromagnetic coil according to the received actual current value introduced into each electromagnetic coil, so that current compensation operation is performed.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (9)
1. A control system for an electromagnetic motion platform, comprising: a motion data acquisition unit, a position control unit, a current control unit and an electromagnetic motion platform, wherein,
the electromagnetic motion platform at least comprises: a plurality of permanent magnets arranged on the upper platform, a plurality of electromagnetic coils arranged on the lower platform and position sensors arranged on the permanent magnets,
the motion data acquisition unit is used for acquiring the motion data of each permanent magnet and sending the motion data of each permanent magnet to the position control unit,
the motion data acquisition unit includes at least: a receiving unit and a motion data inverse solution unit,
wherein the receiving unit is used for receiving a motion instruction of the external equipment of the electromagnetic motion platform, obtaining motion data of the electromagnetic motion platform according to the motion instruction, and sending the motion data of the electromagnetic motion platform to the motion data inverse solution unit,
the motion data inverse solution unit is used for inversely solving the motion data of each permanent magnet according to the motion data of the electromagnetic motion platform,
the position control unit is used for calculating the current value of the current passing through each electromagnetic coil according to the motion data of each permanent magnet and sending the current value of the current introduced into each electromagnetic coil to the current control unit,
the current control unit is used for controlling the current led into each electromagnetic coil according to the received current value of the current led into each electromagnetic coil,
the position sensor is used for feeding back the movement position data of each permanent magnet to the position control unit.
2. The control system of claim 1, wherein the electromagnetic motion platform further comprises: the current sensors are arranged at two ends of each electromagnetic coil and used for feeding back the actual current value of the current led into each electromagnetic coil to the current control unit.
3. The control system of claim 1, wherein the electromagnetic motion platform further comprises: and one end of the supporting component is connected with the upper platform, and the other end of the supporting component is connected with the lower platform.
4. The control system according to claim 3, characterized in that said support member comprises at least: the universal joint comprises a plurality of guide rods, a flange plate and a universal joint, wherein one ends of the guide rods are fixed on the lower platform, gaps are reserved at the other ends of the guide rods and the upper platform, through holes with the same number of the guide rods are formed in the flange plate, each guide rod penetrates through one through hole, one end of the universal joint is connected with the flange plate, and the other end of the universal joint is connected with the upper platform.
5. The control system of claim 4, wherein the support member includes three guide rods uniformly secured to the lower platform.
6. The control system according to claim 1, characterized in that the current control unit comprises at least: the current driving circuit comprises a current operation unit, a current modulation unit and a current driving amplification unit.
7. The control system of any of claims 1-6, wherein said electromagnetic motion stage comprises three said permanent magnets and three said solenoids, wherein said three permanent magnets are uniformly secured to said upper stage and said three solenoids are uniformly secured to said lower stage.
8. A control method of an electromagnetic motion platform is characterized in that the electromagnetic motion platform comprises the following steps: a plurality of permanent magnets arranged on the upper platform and a plurality of electromagnetic coils arranged on the lower platform,
the method comprises the following steps: acquiring motion data of each permanent magnet, comprising:
receiving a motion instruction of the external equipment of the electromagnetic motion platform, obtaining motion data of the electromagnetic motion platform according to the motion instruction,
inversely solving according to the motion data of the electromagnetic motion platform to obtain the motion data of each permanent magnet;
calculating the current value of the current led into each electromagnetic coil according to the motion data of each permanent magnet;
controlling the current led into each electromagnetic coil according to the current value of the current led into each electromagnetic coil;
after the control current is introduced into each electromagnetic coil, each permanent magnet moves to a corresponding position, and the movement position data of each permanent magnet is obtained;
and adjusting the calculated current which is led into each electromagnetic coil according to the acquired motion position data of each permanent magnet.
9. The method of claim 8, wherein after the control current is passed to the respective solenoid coil, the method further comprises:
measuring the actual current value of the current led into each electromagnetic coil;
and adjusting the current value of the control current led into each electromagnetic coil according to the actual current value of the current led into each electromagnetic coil.
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