CN109672317B - Modular translation electric door driving device and driving control method thereof - Google Patents

Modular translation electric door driving device and driving control method thereof Download PDF

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Publication number
CN109672317B
CN109672317B CN201811424418.XA CN201811424418A CN109672317B CN 109672317 B CN109672317 B CN 109672317B CN 201811424418 A CN201811424418 A CN 201811424418A CN 109672317 B CN109672317 B CN 109672317B
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module
rotor
stator
track
speed
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CN109672317A (en
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徐磊
张超
朱孝勇
段璐瑶
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Jiangsu University
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Jiangsu University
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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
    • 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
    • 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
    • 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

Abstract

The invention discloses a linear motor-based modular translation electric door driving device and a driving control method thereof, which are characterized in that: the stator module, the track module and the rotor module are included; the stator module comprises a shell, a linear motor stator core, a winding, a driving control board and a position detector; the rotor module comprises a rotor support and a rotor iron core; the driving control algorithm comprises an operation parameter self-detection algorithm and an operation track optimization algorithm. The driving device and the driving control algorithm thereof adopt a modularized and driving control integrated structure, and have the advantages of simple mechanical and electrical structure, convenient installation, small mechanical friction, low operation noise, high system reliability and long service life. Realizing stable transition of each operation stage by adopting a non-smooth control algorithm; a singular perturbation control method is adopted to realize accurate judgment when meeting obstacles; the adopted control algorithm has high precision and strong adaptability.

Description

Modular translation electric door driving device and driving control method thereof
Technical Field
The invention relates to a linear motor structure and a control algorithm thereof, in particular to a modular translation electric door driving device based on a linear motor and a driving control method thereof, belonging to the technical field of linear motors.
Background
The linear motor is a transmission device which directly converts electric energy into linear motion mechanical energy without any intermediate conversion mechanism, and has wide application in the fields of rail transit, precision machining, intelligent automation and the like. With the development of power electronic technology and intelligent science and technology, the linear motor and the driving system thereof are rapidly developed, and the application field thereof is also expanded; the translation electrically operated gate is a widely used automatic gate form, generally adopts traditional rotating electrical machines to add the change mechanism of belt pulley, because this structure has adopted mechanical drive mechanism, the systematic operating efficiency is low, the fault rate is high, and the noise is great, is gradually replaced by the drive system of direct drive type linear electric motor. Compared with the traditional structure, the direct-drive linear motor driving system has the advantages of small volume, simple maintenance, low failure rate and low noise. However, due to the structural limitation of the stator/rotor of the linear motor and the fixed size of the stator of the motor, when a linear motor driving system is applied, the linear motor and the driving control system thereof are often redeveloped according to an application object, and complete adaptation cannot be achieved, so that the development of the system is time-consuming and expensive, the control precision is reduced, and the system is complex. Therefore, designing and developing a linear motor driving apparatus and a driving control system thereof with strong adaptability are important issues to solve the current linear motor adaptation problem.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a linear motor-based modular translation electric door driving device and a driving control method thereof.
The technical scheme is as follows: a modularized translation electric door driving device based on a linear motor comprises a stator module 2, a track module 4 and a rotor module 3; the track module 4 is fixed with the bottom of the stator module 2, and the mover module 3 can slide along a track groove at the bottom end of the track module 4;
the stator module 2 comprises a shell 1, a linear motor stator iron core 2-3, a winding 2-4, a driving plate 2-1, a control plate 1-3 and a position detector 2-5; the shell 1 is internally provided with a position detector 2-5, a linear motor stator iron core 2-3, a heat dissipation aluminum sheet 2-2, a driving plate 2-1 and a control plate 1-3 in sequence from bottom to top; the winding 2-4 is wound on the stator core 2-3;
the rotor module 3 comprises a rotor support 3-1 and a rotor iron core 3-3; the rotor support 3-1 is provided with a rotor iron core 3-3 and a fixing piece 3-7 for load connection; the rotor iron cores 3-3 are alternately convex along the motion direction, the surfaces of the rotor iron cores 3-3 are provided with permanent magnets, and the rotor support 3-1 is also provided with rollers 3-2 for walking on the track module 4.
Further, the stator core 2-3 is composed of K stator core modules, each stator core module having NtoothA stator tooth, the distance between two stator teeth is tautoothThe distance between every two stator core modules is LddAnd has a housing 1 length Ls＝K×(Ldd+Ntoothτtooth)。
Further, the permanent magnets are divided into radial magnetizing permanent magnets 3-4 and axial magnetizing permanent magnets 3-5; the axial magnetizing permanent magnets 3-5 are arranged in the grooves of the rotor iron cores 3-3, and the magnetizing direction is along the moving direction; radial magnetizing permanent magnets 3-4 are arranged on the salient teeth of the rotor iron core, and the magnetizing direction is perpendicular to the moving direction; the permanent magnets are arranged in an alternating manner, namely N poles and S poles; non-magnetic conducting blocks 3-6 are arranged between the axial magnetizing permanent magnets 3-5 arranged in the grooves of the rotor iron core 3-3 and the rotor module 3.
Further, the track module 4 is in a door shape, the upper end of the track module 4 is fixedly connected with the stator module 2, the rotor module 3 is placed inside the track module 4, the rollers 3-2 are arranged on two sides of the rotor support 3-1, the rollers 3-2 are placed on track grooves on two sides of the bottom end of the track module 4, and the fixing part 3-7 for load connection is arranged in the center of the bottom surface of the rotor support 3-1.
Further, the track module 4 is L-shaped, the bottom end face of the track module 4 is provided with a stator module 2 and a rotor module 3 in parallel, and the stator module 2 is close to the L-shaped inner side of the track module 4 and is fixedly connected with the track module 4; the rotor module 3 is close to the L-shaped outer side of the track module 4, the rotor iron core 3-3 is arranged on one side, close to the stator module 2, of the rotor support 3-1, the fixing piece 3-7 for load connection is arranged on the other side of the rotor support 3-1, the roller 3-2 on the rotor module 3 comprises a bottom roller module 3-8 and rollers 3-9 at two ends, and the bottom roller modules 3-8 are arranged on two sides of the bottom of the rotor support 3-1; two end rollers 3-9 are respectively arranged at the front end and the rear end of the rotor support 3-1, and the axes of the two end rollers 3-9 are vertical to the 3-3 surface of the rotor iron core; the bottom roller modules 3-8 and the rollers 3-9 at the two ends run along fixed tracks on the tracks.
Further, the position detector 2-5 is a PCB board, and a hole capable of penetrating through the stator teeth is formed in the PCB board; the position detector is fixed with stator teeth on the stator core 2-3 and keeps the bottom of the position detector PCB flush with the stator teeth on the stator core, and N is arranged on the position detector 2-5toothA switching Hall element; the distance between the Hall elements of the switch is Lh＝τtooth/2，τtoothThe distance between two stator teeth is d, the distance between the first switch Hall element and the stator teeth is dnotch/3，dnotchFor stator slot width, NtoothThe switch Hall elements are arranged on the PCB along oblique lines.
The technical scheme of the method of the invention is as follows: a drive control method of a modular translation electric door drive device based on a linear motor comprises the following specific steps:
the method comprises the following steps: after a running parameter self-detection algorithm button on the control panel 1-3 is pressed, the CPU enters an open-loop SVPWM output program and has an indicator light to prompt the state; the CPU gives a fixed PWM frequency f according to the set initial speedcDriving the motor to run in a given direction, and stopping and giving a certain current to lock the motor when meeting an obstacle;
step two: the CPU gives a fixed PWM frequency f according to the set initial speedcDriving the motor to operate, starting to record output signals of all Hall elements at the moment, and detecting continuous NtoothInterval time T between the satisfaction of each switching signal1＝τtoothτsfc，τsFor the polar distance of the rotor, the drive signal is synchronized with the running frequency, and the current I at the moment is recordedcIs a base current;
step three: based on the initial frequency fcSum base current IcGradually increasing the operating frequency and current until reaching the maximum limit, wherein the operating track is divided into 5 operating characteristic stages, which are respectively as follows: a linear starting acceleration stage, a constant speed operation stage, a flat-top parabola operation stage, a constant speed operation stage and an exponential deceleration stage; when the door encounters an obstacle, i.e. given a stopping and locking current Il(ii) a Record T1The number of the hall element signals, the speed and acceleration under different currents, the locking current and the hall element signal value of each stator module at the stop position;
step four: controlling the automatic door to repeat the second step and the third step in the opposite direction, and comparing the recorded T1And averaging the data, calculating the gate width, and marking the stop position according to the stopped Hall signal value.
Further, in the third step, the operation track is optimized according to the detected data and the operation setting, and the specific steps include:
step 3.1: optimizing and subdividing the running track of the automatic door into 7 stages; the 7 stages are respectively: running time of t1Linear start-up phase of time t2At constant speed operation stage with operation time t3With an exponential acceleration phase of time t4At constant speed operation stage with operation time t5The rapid deceleration stage and the running time of t6And the constant speed operation stage of (1), and the operation time is t7An exponential deceleration phase of (1); slope k of the trajectory of the linear start-up phase1Distance L from the total travelpThe relationship of (1) is: 0.05Lp≤k1t1≤0.1Lp(ii) a According to the information obtained in the parameter self-detection process, including speed and current values, the running time and speed of each stage of the running track are given by adopting a running time shortest self-adaptive algorithm, and smooth transition control of switching of each stage is realized through a non-smooth control algorithm;
step 3.2: the SVPWM generation technology based on the non-smooth control algorithm is adopted to realize the control of the driving waveform of each stage of the linear motor and the preset stroke operation of the linear motor; when the set speed is reached, the current of the driver is reduced until the maximum running speed is reached and the stable-speed running is started; when the running distance Lw is more than or equal to 2LpWhen the speed of the automatic door reaches a set speed, the speed of the rotor is reduced, and the current of the driver is continuously adjusted according to the running distance and the speed reduction time of the rotor until the automatic door reaches the set speed;
step 3.3: when the linear motor encounters an obstacle in the operation process, the system automatically detects instantaneous change values of current and speed, and judges that the system encounters the obstacle and the switching system enters reverse operation through a singular perturbation control method.
Has the advantages that: the invention discloses a linear motor-based modular translation electric door driving device and a driving control method thereof, which have the following beneficial effects:
and a modularized stator structure is adopted, so that the integrated design of position detection, a motor stator and a driving controller is realized. The installation volume is reduced, and the cost is saved; meanwhile, the stator size can be quickly adjusted according to the size of the translation door.
The linear motor stator integrated structure is wrapped by the aluminum shell, so that heat dissipation of the motor stator and the driver can be realized, the magnetic isolation and the stator structure are reinforced, and the rapid installation and driving of any length of the translation door are realized;
the modular track structure is adopted, so that the splicing of tracks with any length is realized, the high-precision processing of a single track module can be realized, and the precision requirement guarantee of track installation is further realized;
the concave-convex structure rotor and the permanent magnets of the two-direction magnetizing structure are adopted, so that the high thrust output and the reduction of thrust fluctuation of the linear motor are realized, and the stable operation of the translation electric door and the adaptation of various door weight loads are further ensured;
the position detection device and the stator module are integrally designed, so that the position sensor is arranged on each section of the stator to detect the position, and the position detection precision is improved; the adopted switch Hall element has low price and high reliability.
By adopting a unique self-learning algorithm, the acquisition of the door load and the operation position information is realized, the self-learning operation track has high efficiency and accuracy, the acquisition of error information is reduced, and the self-learning accuracy is improved.
By adopting a non-smooth control algorithm, the stable switching of the speed and the acceleration in each operating stage is realized, the stability and the rapidity of the system are ensured, and the control precision, the dynamic response and the efficiency are improved.
By adopting a singular perturbation disturbance control algorithm, the capturing precision and accuracy of the pre-obstacle return are improved, and the safety and reliability of the system are improved.
Drawings
FIG. 1 is a schematic structural view of a stator module;
FIG. 2 is a schematic view of a stator structure;
FIG. 3 is a schematic view of the rotor permanent magnet being magnetized and arranged;
FIG. 4 is a schematic view of a mover structure of embodiment 1;
FIG. 5 is a schematic view of the overall structure of embodiment 1;
FIG. 6 is a schematic view of a mover structure of embodiment 2;
FIG. 7 is a schematic view showing the overall structure of embodiment 2;
FIG. 8 is a system control schematic block diagram;
fig. 9 is a schematic block diagram of a normal operation procedure for opening the door.
In the figure, 1 is a shell; 2 is a stator module; 3 is a rotor module; 4 is a track module; 1-1 is a side plate; 1-2 is a top plate; 1-3 are control panels; 2-1 is a driving plate; 2-2 is a heat dissipation aluminum plate; 2-3 is a stator core; 2-4 are windings; 2-5 are position sensors; 3-1, a rotor support; 3-2 is a roller; 3-3 is a rotor iron core; 3-4 is a radial magnetizing permanent magnet; 3-5 is an axial magnetizing permanent magnet; 3-6 are non-magnetic conductive blocks; 3-7 are fixing pieces for load connection; 3-8 are bottom roller modules; and 3-9 are rollers at two ends.
Detailed Description
The invention is further described with reference to the following figures and examples.
Example 1:
fig. 4 and 5 illustrate a linear motor based modular translational power door driving device, which includes a stator module, a track module and a mover module;
the length of the shell 1 is 1632 mm; the shell 1 can be an aluminum alloy box, and a position detector 2-5, a linear motor stator core 2-3, a heat dissipation aluminum sheet 2-2, a driving plate 2-1 and a control plate 1-3 are sequentially arranged in the aluminum alloy box from bottom to top; the winding is wound on the stator iron core of the motor. The linear motor stator core is composed of 24 stator core modules, each stator core module is provided with 3 teeth, the distance between every two teeth is 20mm, and the distance between every two stator core modules is 8 mm; fixing pieces are arranged at two ends and the middle position of the shell 1, the middle fixing pieces are arranged at the middle positions of the two stator core 2-3 modules and can be welded or connected through bolts through the fixing pieces.
The rotor module 3 comprises a rotor support 3-1 and a rotor iron core 3-3; the rotor support is provided with a rotor iron core, a fixed plate, a roller (or a sliding block) 3-2 and a fixing part 3-7 for load connection; the rotor iron cores 3-3 are in an alternate convex shape along the motion direction, and permanent magnets are arranged on the surfaces of the rotor iron cores; axial magnetizing permanent magnets 3-5 are arranged in the grooves of the rotor iron core, the magnetizing direction is along the moving direction, radial magnetizing permanent magnets 3-4 are arranged on the convex teeth of the rotor iron core, and the magnetizing direction is perpendicular to the moving direction; the permanent magnets are arranged in an alternating manner, namely N poles and S poles; non-magnetic conducting blocks 3-6 are arranged between the permanent magnet arranged in the rotor iron core groove and the rotor;
in this embodiment, the track module 4 is in a shape of a door, the stator module 2 is fixedly connected to the upper end of the track module 4, the mover module 3 is placed inside the track module 4, the rollers 3-2 are disposed on two sides of the mover support 3-1, the rollers 3-2 are placed on track grooves on two sides of the bottom end of the track module 4, and the fixing member 3-7 for load connection is disposed in the center of the bottom surface of the mover support 3-1.
The position detector is a PCB, and holes capable of penetrating through the stator teeth are formed in the PCB; the position detector is fixed with stator teeth on the stator iron core 2-3 through a fixing piece, the bottom of a PCB (printed Circuit Board) of the position detector is kept flush with the stator teeth on the stator iron core, and 3 switch Hall elements are arranged on the position detector; the distance between the Hall elements of the switch is LhIs 10 mm; width d of notchnotchIs 12 mm; the distance between the first switch Hall element and the stator teeth is 4mm, and the 3 switch Hall elements are arranged on the PCB in a diagonal line.
The track module 4 is formed by splicing track modules with fixed lengths; in embodiment 1, the rail has a gate-shaped structure; the track module is fixed with the bottom of the stator module through screws. The mover module 3 is contained in the track module;
example 2:
a linear motor based modular translational power door driving apparatus as shown in fig. 6 and 7 includes a stator module, a track module and a mover module;
the length of the shell is 2880 mm; a position detector 2-5, a linear motor stator iron core 2-3, a heat dissipation aluminum sheet 2-2 and a driving control board are sequentially arranged in the aluminum alloy box 1 from bottom to top; the winding is wound on the stator iron core of the motor. The linear motor stator core is composed of 32 stator core modules, each stator core module is provided with 3 teeth, the distance between every two teeth is 27mm, and the distance between every two stator core modules is 9 mm; fixing pieces are arranged at two ends and the middle position of the shell, and the middle fixing pieces are arranged at the middle positions of the two stator core modules.
The rotor module 3 comprises a rotor support 3-1 and a rotor iron core 3-3; the rotor support is provided with a rotor iron core, a fixed plate, a roller (or a sliding block) 3-2 and a fixing part 3-7 for load connection; the fixing piece for load connection is arranged on one side of the fixing plate on the rotor bracket 3-1; the rotor iron core is arranged on the other side of the fixed plate on the rotor support 3-1; the rotor iron cores 2-3 are in an alternate convex shape along the motion direction, and permanent magnets are arranged on the surfaces of the rotor iron cores; the magnetizing direction of the permanent magnet arranged in the groove of the rotor iron core is along the moving direction, and the magnetizing direction of the permanent magnet arranged on the convex teeth of the rotor iron core is vertical to the moving direction; the permanent magnets are arranged in an alternating manner, namely N poles and S poles; non-magnetic conducting blocks 3-6 are arranged between the permanent magnet arranged in the rotor iron core groove and the rotor;
as one example, the mover module length LMIs 1500 mm; the three rotor rollers are respectively arranged at two ends and the middle position of the rotor support, and the distance between every two three rotor rollers is 560 mm; the fixing pieces of the connecting door are two and are respectively arranged between the two rollers, and the distance between the fixing pieces and the rollers is 180 mm.
As another example, the mover module length LMIs 800 mm; the three rotor rollers are bottom roller modules 3-8 and two end rollers 3-9, and are respectively arranged at two ends and the middle position of the rotor support, and the distance between every two three rotor rollers is 340 mm; the fixing piece of connecting the door has two, sets up respectively in the middle of two gyro wheels, and its distance with the gyro wheel is 300 mm.
The position detector is a PCB, and holes capable of penetrating through the stator teeth are formed in the PCB; the position detector is fixed with the fixed iron core teeth through a fixing piece, and the fixed iron core teeth at the bottom of the position detector PCB are kept flush. The position detector is provided with 3 switch Hall elements; the distance between the Hall elements of the switch is LhIs 13.5 mm; width d of notchnotchIs 15 mm; the distance between the first switch Hall element and the stator teeth is 5mm, and the 3 switch Hall elements are arranged on the PCB in a diagonal line.
The track module 4 is formed by splicing track modules with fixed lengths; in embodiment 2, the rail has an L-shaped structure; the inner side of the L-shaped structure of the track module is fixed with the top of the stator module through screws. Relative to the structure in the embodiment, the stator module and the mover module in embodiment 2 are placed in a side manner; the side surface of the rotor module 3 is provided with bottom roller modules 3-8; two ends of the rotor module are respectively provided with two ends of rollers 3-9, and the axes of the two ends of rollers 3-9 are vertical to the 3-3 surfaces of the rotor iron core; the bottom roller modules 3-8 and the rollers 3-9 at the two ends run along fixed tracks on the L-shaped tracks.
The driving control algorithm adopted by the invention comprises self-detection of the running parameters and optimization of the running track. Fig. 8 shows a schematic diagram of a system control schematic diagram, and fig. 9 shows a schematic diagram of a door opening operation procedure, which includes a normal operation procedure and a jam processing procedure.
The operation parameter self-detection comprises door weight detection, operation track length detection, motor position detection and operation rotor length detection; the method comprises the following specific steps:
the method comprises the following steps: after a running parameter self-detection algorithm button (hereinafter referred to as a button) on a control board is pressed, a CPU (a single chip microcomputer, a DSP or an ARM and other microcontrollers) enters an open-loop SVPWM output program and has an indicator light to prompt the state; the CPU gives a fixed PWM frequency f according to the set initial speedcThe driving motor runs in a given direction, and when an obstacle is met, the driving motor is stopped and a certain current is given to lock the motor.
Step two: CPU based onSet initial speed given fixed PWM frequency fcDriving the motor to operate, starting to record output signals of all Hall elements at the moment, and detecting continuous NtoothInterval time T between the satisfaction of each switching signal1＝τtoothτsfcThe driving signal is synchronized with the running frequency, and the current I at the moment is recordedcIs a base current.
Step three: based on the initial frequency fcSum base current IcGradually increasing the operating frequency and current until reaching the maximum limit, wherein the operating track is divided into 5 operating characteristic stages, which are respectively as follows: a linear starting acceleration stage, a constant speed operation stage, a flat-top parabola operation stage, a constant speed operation stage and an exponential deceleration stage; when the door encounters an obstacle, i.e. given a stopping and locking current Il(ii) a Record T1The number of the hall element signals, the speed and acceleration under different currents, the locking current and the hall element signal value of each stator module at the stop position;
step four: controlling the automatic door to repeat the second step and the third step in the opposite direction for three times, and comparing the recorded T1And averaging the data, calculating the gate width, and marking the stop position according to the stopped Hall signal value.
And optimizing the running track, namely optimizing the running track according to the detected data and the running setting, and operating the system according to the optimized track after the optimization is completed. The method comprises the following specific steps:
the method comprises the following steps: optimizing and subdividing the running track of the automatic door into 7 stages; the 7 stages are respectively: running time of t1Linear start-up phase of time t2At constant speed operation stage with operation time t3With an exponential acceleration phase of time t4At constant speed operation stage with operation time t5The rapid deceleration stage and the running time of t6And the constant speed operation stage of (1), and the operation time is t7The exponential deceleration phase of (1). Slope k of the trajectory of the linear start-up phase1Distance L from the total travelpThe relationship of (1) is: 0.05Lp≤k1t1≤0.1Lp(ii) a And according to the information obtained in the parameter self-detection process, including the speed and the current value, the running time and the speed of each stage of the running track are given by adopting a running time shortest self-adaptive algorithm, and the smooth transition control of switching of each stage is realized by a non-smooth control algorithm. The shortest running time self-adaptive algorithm plans an optimal path, running time and speed through the sampled current, speed and position information, and realizes track approximation through a software non-blind algorithm. The non-smooth control algorithm adopts a continuous non-linear position tracking algorithm to realize the processing of position signals, filters interference for a back pole feedback loop and further realizes smooth transition of each stage. The implementation of the above-described run-time shortest adaptive algorithm and non-smooth control algorithm is well known in the art.
Step two: the SVPWM generation technology based on the non-smooth control algorithm is adopted to realize the control of the driving waveform of each stage of the linear motor and the preset stroke operation of the linear motor; when the set speed is reached, the current of the driver is reduced until the maximum running speed is reached and the stable-speed running is started; when the running distance Lw is more than or equal to 2LpAnd when the speed is/3, entering a deceleration stage, further reducing the current of the driver and reducing the speed of the rotor. In the step, the current of the driver is continuously adjusted according to the running distance and the speed reduction time of the rotor until the rotor reaches the set speed and stops.
Step three: when the linear motor encounters an obstacle in the operation process, the system automatically detects instantaneous change values of current and speed, and judges that the system encounters the obstacle and the switching system enters reverse operation through a singular perturbation control method. The singular perturbation control algorithm adopts a current and speed dual-perturbation judgment principle, and when the current perturbation is greater than the current value of the corresponding position of the parameter self-detection, the judgment is that the current perturbation is obstructed; meanwhile, when the detected speed difference value is zero, the situation that the motor is blocked is determined to be met, and the controller controls the motor to return to operate.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (7)

1. The utility model provides a modularization translation electrically operated gate drive arrangement based on linear electric motor which characterized in that: the stator module comprises a stator module (2), a track module (4) and a rotor module (3); the track module (4) is fixed with the bottom of the stator module (2), and the rotor module (3) can slide along a track groove at the bottom end of the track module (4);
the stator module (2) comprises a shell (1), a linear motor stator core (2-3), a winding (2-4), a driving plate (2-1), a control plate (1-3) and a position detector (2-5); a position detector (2-5), a linear motor stator iron core (2-3), a heat dissipation aluminum sheet (2-2), a driving plate (2-1) and a control plate (1-3) are sequentially arranged in the shell (1) from bottom to top; the winding (2-4) is wound on the linear motor stator core (2-3);
the rotor module (3) comprises a rotor support (3-1) and a rotor iron core (3-3); the rotor support (3-1) is provided with a rotor iron core (3-3) and a fixing piece (3-7) for load connection; the rotor iron cores (3-3) are alternately convex along the motion direction, permanent magnets are arranged on the surfaces of the rotor iron cores (3-3), and rollers (3-2) are further arranged on the rotor support (3-1) and used for walking on the track module (4);
the track module (4) is L-shaped, the stator module (2) and the rotor module (3) are arranged on the bottom end face of the track module (4) in parallel, and the stator module (2) is close to the L-shaped inner side of the track module (4) and is fixedly connected with the track module (4); the rotor module (3) is close to the L-shaped outer side of the track module (4), the rotor iron core (3-3) is arranged on one side, close to the stator module (2), of the rotor support (3-1), a fixing piece (3-7) for load connection is arranged on the other side of the rotor support (3-1), rollers (3-2) on the rotor module (3) comprise bottom roller modules (3-8) and rollers (3-9) at two ends, and the bottom roller modules (3-8) are arranged on two sides of the bottom of the rotor support (3-1); two end rollers (3-9) are respectively arranged at the front end and the rear end of the rotor support (3-1), and the axes of the two end rollers (3-9) are vertical to the surface of the rotor iron core (3-3); the bottom roller modules (3-8) and the rollers (3-9) at the two ends run along fixed tracks on the tracks.
2. The linear motor based modular translational power door drive as recited in claim 1, and further comprising: the stator core (2-3) is composed of K stator core modules, and each stator core module has NtoothA stator tooth, the distance between two stator teeth is tautoothThe distance between every two stator core modules is LddAnd has a housing (1) length Ls＝K×(Ldd+Ntoothτtooth)。
3. The linear motor based modular translational power door drive as recited in claim 1, and further comprising: the permanent magnets are divided into radial magnetizing permanent magnets (3-4) and axial magnetizing permanent magnets (3-5); the axial magnetizing permanent magnet (3-5) is arranged in the groove of the rotor core (3-3), and the magnetizing direction is along the motion direction; radial magnetizing permanent magnets (3-4) are arranged on the protruding teeth of the rotor iron core, and the magnetizing direction is perpendicular to the moving direction; the permanent magnets are arranged in an alternating manner, namely N poles and S poles; non-magnetic conducting blocks (3-6) are arranged between the axial magnetizing permanent magnets (3-5) arranged in the grooves of the rotor iron cores (3-3) and the rotor modules (3).
4. The linear motor based modular translational power door drive as recited in claim 1, and further comprising: track module (4) are the door font, track module (4) upper end fixed connection stator module (2), and active cell module (3) are placed to track module (4) inside, gyro wheel (3-2) set up in active cell support (3-1) both sides, place gyro wheel (3-2) on the track groove of track module (4) bottom both sides, mounting (3-7) for the load is connected set up the bottom surface center of active cell support (3-1).
5. The linear motor based modular translational power door drive as recited in claim 1, and further comprising: the position detectors (2-5) are PCBs, and holes capable of penetrating through the stator teeth are formed in the PCBs; the position detector is fixed with stator teeth on the stator core (2-3) and keeps the bottom of a PCB (printed Circuit Board) of the position detector flush with the stator teeth on the stator core, and N is arranged on the position detector (2-5)toothA switching Hall element; the distance between the Hall elements of the switch is Lh＝τtooth/2，τtoothThe distance between two stator teeth is d, the distance between the first switch Hall element and the stator teeth is dnotch/3，dnotchFor stator slot width, NtoothThe switch Hall elements are arranged on the PCB along oblique lines.
6. The driving control method of the linear motor based modular translational electrically operated door driving device according to claim 1, characterized by comprising the following specific steps:
the method comprises the following steps: after a parameter self-detection algorithm button on a control board (1-3) is pressed, a CPU enters an open-loop SVPWM output program and an indicator light prompts the state; the CPU gives a fixed PWM frequency f according to the set initial speedcDriving the motor to run in a given direction, and stopping and giving a certain current to lock the motor when meeting an obstacle;
step two: the CPU gives a fixed PWM frequency f according to the set initial speedcDriving the motor to operate, starting to record output signals of all Hall elements at the moment, and detecting continuous NtoothInterval time T between the satisfaction of each switching signal1＝τtoothτsfc，τsFor the polar distance of the rotor, the drive signal is synchronized with the running frequency, and the current I at the moment is recordedcIs a base current;
step three: based on the initial frequency fcSum base current IcGradually increasing the operating frequency and current until reaching the maximum limit, wherein the operating track is divided into 5 operating characteristic stages, which are respectively as follows: a linear starting acceleration stage, a constant speed operation stage, a flat-top parabola operation stage, a constant speed operation stage and an exponential deceleration stage; when the door encounters an obstacle, i.e. given a stopping and locking current Il(ii) a Record T1The number of the hall element signals, the speed and acceleration under different currents, the locking current and the hall element signal value of each stator module at the stop position;
step four: controlling the automatic door to repeat the second step and the third step in the opposite direction, and comparing the recorded T1And averaging the data obtained in the second step and the third step, calculating the gate width, and marking the stop position according to the stopped Hall signal value.
7. The linear motor based modular translational power door drive unit drive control method as recited in claim 6, further comprising: in the third step, the operation track is optimized according to the detected data and the operation setting, and the specific steps comprise:
step 3.1: optimizing and subdividing the running track of the automatic door into 7 stages; the 7 stages are respectively: running time of t1Linear start-up phase of time t2At constant speed operation stage with operation time t3With an exponential acceleration phase of time t4At constant speed operation stage with operation time t5The rapid deceleration stage and the running time of t6And the constant speed operation stage of (1), and the operation time is t7An exponential deceleration phase of (1); slope k of the trajectory of the linear start-up phase1Distance L from the total travelpThe relationship of (1) is: 0.05Lp≤k1t1≤0.1Lp(ii) a According to the information obtained in the parameter self-detection process, including speed and current value, the shortest running time self-adaptive algorithm is adoptedGiving the running time and speed of each stage of the running track, and realizing smooth transition control of switching of each stage through a non-smooth control algorithm;
step 3.2: the SVPWM generation technology based on the non-smooth control algorithm is adopted to realize the control of the driving waveform of each stage of the linear motor and the preset stroke operation of the linear motor; when the set speed is reached, the current of the driver is reduced until the maximum running speed is reached and the stable-speed running is started; when the running distance Lw is more than or equal to 2LpWhen the speed of the automatic door reaches a set speed, the speed of the rotor is reduced, and the current of the driver is continuously adjusted according to the running distance and the speed reduction time of the rotor until the automatic door reaches the set speed;
step 3.3: when the linear motor encounters an obstacle in the operation process, the system automatically detects instantaneous change values of current and speed, and judges that the system encounters the obstacle and the switching system enters reverse operation through a singular perturbation control method.
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