CN109672317A - A kind of electronic door drive of modularization translation and its drive control method based on linear motor - Google Patents
A kind of electronic door drive of modularization translation and its drive control method based on linear motor Download PDFInfo
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- CN109672317A CN109672317A CN201811424418.XA CN201811424418A CN109672317A CN 109672317 A CN109672317 A CN 109672317A CN 201811424418 A CN201811424418 A CN 201811424418A CN 109672317 A CN109672317 A CN 109672317A
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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
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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
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Combustion & Propulsion (AREA)
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- Microelectronics & Electronic Packaging (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Control Of Linear Motors (AREA)
Abstract
The invention discloses a kind of, and the modularization based on linear motor translates electronic door drive and its drive control method, it is characterised in that: including stator modules, rail module and mover module；The stator modules include shell, linear motor stator electric iron core, winding, drive control plate and position detector；The mover module, including mover bracket and mover iron core；The drive control algorithm, including operating parameter self-test method of determining and calculating and running track optimization algorithm.Inventive drive means and its drive control algorithm, using modularization and drive control integral structure, mechanically and electrically structure is simple, and easy for installation, mechanical friction is small, runs low noise, and system reliability and service life are high.The steady excessive of each operation phase is realized using nonsmooth control algorithm；Using singular perturbation control method, realizes and meet barrier accurate judgement；The control algolithm precision of use is high, adaptable.
Description
Technical field
The present invention relates to a kind of structure of the linear motion actuator and its control algolithm, especially a kind of modularization based on linear motor
Electronic door drive and its drive control method are translated, techniques of linear motor field is belonged to.
Background technique
Linear motor be it is a kind of electric energy is directly changed into linear motion mechanical energy, without any intermediate conversion mechanism
Transmission device, in rail traffic, precision machinery processing, the fields such as intelligent automation have a wide range of applications.With electric power
The development of electronic technology and intelligence science and technology, linear motor and its drive system are developed rapidly, and application field also obtains
Extension；Electrically operated gate is translated, is a kind of using extensive automatically-controlled door form, it is general to add belt teeth to rotate using traditional rotating electric machine
Structure of changing planes realizes that, since the structure uses mechanical transmission mechanism, running efficiency of system is low, high failure rate, and noise is larger, by
Step is replaced by direct-drive type driving system of linear motor.Compared with traditional structure, direct-drive type driving system of linear motor is small in size, ties up
Shield is simple, failure rate is low, noise is small.But due to linear motor stator electric/rotor structure limitation, and motor stator size is fixed,
In applicable line motor driven systems, generally requires to carry out linear motor according to application and its driving control system carries out
Again it develops, and can not accomplish to be adapted to completely, system development time-intensive, expensive, and cause to control precision reduction, system is multiple
It is miscellaneous.Therefore, it designs and develops and adapt to strong linear motor driver and its driving control system as the current straight-line electric of solution
The important topic of machine adaptation issues.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of mould based on linear motor
Blockization translates electronic door drive and its drive control method.
Technical solution: a kind of electronic door drive of modularization translation based on linear motor, including stator modules 2, rail
Road module 4 and mover module 3；The bottom of the rail module 4 and stator modules 2 is fixed, and the mover module 3 can be along institute
State the track groove sliding of the bottom end of rail module 4；
The stator modules 2 include shell 1, linear motor stator electric iron core 2-3, winding 2-4, driving plate 2-1, control panel 1-
3 and position detector 2-5；Position detector 2-5, linear motor stator electric iron core are disposed in the shell 1 from the bottom up
2-3, radiating aluminium sheet 2-2, driving plate 2-1 and control panel 1-3；The winding 2-4 is wrapped on stator core 2-3；
The mover module 3 includes mover bracket 3-1 and mover iron core 3-3；Mover is provided on the mover bracket 3-1
Iron core 3-3 and for load connection fixing piece 3-7；The mover iron core 3-3 is struck a bargain in the direction of motion for convex shape, described
The surface mover iron core 3-3 is provided with permanent magnet, is additionally provided with idler wheel 3-2 on the mover bracket 3-1, in rail module 4
Walking.
Further, the stator core 2-3 has N by K stator core module composition, each stator core moduletoothIt is a
Stator tooth, the distance between two stator tooths are τtooth, the distance between every two stator core module is Ldd, and have outer
1 length L of shells=K × (Ldd+Ntoothτtooth)。
Further, the permanent magnet is divided into radial magnetizing permanent magnetism body 3-4, axial charging permanent magnet 3-5；Axial magnetizing permanent magnetism
Body 3-5 is arranged in mover iron core 3-3 groove, and magnetizing direction is along the direction of motion；Radial magnetizing permanent magnetism body 3-4 is arranged in mover
In iron core raised tooth, magnetizing direction is to be perpendicularly to the direction of movement；The permanent magnet is that the pole N and the pole S are alternately arranged；Described
Non-magnetic piece of 3-6 is provided between the axial charging permanent magnet 3-5 being arranged and mover module 3 in mover iron core 3-3 groove.
Further, the rail module 4 is door shape, and 4 upper end of rail module is fixedly connected with stator modules 2, rail module 4
Mover module 3 is placed in inside, and the idler wheel 3-2 is arranged in the two sides mover bracket 3-1, the track groove of 4 bottom end two sides of rail module
The bottom center of the mover bracket 3-1 is arranged in upper placement idler wheel 3-2, the fixing piece 3-7 for loading connection.
Further, the rail module 4 is L-shaped, and stator modules 2 and mover is set side by side on 4 bottom face of rail module
Module 3, stator modules 2 are fixedly connected on the inside of the L-shaped of rail module 4 with rail module 4；Mover module 3 is close to rail
On the outside of the L-shaped of road module 4, mover bracket 3-1 is arranged in close to the side of stator modules 2, mover branch in the mover iron core 3-3
The other side of frame 3-1 is equipped with the fixing piece 3-7 for loading connection, and the idler wheel 3-2 in the mover module 3 includes bottom roller
Module 3-8 and both ends idler wheel 3-9, the two sides of the bottom mover bracket 3-1 are provided with bottom roller module 3-8；In the mover
The rear and front end of bracket 3-1 is respectively arranged with both ends idler wheel 3-9, and the axle center both ends idler wheel 3-9 and the face mover iron core 3-3 are hung down
Directly；The bottom roller module 3-8 and both ends idler wheel 3-9 is run each along the trapped orbit on track.
Further, the position detector 2-5 is pcb board, and stator tooth can be passed through by being provided on the pcb board
Hole；The position detector is fixed with the stator tooth on stator core 2-3, and keeps position detector pcb board bottom
It is flushed with the stator tooth on stator core, is provided with N on the position detector 2-5toothA switch Hall element；It is described to open
Closing the distance between Hall element is Lh=τtooth/ 2, τtoothFor the distance between two stator tooths, first switch is suddenly
Your element is d at a distance from stator toothnotch/ 3, dnotchFor stator rabbet width, the NtoothA switch Hall element is in PCB
Setting is arranged along oblique line on plate.
A kind of technical solution of method of the invention are as follows: the electronic door drive drive of modularization translation based on linear motor
Flowing control method, specific step are as follows:
Step 1: pressing on control panel 1-3 after operating parameter self-test method of determining and calculating button, and CPU enters open loop SVPWM output journey
Sequence, and there is indicator light to prompt state；CPU is according to the given fixed PWM frequency f of the initial velocity of settingcWhat driving motor gave
Direction operation stops and gives certain electric current to lock motor when encountering barrier；
Step 2: CPU is according to the given fixed PWM frequency f of the initial velocity of settingcDriving motor operation, and start recording
The output signal of each Hall element at this time, when detecting continuous NtoothInterval time T between a switching signal satisfaction1=τtooth
τsfc, τsFor mover pole span, driving signal is synchronous with running frequency, records electric current I at this timecFor background current；
Step 3: it is based on original frequency fcWith background current Ic, running frequency and electric current are stepped up until to maximum limit
System, running track are divided into 5 operation characteristic stages, are respectively as follows: linear Acceleration of starting stage, the stage of traveling at the uniform speed, flat-top throwing
Object line operation phase, the stage of traveling at the uniform speed and index decelerating phase；It is when door encounters barrier, i.e., given to stop and lock current
Il；Record T1Number, speed and acceleration, lock current and stop position under different electric current when each stator modules
Hall element signal value；
Step 4: control automatically-controlled door opposite direction repeats step 2 and step 3, and compares the T of record1Value, by above-mentioned data
Processing is averaged, calculates gate-width, and stop position is marked according to the hall signal value of stopping.
Further, in the step 3, running track optimization is carried out according to the data of detection and operation setting, it is specific to walk
Suddenly include:
Step 3.1: the optimization of automatically-controlled door running track is subdivided into 7 stages；7 stages are respectively as follows: runing time
For t1Linear startup stage, runing time t2The stage that travels at the uniform speed, runing time t3Index boost phase, operation
Time is t4The stage that travels at the uniform speed, runing time t5The anxious decelerating phase, runing time t6Travel at the uniform speed the stage, and
Runing time is t7The index decelerating phase；The track slope k of the linear startup stage1With total range ability LpRelationship
Are as follows: 0.05Lp≤k1t1≤0.1Lp；According to the information that parameter self-checking detection process obtains, including speed and current value, using operation
Time most short adaptive algorithm gives the runing time and speed in running track each stage, and is realized by nonsmooth control algorithm
The smooth transition control of each stage switching；
Step 3.2: using the SVPWM generation technique based on nonsmooth control algorithm, realize the control of each stage of linear motor
Drive waveforms processed realize the predetermined stroke operation of linear motor；After reaching setting speed, driver current reduces, until reaching
To maximum operational speed and start stable speed operation；As the distance Lw >=2L runpEnter decelerating phase, driver current when/3
It further decreases, mover speed decline, the step driver current is constantly adjusted according to mover range ability and speed fall time
It is whole, until automatically-controlled door reaches setting speed stopping；
Step 3.3: when encountering barrier in linear motor operational process, system detects electric current and speed transient change automatically
Value, by singular perturbation control method, decision-making system encounters barrier and switching system enters inverted running.
The utility model has the advantages that a kind of modularization based on linear motor of the invention translates electronic door drive and its driving control
Method processed, has the advantages that
Using modular stator structural, position detection, motor stator and drive control device integrated design are realized.It reduces
Installation volume, has saved cost；Meanwhile it realizing and quickly being adjusted by translation door size progress stator dimensions.
Linear motor stator electric integral structure is wrapped up using aluminum hull, can either realize motor stator and driver heat dissipation, again
The reinforcement every magnetic and stator structure is realized, realizes the Fast Installation and driving of any translation door length；
Using modularization track structure, realizes the splicing of random length track, can be realized the high-precision of single rail module
Degree processing, and then realize that the required precision of track installation guarantees；
It is magnetized the permanent magnet of structure using concaveconvex structure mover and both direction, realizes the high thrust output of linear motor
With the reduction of force oscillation, and then ensure that translation electrically operated gate stable operation and various door mass loadings adaptation；
The position detecting device of use and stator modules integrated design realize the equal position sensor inspection of every section of stator
Location is set, and the precision of position detection is improved；The switch Hall element of use, cheap, high reliablity.
Using unique self-learning algorithm, an acquisition for load and running position information, the operation rail of self study are realized
Mark has high efficiency and accuracy, reduces the acquisition of error message, improves self study accuracy.
Using nonsmooth control algorithm, the steady switching for running each stage velocity and acceleration is realized, ensure that system
Stability and rapidity, improve control precision, dynamic response and efficiency.
Control algolithm is disturbed using singular perturbation, improves acquisition accuracy and accuracy that pre- barrier returns, and improve
The safety and reliability of system.
Detailed description of the invention
Fig. 1 is stator modules structural schematic diagram；
Fig. 2 is stator structure schematic diagram；
Fig. 3 is that rotor permanent magnet magnetizes and be arranged schematic diagram；
The Structure of mover schematic diagram of Fig. 4 embodiment 1；
The overall structure diagram of Fig. 5 embodiment 1；
The Structure of mover schematic diagram of Fig. 6 embodiment 2；
The overall structure diagram of Fig. 7 embodiment 2；
Fig. 8 is system control principle block diagram；
Fig. 9 is to open the door to operate normally program principle block diagram
In figure, 1 is shell；2 be stator modules；3 be mover module；4 be rail module；1-1 is side plate；1-2 is top plate；
1-3 is control panel；2-1 is driving plate；2-2 is heat-dissipating aluminium plate；2-3 is stator core；2-4 is winding；2-5 is position sensing
Device；3-1 mover bracket；3-2 is idler wheel；3-3 is mover iron core；3-4 is radial magnetizing permanent magnetism body；3-5 is axial magnetizing permanent magnetism
Body；3-6 is non-magnetic piece；3-7 is the fixing piece for loading connection；3-8 is bottom roller module；3-9 is both ends idler wheel.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawings and examples.
Embodiment 1:
A kind of modularization based on linear motor as shown in Figure 4 and Figure 5 translates electronic door drive, including stator mould
Block, rail module and mover module；
1 length of shell is 1632mm；The shell 1 can be aluminium alloy box, in aluminium alloy box from the bottom up according to
It is secondary to be provided with position detector 2-5, linear motor stator electric iron core 2-3, radiating aluminium sheet 2-2, driving plate 2-1, control panel 1-3；Institute
Winding is stated to be wrapped on the motor stator core.The linear motor stator electric iron core by 24 stator core module compositions,
Each stator core module has 3 teeth, and the distance between two teeth are 20mm, and the distance between every two stator core module is
8mm；The both ends and middle position of the shell 1 are provided with fixing piece, and the base member position is arranged in two stator iron
The middle position of core 2-3 module can be welded or be bolted by fixing piece.
The mover module 3, including mover bracket 3-1 and mover iron core 3-3；Mover iron is provided on the mover bracket
Core, fixed plate, idler wheel (or sliding block) 3-2 and the fixing piece 3-7 for loading connection；The mover iron core 3-3 is along the side of moving
It strikes a bargain upwards and replaces convex shape, mover iron core surface is provided with permanent magnet；Axial charging permanent magnet 3-5 is arranged in mover iron core
In groove, magnetizing direction is along the direction of motion, and radial magnetizing permanent magnetism body 3-4 is arranged in mover iron core raised tooth, magnetizing direction
On being perpendicularly to the direction of movement；The permanent magnet is that the pole N and the pole S are alternately arranged；It is arranged in the mover iron core groove
Non-magnetic piece of 3-6 is provided between permanent magnet and mover；
In the embodiment, rail module 4 is door shape, and 4 upper end of rail module is fixedly connected with stator modules 2, rail module 4
Mover module 3 is placed in inside, and the idler wheel 3-2 is arranged in the two sides mover bracket 3-1, the track groove of 4 bottom end two sides of rail module
The bottom center of the mover bracket 3-1 is arranged in upper placement idler wheel 3-2, the fixing piece 3-7 for loading connection.
The position detector is pcb board, and the hole that can pass through stator tooth is provided on the pcb board；The position
Detector is fixed by fixing piece and the stator tooth on stator core 2-3, and keep position detector pcb board bottom with
Stator tooth on stator core flushes, and 3 switch Hall elements are provided on the position detector；The switch Hall member
The distance between part is LhFor 10mm；Width of rebate dnotchFor 12mm；First switch Hall element and stator tooth away from
From for 4mm, 3 switch Hall elements arrange setting along oblique line on pcb board.
The rail module 4 is to be spliced by the rail module of regular length；In embodiment 1, the track
For character "door" form structure；It is fixed on the rail module by the bottom of screw and stator modules.The mover module 3 is included in institute
It states in rail module；
Embodiment 2:
A kind of modularization based on linear motor as shown in Figure 6 and Figure 7 translates electronic door drive, including stator mould
Block, rail module and mover module；
The outer cover length is 2880mm；It is disposed with position detector 2- from the bottom up in the aluminium alloy box 1
5, linear motor stator electric iron core 2-3, radiating aluminium sheet 2-2, drive control plate；The winding is wrapped in the motor stator core
On.For the linear motor stator electric iron core by 32 stator core module compositions, each stator core module has 3 teeth, two teeth
The distance between be 27mm, the distance between every two stator core module be 9mm；The both ends of the shell and interposition install
It is equipped with fixing piece, the middle position of two stator core modules is arranged in the base member position.
The mover module 3, including mover bracket 3-1 and mover iron core 3-3；Mover iron is provided on the mover bracket
Core, fixed plate, idler wheel (or sliding block) 3-2 and the fixing piece 3-7 for loading connection；The fixing piece for being used to load connection
The side of fixed plate on mover bracket 3-1 is set；The another of the fixed plate on mover bracket 3-1 is arranged in the mover iron core
Side；The mover iron core 2-3 is struck a bargain in the direction of motion for convex shape, and mover iron core surface is provided with permanent magnet；Institute
Stating the magnetizing direction that permanent magnet is arranged in mover iron core groove is along the direction of motion, and the permanent magnet setting is convex in mover iron core
Playing the magnetizing direction on tooth is to be perpendicularly to the direction of movement；The permanent magnet is that the pole N and the pole S are alternately arranged；In the mover
Non-magnetic piece of 3-6 is provided between the permanent magnet and mover being arranged in iron core groove；
As one of embodiment, the mover block length LMFor 1500mm；There are three the mover idler wheel tools, sets respectively
It sets at the both ends and middle position of mover bracket, the distance of three mover idler wheels between any two is 560mm；The connection door
Fixing piece there are two, be separately positioned among two idler wheels, at a distance from idler wheel be 180mm.
As one of another embodiment, the mover block length LMFor 800mm；There are three the mover idler wheel tools,
For bottom roller module 3-8 and both ends idler wheel 3-9, the both ends and middle position of mover bracket are separately positioned on, described three dynamic
The distance of sub- idler wheel between any two is 340mm；There are two the fixing pieces of the connection door, is separately positioned among two idler wheels,
It is 300mm at a distance from idler wheel.
The position detector is pcb board, and the hole that can pass through stator tooth is provided on the pcb board；The position
Detector is fixed by fixing piece and fixed core tooth, and keeps position detector pcb board bottom stator tooth does not flush.Institute
3 switch Hall elements are provided on the position detector stated；The distance between described switch Hall element is LhFor 13.5mm；
Width of rebate dnotchFor 15mm；First switch Hall element is 5mm, 3 switch Halls at a distance from stator tooth
Element arranges setting along oblique line on pcb board.
The rail module 4 is to be spliced by the rail module of regular length；In example 2, the track
For L-shaped structure；It is fixed on the inside of the rail module L-shaped structure by the top of screw and stator modules.Relatively and in embodiment
Structure, the stator modules and mover module in embodiment 2 are all made of the placement of side formula；3 side of the mover module setting
There is bottom roller module 3-8；Both ends idler wheel 3-9, the both ends idler wheel 3-9 axis are respectively arranged at the both ends of the mover module
The heart is vertical with the mover face iron core 3-3；The bottom roller module 3-8 and both ends idler wheel 3-9 are each along the retaining rail on L shape track
Road operation.
Drive control algorithm of the present invention, including operating parameter self-test and running track optimization.System control
Schematic diagram is as shown in figure 8, Fig. 9 is the operation program principle figure that opens the door, including is operated normally and the processing routine that is hampered.
The operating parameter self-test, including door weight detecting, running track length detection, motor position detection, fortune
It takes action sub- length detection；Specific step includes:
Step 1: pressing on control panel after operating parameter self-test method of determining and calculating button (later abbreviation button), CPU (single-chip microcontroller,
The microcontrollers such as DSP or ARM) enter open loop SVPWM output program, and there is indicator light to prompt state；CPU is according to setting
The given fixed PWM frequency f of initial velocitycThe given direction operation of driving motor stops and given certain when encountering barrier
Electric current lock motor.
Step 2: CPU is according to the given fixed PWM frequency f of the initial velocity of settingcDriving motor operation, and start recording
The output signal of each Hall element at this time, when detecting continuous NtoothInterval time T between a switching signal satisfaction1=τtooth
τsfcWhen, driving signal is synchronous with running frequency, records electric current I at this timecFor background current.
Step 3: it is based on original frequency fcWith background current Ic, running frequency and electric current are stepped up until to maximum limit
System, running track are divided into 5 operation characteristic stages, are respectively as follows: linear Acceleration of starting stage, the stage of traveling at the uniform speed, flat-top throwing
Object line operation phase, the stage of traveling at the uniform speed and index decelerating phase；It is when door encounters barrier, i.e., given to stop and lock current
Il；Record T1Number, speed and acceleration, lock current and stop position under different electric current when each stator modules
Hall element signal value；
Step 4: control automatically-controlled door opposite direction repeats step 2 and step 3, altogether three times, and compares the T of record1Value, will
Above-mentioned data average processing, calculate gate-width, and mark stop position according to the hall signal value of stopping.
The running track optimization carries out running track optimization according to the data of detection and operation setting, after completing optimization
System will be run according to the track of optimization.Specific step includes:
Step 1: the optimization of automatically-controlled door running track is subdivided into 7 stages；7 stages are respectively as follows: runing time and are
t1Linear startup stage, runing time t2The stage that travels at the uniform speed, runing time t3Index boost phase, operation when
Between be t4The stage that travels at the uniform speed, runing time t5The anxious decelerating phase, runing time t6Travel at the uniform speed the stage, and fortune
The row time is t7The index decelerating phase.The track slope k of the linear startup stage1With total range ability LpRelationship are as follows:
0.05Lp≤k1t1≤0.1Lp；According to the information that parameter self-checking detection process obtains, including speed and current value, using runing time
Most short adaptive algorithm gives the runing time and speed in running track each stage, and each by the realization of nonsmooth control algorithm
The smooth transition control of stage switching.The most short adaptive algorithm of the runing time is by the electric current of sampling, speed and position
Information does the planning of optimal path, runing time and speed, and realizes that track is approached by the non-blind arithmetic of software.The Non-smooth surface
Control algolithm is to realize the processing to position signal using continuous non-linear placement track algorithm, is filtered for rear pole feedback loop
Except interference, and then realize the smooth excessiveness in each stage.The most short adaptive algorithm of above-mentioned runing time and nonsmooth control algorithm
Realization is technology well known in the art.
Step 2: the SVPWM generation technique based on nonsmooth control algorithm is used, realizes each stage control of linear motor
Drive waveforms realize the predetermined stroke operation of linear motor；After reaching setting speed, driver current reduces, until reaching
Maximum operational speed simultaneously starts stable speed operation；As the distance Lw >=2L runpEnter the decelerating phase when/3, driver current into
One step reduces, the decline of mover speed.Driver current is continuous according to mover range ability and speed fall time under the step
Adjustment, until mover reaches setting speed stopping.
Step 3: when encountering barrier in linear motor operational process, system detects electric current and speed transient change automatically
Value, by singular perturbation control method, decision-making system encounters barrier and switching system enters inverted running.The singular perturbation
Control algolithm disturbs decision principle using electric current and speed double, when current disturbing is greater than the electricity of the corresponding position of parameter self-test
When flow valuve, it is determined as there is obstruction；Meanwhile when detecting speed difference is zero, determine that confirmation meets with obstruction, controller controls motor
Return to operation.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (8)
1. a kind of modularization based on linear motor translates electronic door drive, it is characterised in that: including stator modules (2),
Rail module (4) and mover module (3)；The rail module (4) and the bottom of stator modules (2) are fixed, the mover module
(3) it can be slided along the track groove of the bottom end of the rail module (4)；
The stator modules (2) include shell (1, linear motor stator electric iron core (2-3), winding (2-4), driving plate (2-1), control
Making sheet (1-3) and position detector (2-5)；Position detector (2-5), straight is disposed in the shell (1) from the bottom up
Line motor stator core (2-3), radiating aluminium sheet (2-2), driving plate (2-1) and control panel (1-3)；Winding (2-4) winding
On stator core (2-3)；
The mover module (3) includes mover bracket (3-1) and mover iron core (3-3)；It is provided on the mover bracket (3-1)
Mover iron core (3-3) and for load connection fixing piece (3-7)；The mover iron core (3-3) is struck a bargain in the direction of motion replaces
Convex shape, mover iron core (3-3) surface are provided with permanent magnet, are additionally provided with idler wheel (3-2) on the mover bracket (3-1),
For walking on rail module (4).
2. a kind of modularization based on linear motor according to claim 1 translates electronic door drive, feature exists
In: the stator core (2-3) has N by K stator core module composition, each stator core moduletoothA stator tooth, two
The distance between stator tooth is τtooth, the distance between every two stator core module is Ldd, and have shell (1) length Ls=
K×(Ldd+Ntoothτtooth)。
3. a kind of modularization based on linear motor according to claim 1 translates electronic door drive, feature exists
In: the permanent magnet is divided into radial magnetizing permanent magnetism body (3-4), axial charging permanent magnet (3-5)；Axial charging permanent magnet (3-5)
It is arranged in mover iron core (3-3) groove, magnetizing direction is along the direction of motion；Radial magnetizing permanent magnetism body (3-4) is arranged in mover
In iron core raised tooth, magnetizing direction is to be perpendicularly to the direction of movement；The permanent magnet is that the pole N and the pole S are alternately arranged；Described
Non-magnetic piece is provided between the axial charging permanent magnet (3-5) being arranged and mover module (3) in mover iron core (3-3) groove
(3-6)。
4. a kind of modularization based on linear motor according to claim 1 translates electronic door drive, feature exists
In: the rail module (4) is door shape, and rail module (4) upper end is fixedly connected stator modules (2), and rail module (4) is internal
It places mover module (3), the idler wheel (3-2) is arranged in the two sides mover bracket (3-1), the rail of rail module (4) bottom end two sides
Idler wheel (3-2) is placed on road slot, the fixing piece (3-7) for loading connection is arranged at the bottom of the mover bracket (3-1)
Face center.
5. a kind of modularization based on linear motor according to claim 1 translates electronic door drive, feature exists
In: the rail module (4) is L-shaped, and stator modules (2) and mover module is set side by side on rail module (4) bottom face
(3), stator modules (2) are on the inside of the L-shaped of rail module (4), and are fixedly connected with rail module (4)；Mover module (3)
On the outside of the L-shaped of rail module (4), mover iron core (3-3) setting is at mover bracket (3-1) close to stator modules
(2) side, the other side of mover bracket (3-1) are equipped with the fixing piece (3-7) for loading connection, the mover module (3)
On idler wheel (3-2) include bottom roller module (3-8) and both ends idler wheel (3-9), mover bracket (3-1) two sides of the bottom are set
It is equipped with bottom roller module (3-8)；Both ends idler wheel (3-9), institute are respectively arranged in the rear and front end of the mover bracket (3-1)
It is vertical with the mover iron core face (3-3) to state the both ends idler wheel axle center (3-9)；The bottom roller module (3-8) and both ends idler wheel (3-9)
Each along the trapped orbit operation on track.
6. a kind of modularization based on linear motor according to claim 1 translates electronic door drive, feature exists
In: the position detector (2-5) is pcb board, and the hole that can pass through stator tooth is provided on the pcb board；The position
Detector is fixed with the stator tooth on stator core (2-3), and keeps position detector pcb board bottom and stator core
On stator tooth flush, be provided with N on the position detector (2-5)toothA switch Hall element；The switch Hall member
The distance between part is Lh=τtooth/ 2, τtoothFor the distance between two stator tooths, first switch Hall element with
The distance of stator tooth is dnotch/ 3, dnotchFor stator rabbet width, the NtoothA switch Hall element is on pcb board along oblique
Line arranges setting.
7. a kind of modularization based on linear motor according to claim 1 translates electronic door drive drive control side
Method, which is characterized in that specific step are as follows:
Step 1: pressing on control panel 1-3 after operating parameter self-test method of determining and calculating button, and CPU enters open loop SVPWM output program,
And there is indicator light to prompt state；CPU is according to the given fixed PWM frequency f of the initial velocity of settingcThe given direction of driving motor
Operation stops and gives certain electric current to lock motor when encountering barrier；
Step 2: CPU is according to the given fixed PWM frequency f of the initial velocity of settingcDriving motor operation, and start recording is each at this time
The output signal of a Hall element, when detecting continuous NtoothInterval time T between a switching signal satisfaction1=τtoothτsfc, τs
For mover pole span, driving signal is synchronous with running frequency, records electric current I at this timecFor background current；
Step 3: it is based on original frequency fcWith background current Ic, it steps up running frequency and electric current and is limited until arriving maximum,
Running track is divided into 5 operation characteristic stages, is respectively as follows: linear Acceleration of starting stage, the stage of traveling at the uniform speed, flat-top parabola fortune
Row order section travels at the uniform speed stage and index decelerating phase；It is when door encounters barrier, i.e., given to stop and lock current Il；Record
Lower T1Number, speed and acceleration, lock current and stop position under different electric current when each stator modules Hall
Element signal value；
Step 4: control automatically-controlled door opposite direction repeats step 2 and step 3, and compares the T of record1Value, above-mentioned data are carried out
Handling averagely calculates gate-width, and marks stop position according to the hall signal value of stopping.
8. a kind of modularization based on linear motor according to claim 7 translates electronic door drive drive control side
Method, it is characterised in that: in the step 3, running track optimization is carried out according to the data of detection and operation setting, it is specific to walk
Suddenly include:
Step 3.1: the optimization of automatically-controlled door running track is subdivided into 7 stages；It is t that 7 stages, which are respectively as follows: runing time,1's
Linear startup stage, runing time t2The stage that travels at the uniform speed, runing time t3Index boost phase, runing time be
t4The stage that travels at the uniform speed, runing time t5The anxious decelerating phase, runing time t6Travel at the uniform speed the stage, and operation when
Between be t7The index decelerating phase；The track slope k of the linear startup stage1With total range ability LpRelationship are as follows:
0.05Lp≤k1t1≤0.1Lp；According to the information that parameter self-checking detection process obtains, including speed and current value, using runing time
Most short adaptive algorithm gives the runing time and speed in running track each stage, and each by the realization of nonsmooth control algorithm
The smooth transition control of stage switching；
Step 3.2: using the SVPWM generation technique based on nonsmooth control algorithm, realize that each stage control of linear motor drives
Dynamic waveform realizes the predetermined stroke operation of linear motor；After reaching setting speed, driver current reduces, until reaching most
The big speed of service simultaneously starts stable speed operation；As the distance Lw >=2L runpEnter the decelerating phase when/3, driver current is into one
Step reduces, and mover speed decline, the step driver current is constantly adjusted according to mover range ability and speed fall time, directly
Reach setting speed to automatically-controlled door to stop；
Step 3.3: when encountering barrier in linear motor operational process, system detects electric current and speed transient change value automatically,
By singular perturbation control method, decision-making system encounters barrier and switching system enters inverted running.
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| CN111532290A (en) * | 2020-04-16 | 2020-08-14 | 鞠大忠 | Operation vehicle running on stator track of track platform |
| CN113942804A (en) * | 2021-11-10 | 2022-01-18 | 北京航空航天大学 | Logistics transportation system based on linear motor |
| CN115159067A (en) * | 2022-06-30 | 2022-10-11 | 瑞声光电科技(常州)有限公司 | Multi-rotor direct-drive transmission system, and related control method, equipment and storage medium |
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