CN108631541B - A kind of linear motor starting method and system - Google Patents
A kind of linear motor starting method and system Download PDFInfo
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- CN108631541B CN108631541B CN201810366537.8A CN201810366537A CN108631541B CN 108631541 B CN108631541 B CN 108631541B CN 201810366537 A CN201810366537 A CN 201810366537A CN 108631541 B CN108631541 B CN 108631541B
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- mover
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- path vector
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Control Of Ac Motors In General (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of linear motors to start method and system, and the method comprising the steps of: A, inputting the path vector of mover and assigns movement priority according to the length of path vector；B, the concurrency for testing the path vector between different movers then increases offset according to movement priority height if there is path conflict to modify path vector；C, motor control instruction is generated according to path vector and movement priority.System is for executing method.The present invention can pre-process the operation of mover by testing the path vector of mover and increasing offset to coordinate the movement of mover to increase the safety of electric motor starting；In addition, there is good versatility since input module does not limit motion path position and the quantity of each mover input.
Description
Technical field
The present invention relates to techniques of linear motor fields more particularly to a kind of linear motor to start method and system.
Background technique
In the industrial processes of complicated high speed, production efficiency of equipment is a very important performance indicator.Such as
The deformed insertion machine equipment of one four feeding head, traditional design method are the sides using " screw rod+guide rail+servo motor "
Formula.This traditional design method decides that in the feeding stage, in most cases, four feeding heads can only be taken one by one
Material, then plug-in unit one by one, belongs to work in series mode；In order to improve the production efficiency, occur mostly dynamic using linear motor
The design method of sub- feeding head, this design method allow four feeding heads feeding (in most cases), while plug-in unit simultaneously
(in special circumstances), script work in series mode is become into concurrent working mode, the production efficiency of equipment can be greatly promoted.
However during the realization of this design method of the more movers of linear motor, many challenges are but still remained, such as
Synchronous and parallel problem between each mover.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of linear motor starting method and system.
On the one hand the technical solution adopted by the present invention is a kind of linear motor starting method, comprising steps of A, input mover
Path vector and according to the length of path vector assign movement priority；B, test the path vector between different movers and
Row then increases offset according to movement priority height if there is path conflict to modify path vector；C, according to path
Vector sum moves priority and generates motor control instruction.
Preferably, the step A includes: the path vector for inputting mover, and it is excellent to assign movement according to the length of path vector
First grade, wherein the more long then priority of length is lower.
Preferably, it is active mover that the step B, which includes: the mover of the high movement priority of label, and label harmonic motion is preferential
The mover of grade is to follow mover, and test active mover, the concurrency for following path vector between mover are rushed if there is path
Prominent then mover for harmonic motion priority increases offset to modify path vector.
Preferably, the offset includes offset vector and offset moment, if there is path conflict then at the offset moment
Increase offset vector for the mover of harmonic motion priority to modify path vector.
On the one hand the technical solution adopted by the present invention is a kind of linear motor activation system, comprising: input module, for defeated
Enter the path vector of mover and assigns movement priority according to the length of path vector；Test module, for testing different movers
Between path vector concurrency, if there is path conflict then according to movement priority height increase offset to modify road
Diameter vector；Processing module, for generating motor control instruction according to path vector and movement priority.
Preferably, the input module is assigned according to the length of path vector and being moved for inputting the path vector of mover
Priority, wherein the more long then priority of length is lower.
Preferably, the test module is active mover for marking the mover of high movement priority, and label harmonic motion is excellent
The mover of first grade is to follow mover, test active mover, the concurrency for following path vector between mover, if there is path
Conflict then increases offset for the mover of harmonic motion priority to modify path vector.
Preferably, the offset includes offset vector and offset moment, if there is path conflict then at the offset moment
Increase offset vector for the mover of harmonic motion priority to modify path vector.
Beneficial effects of the present invention are the movement by testing the path vector of mover and increasing offset to coordinate mover,
The operation of mover can be pre-processed to increase the safety of electric motor starting；In addition, since input module does not limit each mover
The motion path position of input and quantity have good versatility.
Detailed description of the invention
Fig. 1 show the schematic diagram of the visioning procedure of the mover data cell based on the embodiment of the present invention；
Fig. 2 show the schematic diagram of the mover path vector conflicting testing process based on the embodiment of the present invention；
Fig. 3 show the schematic diagram of the test of more mover concurrencys based on the embodiment of the present invention；
Fig. 4 show the schematic diagram of more mover linear motor Booting sequences based on the embodiment of the present invention.
Specific embodiment
The present invention will be described with reference to embodiments.
Embodiment based on invention, a kind of linear motor starting method, comprising steps of the path vector of A, input mover is simultaneously
Movement priority is assigned according to the length of path vector；B, the concurrency for testing the path vector between different movers, if deposited
Offset is then increased to modify path vector according to movement priority height in path conflict；C, excellent according to path vector and movement
First grade generates motor control instruction.
The step A includes: the path vector for inputting mover, assigns movement priority according to the length of path vector,
In, the more long then priority of length is lower.
The step B includes: that the mover of the high movement priority of label is active mover, marks the mover of harmonic motion priority
To follow mover, test active mover, the concurrency for following path vector between mover, are then low if there is path conflict
The mover for moving priority increases offset to modify path vector.
The offset includes offset vector and offset moment, is then harmonic motion at the offset moment if there is path conflict
The mover of priority increases offset vector to modify path vector.
The further improvement of embodiment, the visioning procedure of mover data cell as shown in Figure 1:
It creates mover data cell (for storing the relevant operating parameter of mover)；The parameters such as initial path vector, by this
A little parameters are stored to mover container (for generating motor control instruction to control mover, then continuing to create mover) if needed,
Whether the external priority grade for judging all movers is -1 (for judging whether that execution external priority grade is distributed automatically), if it is
The path vector length for then calculating each mover, external priority grade is distributed based on vector length automatically.Otherwise it indicates to have specified each
The external priority grade of a mover.
It for creating four mover data cells, sets four movers and is installed in X-axis, Y-axis numerical value is 0；Setting
Center between two movers is less than 50mm away from minimum 50mm, then means that two movers can collide.
Create a mover container MoverVector；Create the 1st mover data cell pMover1, mover serial number=1,
Associated shaft=AxisX1, initialization path vector, starting point (100,0), terminal (300,0), direction x++, external priority grade=- 1,
It is saved in mover container MoverVector；
Create the 2nd mover data cell pMover2, mover serial number=2, associated shaft=AxisX2, initialization path arrow
Amount, starting point (250,0), terminal (500,0), direction x++, external priority grade=- 1 is saved in mover container MoverVector
In；
Create the 3rd mover data cell pMover3, mover serial number=3, associated shaft=AxisX3, initialization path arrow
Amount, starting point (300,0), terminal (600,0), direction x++, external priority grade=- 1 is saved in mover container MoverVector
In；
Create the 4th mover data cell pMover4, mover serial number=4, associated shaft=AxisX4, initialization path arrow
Amount, starting point (400,0), terminal (700,0), direction x++, external priority grade=- 1 is saved in mover container MoverVector
In；
Determine that all mover priority in mover container are -1, calculate mover path vector length, automatic distribution is outer
Portion's priority, vector length is smaller, and priority is higher (priority is higher, and numerical value is bigger)；Execute the preferential fraction of automated external
After matching, outside pMover1 external priority grade=3, pMover1 external priority grade=2, pMover1 external priority grade=1, pMover1
Portion priority=0.
The further improvement of embodiment, mover path vector conflicting testing process as shown in Figure 2:
Extract the respective newest path vector of two movers；
Determine whether two path vector length are 0, if so, constituting conflict, test is completed；
Determine whether two path vector terminals are identical, if they are the same, then constitutes conflict, test is completed；
Rapid rejection is executed to two path vectors and across vertical experiment, determines whether it intersects, if non-intersecting, does not constitute
Conflict, the test of path vector conflicting pass through, and test is completed；
Determine whether two path vectors are constituted to include and by inclusion relation, if so, constituting conflict, test and complete；
Determine whether two path vector directions are identical, if not identical, constitutes conflict, test is completed；
Determine on direction vector, whether the driving priority (i.e. movement priority) of two movers matches with its serial number,
If mismatching, conflict is constituted, test is completed；(whether the function is optional enables, if enabling, indicates to execute stringent conflicting
Test；If not enabling, indicating to execute loose conflicting test) test of path vector conflicting passes through, and test is completed.
For the further explanation of above-described embodiment, with the two newest path vectors 1 and path arrow of mover 1 and mover 2
For amount 2；Newest path vector 1, starting point (100,0), terminal (300,0), direction x++, priority=0；Newest path vector
2, starting point (250,0), terminal (500,0), direction x++, priority=1；
The length for determining two path vectors is not 0, and terminal is not identical；In computational geometry, two paths are executed
The rapid rejection of vector and across vertical experiment, determines its intersection；In computational geometry, determining that two path vectors are not constituted includes
With by inclusion relation；In computational geometry, determine that the direction of two path vectors is identical；On x++ direction vector, mover 1
In in the negative direction of mover 2, the priority of path vector 2 is higher than path vector 1, i.e. mover 2 is moved prior to mover 1, and eventually
Point is also different, so being not in the collision between mover, drives priority and mover order number matches；Path vector conflicting is surveyed
It pinged, test is completed.
The further improvement of embodiment is matched two-by-two by mover and carries out the test of path vector conflicting, is determined all dynamic
Can son concurrent movement.More mover concurrencys test as shown in Figure 3:
The first step extracts a mover in mover container, is set to active mover；
Second step, active mover are successively matched with other movers (following mover) in mover container two-by-two, pairing mover into
Subpath vector conflicting of taking action test can directly determine that more mover concurrency tests do not pass through, exit if conflict；If
The pairing mover of test, is not repeated to test；
Whether third step matches complete two-by-two, if not completing, repeatedly second step；
Repeat the first step, other movers of iteration tests；
More mover concurrency tests pass through, and the related mover of institute can parallel drive.
The further improvement of embodiment, when two movers progress path vector conflicting tests are obstructed out-of-date, can be used should
Algorithm moves more movers and carries out movement decomposition, and by following mover (low priority) to generate, new route vector is evaded and active is dynamic
The position conflict of sub (high priority), it is ensured that two movers can synchronize executes compulsory exercise stage by stage.
According to external priority grade size, selected active mover (Gao Yundong priority) and follows mover (harmonic motion is preferential
Grade), two newest path vectors of mover are extracted, respectively active path vector sum follows path vector, judges two path arrows
Whether amount has conflict, if do not conflicted, will not generate offset vector；If there is conflict, then (deviated at the time of conflict
Moment) before assign follow one offset vector of mover, for drive follow mover left before conflict conflict place (i.e. offset arrow
Amount), and the start bit for following the newest path vector of mover is updated to offset vector terminal position.
The further improvement of embodiment is arranged mover path chain set (i.e. the design basis of motor control instruction), is used for
Store synchronization generated and concurrent movement path chain stage by stage after the completion of process executes；More mover straight-line electrics as shown in Figure 4
Machine Booting sequence:
Input the path vector of all movers；
Reset path chain container；
More mover concurrency tests；If concurrency test passes through, based on the path vector of each mover, creates one and move
Path chain is stored in path chain set by subpath chain, is completed；
The mover object (active mover) of external priority grade highest (be greater than -1) is extracted in follower container, successively with other
Mover (following mover) carries out the test of path vector conflicting, if Lothrus apterus, expression follows mover can be together with active mover simultaneously
Row movement；If there is conflict, follow mover that execution route is needed to deviate；
Other than active mover, follows mover to match two-by-two and carry out the test of path vector conflicting, it is low preferential if there is conflict
The mover execution route vector shift of grade；
Based on the newest path vector of each mover, a mover path chain is created, path chain is stored in mover path chain
Set；It, will be excellent outside its related mover if the type of newest path vector belongs to primary tape (not needing vector shift)
First grade is set as minimum (- 1), then deletes the path vector in the path vector set of mover；
Repeated collisions test, until the external priority grade of all movers (is not present external priority grade >'s -1 for -1
Mover)；
Mover path chain set is exported, is completed.
Embodiment based on invention, a kind of linear motor activation system, comprising: input module, for inputting the road of mover
Diameter vector simultaneously assigns movement priority according to the length of path vector；Test module, the path for testing between different movers
The concurrency of vector then increases offset according to movement priority height if there is path conflict to modify path vector；Place
Module is managed, for generating motor control instruction according to path vector and movement priority.
The input module assigns movement priority according to the length of path vector for inputting the path vector of mover,
Wherein, the more long then priority of length is lower.
The test module is active mover for marking the mover of high movement priority, label harmonic motion priority
Mover is to follow mover, test active mover, the concurrency for following path vector between mover, then if there is path conflict
Increase offset for the mover of harmonic motion priority to modify path vector.
The offset includes offset vector and offset moment, is then harmonic motion at the offset moment if there is path conflict
The mover of priority increases offset vector to modify path vector.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all should belong to protection scope of the present invention.In protection model of the invention
Its technical solution and/or embodiment can have a variety of different modifications and variations in enclosing.
Claims (2)
1. a kind of more mover linear motors start method, which is characterized in that comprising steps of
A, input mover path vector and according to the length of path vector assign movement priority, the more long then priority of length more
It is low；
B, the mover of the high movement priority of label is active mover, and the mover of label harmonic motion priority is to follow mover, is tested
Active mover, the concurrency for following path vector between mover are then harmonic motion at the offset moment if there is path conflict
The mover of priority increases offset vector to modify path vector；
C, motor control instruction is generated to control mover according to path vector and movement priority.
2. a kind of more mover linear motor activation systems characterized by comprising
Input module, for inputting the path vector of mover and assigning movement priority according to the length of path vector, length is got over
It is long then priority is lower；
Test module is active mover for marking the mover of high movement priority, the mover of label harmonic motion priority be with
It with mover, tests active mover, follow the concurrency of path vector between mover, if there is path conflict then in offset
It carves and increases offset vector for the mover of harmonic motion priority to modify path vector；
Processing module, for generating motor control instruction according to path vector and movement priority to control mover.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567854A (en) * | 2013-10-24 | 2015-04-29 | 中国科学院沈阳自动化研究所 | Planning method for crown block route facing transportation system of semiconductor production line |
| CN106687297A (en) * | 2014-09-02 | 2017-05-17 | 科迪华公司 | Fast measurement of droplet parameters in industrial printing system |
| CN107457781A (en) * | 2017-07-12 | 2017-12-12 | 国机智能技术研究院有限公司 | A kind of method and system of control machine people motion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104192020B (en) * | 2014-08-26 | 2016-01-20 | 南车株洲电力机车研究所有限公司 | A kind of linear induction motor system passes in and out non-inductive plate control method and system |
| AT518354B1 (en) * | 2016-02-02 | 2018-06-15 | B & R Ind Automation Gmbh | Method for operating a conveyor in the form of a long stator linear motor |
| DE202016106632U1 (en) * | 2016-11-28 | 2016-12-20 | Dunkermotoren Gmbh | electric motor |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567854A (en) * | 2013-10-24 | 2015-04-29 | 中国科学院沈阳自动化研究所 | Planning method for crown block route facing transportation system of semiconductor production line |
| CN106687297A (en) * | 2014-09-02 | 2017-05-17 | 科迪华公司 | Fast measurement of droplet parameters in industrial printing system |
| CN107457781A (en) * | 2017-07-12 | 2017-12-12 | 国机智能技术研究院有限公司 | A kind of method and system of control machine people motion |
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