CN108736688B - Linear motor pushing force fluctuation inhibits device and its fluctuation suppressing method - Google Patents
Linear motor pushing force fluctuation inhibits device and its fluctuation suppressing method Download PDFInfo
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- CN108736688B CN108736688B CN201810745663.4A CN201810745663A CN108736688B CN 108736688 B CN108736688 B CN 108736688B CN 201810745663 A CN201810745663 A CN 201810745663A CN 108736688 B CN108736688 B CN 108736688B
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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
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
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Abstract
It is fluctuated the invention discloses a kind of linear motor pushing force and inhibits device and its fluctuation suppressing method.The device includes three movers, is flexibly connected between three movers using spring, to not only increase the thrust range of output, the adjusting of thrust can also be carried out from both direction, realizes that the force oscillation of higher precision inhibits.Further, three movers both can carry out centralized control using main control unit, can also each mover use independent controller, sensor, thus using distributed control method；In total power output task of total power instruction, the power output that three movers undertake respectively both can be identical, can also have the height of output distribution priority different, can also be different according to the spring parameter of used spring.Efficient, quick, the high-precision target of whole system power output may be implemented in the present invention.
Description
Technical field
It is fluctuated the present invention relates to a kind of linear motor pushing force and inhibits device and its fluctuation suppressing method, belong to linear motor skill
Art field.
Background technique
Need the occasion of accurate power control many in industry, such as part transport, the mechanical arm crawl of production line.With tradition
Hydraulic, pneumatic principle is compared, due to linear motor can directly thrust output and without the rotations-straight line such as rotating electric machine and screw rod
Mechanical switching device, therefore the control precision of the thrust of linear motor is higher.Being directly realized by thrust using linear motor has
The advantages such as power output stabilization, precision height.
However, there is also disadvantages for the common single linear motor of tradition.
Firstly, thrust output has maximum limitation.Be limited to the fixed output power of linear motor, single linear motor it is defeated
Thrust has maximum limitation out, so that its application is restricted.
Secondly, high-precision can not run for a long time.For linear motor, if requiring long-play, linear motor is non-
Linear characteristic necessarily leads to the variation of force oscillation, to cannot keep high-precision thrust.And in high-precision force control system
In, it is often necessary to dynamic force instruction can accurately be tracked by exporting force curve, and is strict with out fluctuation and to be maintained at certain
In precision；If load variation needs complicated control means to carry out real-time compensation to load bring force oscillation.
If in addition another mover, it is likely that the linear motor of single mover can be overcome to contribute not enough and non-thread
Property characteristic.But the structure of such double acting son can bring other problems.According to double acting minor structure, machine is carried out between double acting son
Tool connection, for example connected by spring, it is possible to after undercapacity part and power output fluctuating change part can be by increasing newly
Mover compensates, still, on condition that spring and stator cannot have mechanical interference.Moreover, the side of the force compensating between double acting son
Formula be it is limited, be only capable of compensating a direction, make a concrete analysis of it is as follows.
It is that double acting sub- linear motor pushing force fluctuation inhibits schematic device referring to Fig. 1, Fig. 1.The device includes mover 1, moves
Son 2 and mover 3.Mover 1 and mover 2 are slided on pedestal 6 by sliding block 4 and sliding block 5 respectively.One end of mover 1 and mover 2
One end is connected by spring 7, and the other end of mover 1 is fixedly connected in fixing end 9 by spring 8, and fixing end 9 can such as be
Metope.For from way of realization, two movers are generally required to be connected to above a controller by sensor, wherein is passed
Sensor includes force snesor and position sensor (not shown), and force snesor is directly acquired power, position sensor acquisition
Real time position is converted by the elastic coefficient and mover stress condition.The controller that sensor is connected is responsible for will be to total
Power instruction is allocated, and power instruction is respectively allocated to two movers, and controller acquires power output/position letter of each mover in real time
Breath, the power instruction with each mover are compared, and are generated error, are formed closed loop and be adjusted.If aforesaid way can be realized
The effective compensation of resultant force, ideal resultant force 0. 10 are necessarily placed at fixing end 9, the total power Command Resolution of zero point at two parts,
Wherein whole power outputs that mover 1 is capable of providing, mover 2 provide the remainder for removing mover 1.As shown in Figure 1, mover 2 only can be with
(including undercapacity part and power output fluctuating change part) is compensated to the power output on 1 right side of mover；And the left side of mover 1 due to
It relies on fixing end 9 (metope), so mover 2 can not can not compensate power output on the left of mover 1, i.e., double acting minor structure is only capable of pair
One direction compensates, and cannot achieve the effective compensation of twocouese.
In addition, it is this by a controller come in real time acquire two movers sensor data, to realize to two
The method of the power output control of a mover, there is also some defects.It is powerful to be first that this method certainly will require the controller to have
Calculation function and hardware interface abundant, monitor in real time so as to the motion information to each mover, while according to control
Algorithm processed instructs with reference to total power, generates the power control instruction of each mover, be issued to each mover.Once controller occurs
Problem, such as the information transmitting of some part go wrong and (are delayed, lose data), then the total system power control performance is deteriorated；
If the failure in physical connection occurs in certain moving cell, which may fail.
Summary of the invention
The present invention is directed to propose a kind of fluctuation of linear motor pushing force inhibits device and its fluctuation suppressing method, which can be from
Both direction compensates thrust, to realize the thrust output of higher precision.Further, thrust can also be controlled single
Member improves, and improves control performance, extends the application life of device.
The present invention provides a kind of linear motor pushing force fluctuation inhibition device, which is characterized in that described device includes: three dynamic
Son, three movers are respectively the first mover, the second mover, third mover；By the between first mover and the second mover
One spring realizes flexible connection；It is realized and is flexibly connected by second spring between first mover and third mover；Described three dynamic
A position sensor is assembled on each mover of son；Three movers are assemblied in same track translation operation；Described second
Mover and the third mover carry out force compensating to the thrust output of first mover, to inhibit to force oscillation.
Optionally, the mechanically and electrically parameter of three movers is the same；Alternatively, second mover and the third are dynamic
The mechanically and electrically parameter of son is the same, and the machinery and/or electric parameter of first mover are different from second mover；Or
The mechanically and electrically parameter of person, three movers are all different.
Optionally, three movers are equipped with a main control unit；The main control unit is used for three movers
The motion information of each mover monitored in real time, distribute the power output task that each mover undertakes.
Optionally, each mover of three movers has independent controller, sensor and forms respective mover
Autonomous agent；The controller is used to the self information of each mover autonomous agent being sent to adjacent mover autonomous agent, from
And the power output task that each mover undertakes is adjusted in real time.
Optionally, the power output that each mover undertakes is set gradually from high to low as the first mover, the second mover and
Three movers；Alternatively, the power output that each mover undertakes is related with the spring parameter of first spring and the second spring.
Second aspect of the present invention provides a kind of straight line of linear motor pushing force fluctuation inhibition device as described in claim 1
Motor thrust fluctuates suppressing method, it is characterised in that: second mover and the third mover push away first mover
Power output carries out force compensating, to inhibit to force oscillation.
Optionally, the mechanically and electrically parameter of three movers is the same；Alternatively, second mover and the third are dynamic
The mechanically and electrically parameter of son is the same, and the machinery and/or electric parameter of first mover are different from second mover；Or
The mechanically and electrically parameter of person, three movers are all different.
Optionally, three movers are equipped with a main control unit, and the main control unit is responsible for three movers
The motion information of each mover monitored in real time, adjust the power output task that each mover undertakes respectively.
Optionally, each mover of three movers has independent controller, sensor and forms respective mover
Autonomous agent, each mover autonomous agent send information to adjacent mover autonomous agent by controller, so that adjustment is each in real time
The power output task that mover undertakes.
Optionally, the power output task that each mover undertakes is set gradually from high to low as the first mover, the second mover
With third mover；Alternatively, the spring of power output task and first spring and the second spring that each mover undertakes
Relating to parameters.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is that double acting sub- linear motor pushing force fluctuation inhibits schematic device.
Fig. 2 is that the fluctuation of three mover linear motor pushing forces inhibits schematic device.
Fig. 3 is the force analysis figure for the simplification that the fluctuation of three mover linear motor pushing forces inhibits device.
Specific embodiment
The invention will be further described with reference to the accompanying drawings.
The present invention proposes a kind of method that the linear motor using three movers inhibits force oscillation.The linear motor
It can be the motor (such as linear permanent magnet synchronous motor, linear switched reluctance motor, line inductance electromotor) of any principle, motor
Need to be assemblied in same track translation operation integrates more movers (three or more) structure.
Embodiment one
Fig. 2 be the present invention take be three movers linear motor pushing force fluctuation inhibit schematic device.The straight-line electric of Fig. 2
Machine is integrated with the switching magnetic-resistance principle linear motor of three identical movers.The device includes mover 11, mover 12, mover 13, and three
A mover has same mechanically and electrically parameter.Mover 11, mover 12, mover 13 by sliding block 15, sliding block 16 and are slided respectively
Block 17 slides on pedestal 18, and mover is slided on stator 14 by guide rail.The both ends of mover 11 pass through spring 21 and spring 22
It is flexibly connected respectively with mover 12 and mover 13.Spring 21 is identical with the spring parameter of spring 22.As shown in Fig. 2, ideal
Resultant force relative zero 20 be located at the position of mover 11.
Position sensor (not shown) position sensor that one and mover are operated together is assembled on each mover can be with
It is various types of position sensors, such as stop position sensor or magnetic grid position sensor.Position sensor passes through calibration,
The location information of real-time monitoring relative zero 21.Since spring power output is directly proportional to deformation, position sensor can be passed through
Spring deformation is measured, so that the stress condition of the spring at 13 position of real-time measurement mover 11, mover 12 and mover, passes through effect
Power and reaction force, can measure mover 11, mover 12 and mover 13 by spring power the case where.
Fig. 3 is the mover force analysis figure of simplification of the invention.
Disregard friction, since three movers have same mechanically and electrically parameter, the quality m of three movers1=
m2=m3=m.Assuming that mover 11, mover 12 and 13 acceleration of mover are respectively a1, a2, a3, the power output point of spring 21 and spring 22
It Wei not f1, f2, the power output of mover 11, mover 12 and mover 13 is respectively F1, F2, F3, total power instruction is F.Total power instruction, i.e.,
Resultant force instructs, the expected force of nulling point, can be dynamically, is also possible to a fixed value, is also possible to zero, i.e. zero point resultant force
It is zero.
As shown in figure 3, Fig. 3 is the mover force analysis figure of simplification of the invention.It should be noted that the power in Fig. 3
Size and Orientation is only to illustrate, in practical application, according to the size of the size and Orientation of desired thrust, force compensating actually required
And direction, f1, f2, F1, F2, F3Relative size and direction be likely to it is different with the schematic diagram of Fig. 3.
Such as three force analysis principle of figure, under spring elongation state, three mover stress conditions difference are as follows:
The accurate effect F of power output in order to obtain on mover 11, F can be instructed according to total power, allow mover 2 and mover 3
According to current location and spring power output situation, F is controlled2, F3Power output: when moving F to the right1Force-responsive is insufficient out or fluctuates
When big, F is controlled2, by right side F1Power output part is supplied, and the place of fluctuation compensates；When moving F to the left1Force-responsive out
When insufficient or fluctuation is big, F is controlled3, by F1Left side power output part is supplied, and the place of fluctuation compensates.
Compared with double acting sub- compensation method, mover 11 since there are mover in two sides, undercapacity part can be by moving
Son 12 and mover 13 compensate simultaneously, to increase gross capability ability, have widened application；Moreover, importantly, mover
The fluctuation of 11 left side operations and race running can be compensated in left and right side real-time perfoming dynamic respectively by mover 12 and 13.
In practical application, when fluctuation, is very common, such as the fluctuation as caused by motor model variation, disturbance etc..This two sides
To the method for carrying out dynamic force oscillation compensation, the running precision of both direction can be greatly improved.
Preferably, according to mover 11, mover 12 and mover 13 apart from 0. 20 position difference, the power for responding total is referred to
The priority of order is set gradually from high to low as mover 11, mover 12 and mover 13.
Specifically, assuming that present total power instruction is a sinusoidal signal, and definition is positive to the right, is negative to the left.It is false
If three movers are currently at stationary state, friction is disregarded, spring 21 and spring 22 are in zero power output state.In order to keep zero point smart
Really the sinusoidal force command signal of response right direction, mover 11 must move right, while the mover 13 on 11 right side of mover certainly will be wanted also
It moves right, and is allowed to a spring 22 and is in stretching (rather than compression) state；And mover 11 at this time if not active control to
Right operation is then connected to the spring 21 of mover 11 and 12 in tensional state, causes 0. 20 to receive pulling force to the left, will affect zero
Therefore the effect of point response resultant force instruction can be such that mover 1 moves right, but the spring 21 between must satisfy simultaneously is in
The state that do not stress (i.e. free state).
A kind of power output plan of establishment that three movers undertakes are as follows:, can if two movers can respond total power instruction enough
To consider only to distribute total power instruction between mover 11 and mover 13.For example, mover 11 and mover 13 distribute total power instruction
Most straightforward procedure are as follows: mover 11 goes out maximum power, is left insufficient section, i.e. " the practical power output of total power instruction-mover 1 " portion
Point, as the power output task of mover 13, it is allowed to respond；Or mover 13 goes out maximum power, is left insufficient section, i.e., " refers to joint efforts
The practical power output of order-mover 13 " part allows it to respond as the power output task of mover 11.
If two movers can not respond total power instruction enough, it is contemplated that following methods: mover 11 and mover 13
When moving simultaneously, makes the spring 21 between mover 12 and mover 11 in compressive state, supply the insufficient force outlet part of mover 11 and 13
Point.Distribution method is as follows: mover 11 goes out maximum power, is left insufficient section, i.e. " the practical power output of total power instruction-mover 1 " portion
Point, power output task of the maximum thrust as mover 13 that mover 13 therein can go out allows it with maximum force-responsive；Remainder is not
Foot point, i.e. " total 11 practical power output of practical power output-mover 13 of power instruction-mover " part, are responded by mover 12.
Above method instructs angle from total power, is capable of providing enough total force-responsives simultaneously meeting zero point,
Since mover 12 and the instruction of the received power of mover 13 are total power instruction and the practical difference contributed of other movers, in mover
12 and 13 while respond respectively, can contribute fluctuation bring power dynamic accidentally due to other movers itself by effective compensation in real time
Difference.
As it can be seen that the linear motor pushing force fluctuation of three mover shown in Fig. 2 inhibits device to can be realized the real-time dynamic of transfer point
Force compensating, not only thrust output range is bigger for the device, but also force compensating is that both direction can all carry out, and be may be implemented more high-precision
The thrust of degree controls.
Due to each mover quality it is known that and the position of each mover can acquire in real time, each mover
Speed (first derivative of position) and acceleration (second dervative of position) can calculate in real time.
For the control method of three movers, centerized fusion method can be used, that is, three movers are equipped with a master control
Unit processed, all hardware wiring (driver, the sensor etc. of i.e. each mover) are connected to the master control by physical connection mode
Unit.After main control unit receives total power instruction, position and acceleration instruction of the acquisition in real time from three movers, by each
Camber of spring situation calculates each spring power output according to coefficient of elasticity in real time；Simultaneously according to the method described above, according to each spring position
It sets, is that the power that three movers respectively need to respond instructs by total power Command Resolution, makes the accurate response respectively of three movers.
However, this centerized fusion method requires the main control unit that must have powerful calculation function and hardware abundant
Interface, the main control unit are responsible for monitoring the motion information of each mover in real time, while according to control algolithm, with reference to total
Power instruction, generates the power control instruction of each mover, is issued to each mover.Its shortcoming is that: once master controller is asked
Topic, such as the information transmitting of some part go wrong and (are delayed, lose data), then the total system power control performance is deteriorated；Such as
There is the failure in physical connection in fruit moving cell, then the system may fail.
It is preferred, therefore, that using distributed control method.The real-time having in conjunction with more autonomous volume grids is good, flexible
Property strong, high reliablity, it is easy to maintain, convenient for advantages such as dilatations, each subunit can be considered as to autonomous agent, based on distributed reason
Read the high-precision control for realizing power output.The Force control system that each mover is constituted can have independent controller, sensor, each
Mover autonomous agent can be sent to neighbours' mover according to by information (such as location information and/or acceleration information) by controller
Autonomous agent.It is different from centralized control mode, due on each mover due to having independent controller, sensor and driving
Device etc. is respectively individually formed closed loop Force control system；And each Force control system has communication module (wired such as: CAN, serial ports
Wirelessly, such as: wifi, zigbee), the friendship that communication module carries out real-time physical information (speed, position etc.) can be passed through between mover
Mutually, thus according to gross capability task, each mover adjusts respective power output task in real time, realize whole system power output efficiently, quickly,
High-precision target.
Specifically, the controller (i.e. the first controller) of mover 11 is responsible for receiving the reality of total power instruction and acquisition mover 11
When position, the controller (i.e. second controller) of mover 12 and the controller (i.e. third controller) of mover 13 acquire mover in real time
12 and 13 real time position and calculating speed and acceleration, second controller and third controller are by communication, in real time by mover
12 and the location information of mover 13 send the first controller to, the first controller calculates each spring according to coefficient of elasticity in real time and goes out
Power calculates the real-time power output response condition of mover 12 and mover 13, and total power output Task-decomposing is that three movers are each by dynamic
The power output task responded from needs makes the accurate response respectively of three movers.
For responding total power instruction in another direction, above method similarly, is repeated no more.
To thrust distribution principle of total power output task between three movers, either it is fully allocated to mover 11,
Then the force oscillation of mover 11 is known by the information of main control unit or each controller, to by mover 12 and move
Sub 13 pairs of force oscillations compensate；It is also possible to preferentially distribute thrust to mover 11, total power and the gone out thrust of mover 11
Between difference reallocate to mover 12 and mover 13；It can also be that the weight of the thrust distribution of each mover is identical.
Embodiment two
Embodiment two and unique difference of embodiment one are that according to the needs of actual conditions, three movers can also have
Standby different machinery and/or electric parameter, for example, the second mover and third mover be due to being the effect as force compensating,
The lesser mover of thrust can be chosen.Second mover and third mover can be identical and different from the first mover.It can also
To be that three movers are different from.The second mover and third mover of force compensating are suitable as by choosing, so that force compensating is more
To be accurate, thrust output is more accurate.
Embodiment three
Embodiment three and unique difference of embodiment one are that spring 21 is different from the spring parameter of spring 22, to lead
Cause that spring 21 and the coefficient of elasticity of spring 22 be not identical or the corresponding displacement of the spring elongation limit point that deformation occurs is different.This
Embodiment responds the ratio that total power instructs according to the difference of the spring parameter of spring to distribute mover 1, mover 2 and mover 3.
Due to 11 stress of mover of three subsystem include from spring 21 and spring 22 power that deformation occurs generates,
The way of the ratio of the total power output task of the distribution of the present embodiment fully considered spring deformation in it is recoverable under the premise of,
The range for the power that each mover may provide, so that the operation of three subsystem is more reliable, more accurately
The power output task of each mover is set.It is the same as example 1, collection had both can be used in control of the present embodiment to each mover
Distributed AC servo system method also can be used in Chinese style control methods.
Example IV
Unique difference of example IV and embodiment one is that three movers can also have different machinery and/or electricity
Gas parameter, while spring 21 and the spring parameter of spring 22 are also different.Wherein, three movers can also have different machinery
And/or electric parameter can be following several situations: the second mover and third mover due to being the effect as force compensating, because
This, can choose the lesser mover of thrust.Second mover and third mover can be identical and different from the first mover.
It is also possible to three movers to be different from.It is suitable as the second mover of force compensating by choosing and third mover and matches
Different spring parameters spring so that force compensating is more accurate, thrust output is more accurate.
The present invention is based on the fluctuation suppressing methods of three movers, and the fluctuation of the thrust of final output can be made to be suppressed, from
And more accurate thrust output is obtained, adapt to the occasion for the power output that higher precision requires.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and various changes and improvements may be made to the invention, these changes and improvements are all fallen
Enter in scope of the claimed invention.
Claims (10)
1. a kind of fluctuation of linear motor pushing force inhibits device, which is characterized in that described device includes:
Three movers, three movers are respectively the first mover, the second mover, third mover；
Flexible connection is realized by the first spring between first mover and the second mover；
It is realized and is flexibly connected by second spring between first mover and third mover；
A position sensor is assembled on each mover of three movers；
Three movers are assemblied in same track translation operation；
Second mover and the third mover carry out force compensating to the thrust output of first mover, thus to thrust wave
It is dynamic to be inhibited.
2. a kind of linear motor pushing force fluctuation as described in claim 1 inhibits device, it is characterised in that:
The mechanically and electrically parameter of three movers is the same；Alternatively, the machinery of second mover and the third mover and
Electric parameter is the same, and the machinery and/or electric parameter of first mover are different from second mover；Alternatively, described three
The mechanically and electrically parameter of mover is all different.
3. a kind of linear motor pushing force fluctuation as claimed in claim 1 or 2 inhibits device, it is characterised in that:
Three movers are equipped with a main control unit；The main control unit is used for each mover to three movers
Motion information monitored in real time, distribute the power output task that each mover undertakes.
4. a kind of linear motor pushing force fluctuation as claimed in claim 1 or 2 inhibits device, it is characterised in that:
Each mover of three movers has independent controller, position sensor and forms respective mover autonomous agent；
The controller is used to the self information of each mover autonomous agent being sent to adjacent mover autonomous agent, to adjust in real time
The power output task that whole each mover undertakes.
5. a kind of linear motor pushing force fluctuation as claimed in claim 3 inhibits device, it is characterised in that:
The power output that each mover undertakes is set gradually from high to low as the first mover, the second mover and third mover；Alternatively,
The power output that each mover undertakes is related with the spring parameter of first spring and the second spring.
6. a kind of linear motor pushing force fluctuation as described in claim 1 inhibits the linear motor pushing force of device to fluctuate inhibition side
Method, it is characterised in that:
Second mover and the third mover carry out force compensating to the thrust output of first mover, thus to thrust wave
It is dynamic to be inhibited.
7. a kind of linear motor pushing force as claimed in claim 6 fluctuates suppressing method, it is characterised in that:
The mechanically and electrically parameter of three movers is the same；Alternatively, the machinery of second mover and the third mover and
Electric parameter is the same, and the machinery and/or electric parameter of first mover are different from second mover；Alternatively, described three
The mechanically and electrically parameter of mover is all different.
8. a kind of linear motor pushing force as claimed in claims 6 or 7 fluctuates suppressing method, it is characterised in that:
Three movers are equipped with a main control unit, and the main control unit is responsible for each mover to three movers
Motion information monitored in real time, adjust the power output task that each mover undertakes respectively.
9. a kind of linear motor pushing force as claimed in claims 6 or 7 fluctuates suppressing method, it is characterised in that:
Each mover of three movers has independent controller, position sensor and forms respective mover autonomous agent,
Each mover autonomous agent sends information to adjacent mover autonomous agent by controller, undertakes to adjust each mover in real time
Power output task.
10. a kind of linear motor pushing force as claimed in claim 8 fluctuates suppressing method, it is characterised in that:
The power output task that each mover undertakes is set gradually from high to low as the first mover, the second mover and third mover；
Alternatively, the power output task that each mover undertakes is related with the spring parameter of first spring and the second spring.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3836835A (en) * | 1971-04-19 | 1974-09-17 | B Sawyer | Multi axes linear movement positioning system |
| CN202034884U (en) * | 2011-01-07 | 2011-11-09 | 青岛同日电机有限公司 | Permanent magnet linear synchronous motor |
| CN108141125A (en) * | 2015-06-16 | 2018-06-08 | 天铁公司 | magnetic linear driving device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3113412B2 (en) * | 1992-09-25 | 2000-11-27 | 松下電工株式会社 | Linear motor and curtain rail using the same |
| JPH09215353A (en) * | 1996-02-08 | 1997-08-15 | Minolta Co Ltd | Drive mechanism employing electro-mechanical transducer |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3836835A (en) * | 1971-04-19 | 1974-09-17 | B Sawyer | Multi axes linear movement positioning system |
| CN202034884U (en) * | 2011-01-07 | 2011-11-09 | 青岛同日电机有限公司 | Permanent magnet linear synchronous motor |
| CN108141125A (en) * | 2015-06-16 | 2018-06-08 | 天铁公司 | magnetic linear driving device and system |
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