CN111740667A - Automatic door control method and system based on permanent magnet synchronous linear motor - Google Patents
Automatic door control method and system based on permanent magnet synchronous linear motor Download PDFInfo
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- CN111740667A CN111740667A CN202010707580.3A CN202010707580A CN111740667A CN 111740667 A CN111740667 A CN 111740667A CN 202010707580 A CN202010707580 A CN 202010707580A CN 111740667 A CN111740667 A CN 111740667A
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- linear motor
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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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
- H02P25/064—Linear motors of the synchronous type
Abstract
The invention relates to the technical field of automatic control, in particular to an automatic door control method and system based on a permanent magnet synchronous linear motor. The vector-controlled permanent magnet synchronous linear motor replaces the traditional direct current brushless or brush motor to drive and control the automatic door, so that the running safety of the automatic door is obviously improved, the structure is simplified, and the installation and maintenance are convenient; the Hall sensor is used for replacing a traditional permanent magnet synchronous linear motor position acquisition sensor, so that the detection cost is reduced; the subsequent torque of the permanent magnet synchronous linear motor is linearly corrected according to the position detection result of the Hall sensor, so that the torque pulsation of the motor can be reduced, and the running noise of the automatic door can be effectively reduced; the speed reduction braking control with the speed-time relation in an S-shaped curve is carried out on the automatic door through the permanent magnet synchronous linear motor; the stable acceleration and deceleration performance can be obtained, so that the driving control process of the automatic door becomes smoother, and the mechanical impact is reduced.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to an automatic door control method and system based on a permanent magnet synchronous linear motor.
Background
The automatic door should be understood in theory as an extension of the concept of the door, which is the development and perfection of the function of the door according to the needs of the person. The development of the automatic door industry is mature day by day, and the automatic door refers to a system which can recognize the action of people approaching the door (or authorize some entering the door) as a door opening signal, open the door through a driving system, automatically close the door after people leave, and control the opening and closing processes.
Most of the existing automatic door systems adopt a direct current brushless or brush motor for driving control, and when the automatic door systems are driven and controlled by the direct current brushless or brush motor, the following defects are also existed: the running noise is large, the control precision is not high, the mechanical characteristics in running are hard, potential safety hazards exist, and the brake control is not stable and smooth enough. Thus, there is still a need for improvement.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the automatic door control method and the system based on the permanent magnet synchronous linear motor, and when the method and the system are applied, the control precision of the automatic door is ensured, meanwhile, the running noise of the automatic door can be effectively reduced, and the running safety of the automatic door is improved.
The technical scheme adopted by the invention is as follows:
the automatic door control method based on the permanent magnet synchronous linear motor comprises the following steps:
the vector-controlled permanent magnet synchronous linear motor is adopted to drive and control the automatic door;
carrying out rotor position detection on the permanent magnet synchronous linear motor through a Hall sensor to obtain a position detection result;
and carrying out linear correction on the torque of the permanent magnet synchronous linear motor according to the position detection result.
As a preferred aspect of the above technical solution, the detecting a position of a mover of a permanent magnet synchronous linear motor by a hall sensor to obtain a position detection result includes:
a switch Hall sensor is adopted to detect the position of a rotor of the permanent magnet synchronous linear motor, and a switch Hall signal is obtained;
carrying out sinusoidal processing on the switch Hall signal to obtain a sinusoidal Hall signal;
and estimating the rotor position of the permanent magnet synchronous linear motor according to the sinusoidal Hall signal to obtain a position detection result.
As a preferred aspect of the above technical solution, the detecting a position of a mover of a permanent magnet synchronous linear motor by a hall sensor to obtain a position detection result includes:
a linear Hall sensor is adopted to detect the position of a rotor of the permanent magnet synchronous linear motor, and a Hall voltage-rotor position relation curve is generated;
and resolving the corresponding angle of the rotor of the permanent magnet synchronous linear motor according to the Hall voltage-rotor position relation curve to obtain a rotor position detection result of the permanent magnet synchronous linear motor.
As a preferable aspect of the above technical solution, the method further includes:
two linear Hall sensors are arranged to detect the position of a rotor of the permanent magnet synchronous linear motor, and the distance between the two linear Hall sensors is half of the motor pole distance;
respectively generating corresponding Hall voltage-rotor position relation curves in the same coordinate system according to the detection data of the two linear Hall sensors;
and resolving the corresponding angle of the rotor of the permanent magnet synchronous linear motor according to the Hall voltage-rotor position relation curves corresponding to the two linear Hall sensors to obtain a rotor position detection result of the permanent magnet synchronous linear motor.
Preferably, as for the technical solution, a formula for resolving the rotor angle of the permanent magnet synchronous linear motor is as follows:
wherein u isαAnd uβThe voltage values are respectively corresponding to the two linear Hall sensors.
Preferably, the method further comprises performing speed reduction braking control on the automatic door by using a vector-controlled permanent magnet synchronous linear motor, wherein the speed reduction braking control has an S-shaped speed-time relation.
Preferably, the method further includes setting a transition condition from the constant speed stage to the braking stage of the automatic door driven by the permanent magnet synchronous linear motor, and when it is determined that the transition condition from the constant speed stage to the braking stage of the automatic door driven by the permanent magnet synchronous linear motor is reached, performing speed reduction braking control on the automatic door by the permanent magnet synchronous linear motor, wherein a speed-time relation of the speed reduction braking control is in an S-shaped curve.
Preferably, the determining of the transition condition includes:
pre-establishing an S-shaped curve braking distance model of the permanent magnet synchronous linear motor driven automatic door at different speeds;
substituting the speed of the current permanent magnet synchronous linear motor driving automatic door into an S-shaped curve braking distance model to obtain a corresponding braking distance Dth;
and determining the distance D between the current position of the automatic door driven by the permanent magnet synchronous linear motor and the end position, and when D is Dth, performing speed reduction braking control on the automatic door by the permanent magnet synchronous linear motor, wherein the speed-time relation of the automatic door is in an S-shaped curve.
The automatic door control system based on the permanent magnet synchronous linear motor comprises the permanent magnet synchronous linear motor, a Hall sensor and a master controller, wherein the permanent magnet synchronous linear motor is used for carrying out drive control on the automatic door, the Hall sensor carries out rotor position detection on the permanent magnet synchronous linear motor to obtain detection data, the master controller is used for processing the detection data of the Hall sensor to obtain a position detection result, and precision correction is carried out on the follow-up drive control process of the permanent magnet synchronous linear motor according to the position detection result.
Preferably, the system further comprises a memory, wherein the memory is connected with the master controller in an abutting mode and used for storing the processing data of the master controller.
The invention has the beneficial effects that:
the permanent magnet synchronous linear motor controlled by the vector replaces a traditional direct current brushless or brush motor to drive and control the automatic door, the permanent magnet synchronous linear motor adopts a direct drive mode, the running safety of the automatic door is obviously improved, and the permanent magnet synchronous linear motor does not have gears and belts driven by the traditional motor, so that the structure is simplified, the installation and the maintenance are convenient, and the service life of the product is obviously prolonged; meanwhile, the subsequent torque of the permanent magnet synchronous linear motor is linearly corrected according to the position detection result of the Hall sensor, so that the torque pulsation of the motor can be reduced, and the running noise of the automatic door is effectively reduced; the Hall sensor is used for replacing a traditional permanent magnet synchronous linear motor position acquisition sensor, so that the subsequent torque of the permanent magnet synchronous linear motor can be linearly corrected according to the position detection result, and the detection cost can be reduced; the speed reduction braking control with the speed-time relation in an S-shaped curve is carried out on the automatic door through the permanent magnet synchronous linear motor; the stable acceleration and deceleration performance can be obtained, so that the driving control process of the automatic door becomes smoother, and the mechanical impact is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of the use of a Hall sensor;
FIG. 3 is a schematic view of the sinusoidal processing of a switched Hall signal;
FIG. 4 is a schematic diagram of the spacing between linear Hall sensors;
FIG. 5 is a Hall voltage-mover position relationship graph;
FIG. 6 is a schematic diagram illustrating the effect of the S-shaped deceleration braking control;
FIG. 7 is a schematic view of a transition condition determination process;
fig. 8 is a schematic diagram of the system of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It should be understood that the terms first, second, etc. are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
It is to be understood that in the description of the present invention, the terms "upper", "vertical", "inside", "outside", and the like, refer to an orientation or positional relationship that is conventionally used for placing the product of the present invention, or that is conventionally understood by those skilled in the art, and are used merely for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present invention.
It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly adjacent" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example 1:
the embodiment provides an automatic door control method based on a permanent magnet synchronous linear motor, as shown in fig. 1, including the following steps:
s101, driving and controlling an automatic door by adopting a vector-controlled permanent magnet synchronous linear motor;
s102, carrying out rotor position detection on the permanent magnet synchronous linear motor through a Hall sensor to obtain a position detection result;
and S103, performing linear correction on the subsequent torque of the permanent magnet synchronous linear motor according to the position detection result.
When the automatic door is applied specifically, the vector-controlled permanent magnet synchronous linear motor replaces a traditional direct current brushless or brush motor to drive and control the automatic door, the permanent magnet synchronous linear motor adopts a direct-drive mode, so that the running safety of the automatic door is obviously improved, and the permanent magnet synchronous linear motor does not have gears and belts driven by the traditional motor, so that the structure is simplified, the installation and the maintenance are convenient, and the service life of a product is obviously prolonged; meanwhile, the subsequent torque of the permanent magnet synchronous linear motor is linearly corrected according to the position detection result of the Hall sensor (the use effect is shown in figure 2), so that the torque pulsation of the motor can be reduced, and the running noise of the automatic door is effectively reduced; the Hall sensor is used for replacing a traditional permanent magnet synchronous linear motor position acquisition sensor (such as a grating ruler, the cost is high), so that the detection cost can be reduced even if the subsequent torque of the permanent magnet synchronous linear motor is linearly corrected according to the position detection result.
Example 2:
as an optimization of the above embodiment, when the mover position of the permanent magnet synchronous linear motor is detected:
a switch Hall sensor is adopted to detect the position of a rotor of the permanent magnet synchronous linear motor, and a switch Hall signal is obtained;
carrying out sinusoidal processing on the switch Hall signal to obtain a sinusoidal Hall signal;
and estimating the rotor position of the permanent magnet synchronous linear motor according to the sinusoidal Hall signal to obtain a position detection result.
During specific implementation, a switch Hall signal is obtained through a switch Hall sensor, and if the switch Hall signal is used on the permanent magnet synchronous linear motor and driven according to a traditional method (a six-step method), the torque pulsation of the permanent magnet synchronous linear motor is large, so that the running noise of an automatic door body is large. In this embodiment, as shown in fig. 3, the switching hall signals are subjected to a sinusoidal process to obtain sinusoidal hall signals, and based on the obtained discrete position signals, the position of the motor mover is estimated from the current speed in signal angle intervals of every 60 degrees, while the position is forcibly corrected at each next commutation point.
Example 3:
as an optimization of the above embodiment, when the mover position of the permanent magnet synchronous linear motor is detected:
a linear Hall sensor is adopted to detect the position of a rotor of the permanent magnet synchronous linear motor, and a Hall voltage-rotor position relation curve is generated;
and resolving the corresponding angle of the rotor of the permanent magnet synchronous linear motor according to the Hall voltage-rotor position relation curve to obtain a rotor position detection result of the permanent magnet synchronous linear motor.
The method specifically comprises the following steps:
as shown in fig. 4, two linear hall sensors are arranged to detect the position of a rotor of the permanent magnet synchronous linear motor, and the distance between the two linear hall sensors is half the pole pitch of the motor;
according to the detection data of the two linear hall sensors, generating corresponding hall voltage-rotor position relation curves in the same coordinate system respectively, as shown in fig. 5;
and resolving the corresponding angle of the rotor of the permanent magnet synchronous linear motor according to the Hall voltage-rotor position relation curves corresponding to the two linear Hall sensors to obtain a rotor position detection result of the permanent magnet synchronous linear motor.
The resolving formula of the rotor angle of the permanent magnet synchronous linear motor is as follows:
wherein u isαAnd uβThe voltage values are respectively corresponding to the two linear Hall sensors.
The TMS320F28035 type DSP chip can be used as a master controller to realize the resolving, and the corresponding main codes are as follows:
HALL_SIN_Value_G＝_IQ12toIQ(AD9_Digit_Value_G)；
HALL_COS_Value_G＝_IQ12toIQ(AD10_Digit_Value_G)；
Angle_Value_G＝_IQatan2PU(HALL_SIN_Value_G,HALL_COS_Value_G)；
the fixed-point operation library function _ IQatan2PU is used for simplifying the symbol processing of the angle interval, obtaining a normalized angle value, improving the operation speed and meeting the control precision requirement.
Example 4:
as an optimization of the above embodiment, the control method further includes performing deceleration braking control on the automatic door in an S-shaped speed-time relationship as shown in fig. 6 by using a vector-controlled permanent magnet synchronous linear motor.
The S-shaped curve is characterized in that the acceleration and deceleration process of various sports is divided into three sections, namely a first stage: uniform acceleration (the rate of change of acceleration is a constant greater than zero); and a second stage: uniform acceleration (acceleration is constant); and a third stage: uniform acceleration (the rate of change of acceleration is a constant less than zero). Compared with the trapezoidal curve, the S-shaped curve can obtain stable acceleration and deceleration performance, so that the driving control process of the automatic door becomes smoother, and mechanical impact is reduced. Because the automatic door driven by the permanent magnet synchronous linear motor has no gear and belt transmission, large inertia speed reduction is difficult, and the S-shaped curve planning is adopted, so that the automatic door is subjected to smooth speed reduction braking.
Setting the transition condition of the automatic door driven by the permanent magnet synchronous linear motor from the constant speed stage to the braking stage, and when the condition that the automatic door driven by the permanent magnet synchronous linear motor reaches the transition condition from the constant speed stage to the braking stage is judged, performing speed reduction braking control on the automatic door by the permanent magnet synchronous linear motor, wherein the speed-time relation of the speed reduction braking control is in an S-shaped curve.
The specific process for judging the transition condition comprises the following steps:
pre-establishing an S-shaped curve braking distance model of the permanent magnet synchronous linear motor driven automatic door at different speeds;
substituting the speed of the current permanent magnet synchronous linear motor driving automatic door into an S-shaped curve braking distance model to obtain a corresponding braking distance Dth;
as shown in fig. 7, a distance D between the current position of the automatic door driven by the permanent magnet synchronous linear motor and the end position is determined, when D is greater than Dth, the automatic door is selected to enter a constant speed stage through the selector, the constant speed stage control is continued through the master controller, when D is equal to Dth, the automatic door is selected to enter a braking stage, and the speed reduction braking control with a speed-time relationship in an S-shaped curve is performed on the automatic door through the permanent magnet synchronous linear motor.
The braking distance in the braking phase of the automatic door is different for different running speeds of the permanent magnet synchronous linear motor (different load inertia). The braking distances at different speeds can be calculated off-line, then interpolation is carried out according to the characteristics of the braking curve, and the braking distances of the automatic door at different speeds are finally obtained, so that the automatic door can be stably braked at any time. The real-time speed and the braking distance obtained by off-line testing are subjected to curve fitting to obtain an empirical formula, when the automatic door runs to a braking stage, the main controller performs braking and speed reduction through an S-shaped curve, the speed reduction distance is determined by the empirical formula, and the automatic door can stably enter a sliding stage to run at a set sliding speed without mechanical impact caused by large speed reduction impact.
In the master, the corresponding main code is as follows:
s curve table:
SCurveTable[20]＝{1,4,9,16,25,36,49,64,80,96,112,128,143,156,167,176,183,188,191,192}；
s-curve speed control:
RefSpeed＝(INT16S)((float)TempSpeed*(float)SCurveTable[i]/(float)SCurveTable[19])+LowSpeedValue。
example 5:
this embodiment provides automatic door control system based on synchronous linear electric motor of permanent magnetism, as shown in fig. 8, including synchronous linear electric motor of permanent magnetism, hall sensor and master controller, synchronous linear electric motor of permanent magnetism is used for carrying out drive control to the automatically-controlled door, hall sensor carries out active cell position detection to synchronous linear electric motor of permanent magnetism, obtains detected data, the master controller is used for handling the detected data of hall sensor, obtains position detection result to carry out the precision correction to synchronous linear electric motor's follow-up drive control process of permanent magnetism according to position detection result. The memory is connected with the main controller in an abutting mode and used for storing processing data of the main controller. The main controller adopts TMS320F28035 type DSP chip.
The memory also stores corresponding codes required by the master controller and an S-shaped curve braking distance model of the permanent magnet synchronous linear motor driving the automatic door at different speeds so as to be taken by the master controller. The Memory may include, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Flash Memory (Flash Memory), first in first out Memory (FIFO), first in last out Memory (FILO), and/or the like.
Example 6:
the present embodiment provides a readable storage medium storing program instructions that, when executed in a master, perform the automatic door control method in the above implementation.
The various embodiments described above are merely illustrative, and the devices and units described as separate components may or may not be physically separate. Some or all of the devices and units can be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions may be essentially or partially implemented in the form of software products, which may be stored in readable storage media, such as ROM/RAM, magnetic disks, optical disks, etc., and include instructions for causing a computer device to execute the methods described in the embodiments or some parts of the embodiments.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. The automatic door control method based on the permanent magnet synchronous linear motor is characterized by comprising the following steps:
the vector-controlled permanent magnet synchronous linear motor is adopted to drive and control the automatic door;
carrying out rotor position detection on the permanent magnet synchronous linear motor through a Hall sensor to obtain a position detection result;
and carrying out linear correction on the torque of the permanent magnet synchronous linear motor according to the position detection result.
2. The method for controlling the automatic door based on the permanent magnet synchronous linear motor according to claim 1, wherein the step of detecting the position of the rotor of the permanent magnet synchronous linear motor through the hall sensor to obtain the position detection result comprises the following steps:
a switch Hall sensor is adopted to detect the position of a rotor of the permanent magnet synchronous linear motor, and a switch Hall signal is obtained;
carrying out sinusoidal processing on the switch Hall signal to obtain a sinusoidal Hall signal;
and estimating the rotor position of the permanent magnet synchronous linear motor according to the sinusoidal Hall signal to obtain a position detection result.
3. The method for controlling the automatic door based on the permanent magnet synchronous linear motor according to claim 1, wherein the step of detecting the position of the rotor of the permanent magnet synchronous linear motor through the hall sensor to obtain the position detection result comprises the following steps:
a linear Hall sensor is adopted to detect the position of a rotor of the permanent magnet synchronous linear motor, and a Hall voltage-rotor position relation curve is generated;
and resolving the corresponding angle of the rotor of the permanent magnet synchronous linear motor according to the Hall voltage-rotor position relation curve to obtain a rotor position detection result of the permanent magnet synchronous linear motor.
4. The method for controlling an automatic door based on a permanent magnet synchronous linear motor according to claim 3, characterized in that the method further comprises:
two linear Hall sensors are arranged to detect the position of a rotor of the permanent magnet synchronous linear motor, and the distance between the two linear Hall sensors is half of the motor pole distance;
respectively generating corresponding Hall voltage-rotor position relation curves in the same coordinate system according to the detection data of the two linear Hall sensors;
and resolving the corresponding angle of the rotor of the permanent magnet synchronous linear motor according to the Hall voltage-rotor position relation curves corresponding to the two linear Hall sensors to obtain a rotor position detection result of the permanent magnet synchronous linear motor.
5. The method for controlling the automatic door based on the permanent magnet synchronous linear motor according to claim 4, wherein a calculation formula of the rotor angle of the permanent magnet synchronous linear motor is as follows:
wherein u isαAnd uβThe voltage values are respectively corresponding to the two linear Hall sensors.
6. The method for controlling an automatic door based on a permanent magnet synchronous linear motor according to claim 1, characterized in that the method further comprises: the speed-reducing brake control of the automatic door with the speed-time relation in an S-shaped curve is carried out through a vector-controlled permanent magnet synchronous linear motor.
7. The method of claim 6 for controlling an automatic door based on a PMSM, the method further comprising: setting the transition condition of the automatic door driven by the permanent magnet synchronous linear motor from the constant speed stage to the braking stage, and when the condition that the automatic door driven by the permanent magnet synchronous linear motor reaches the transition condition from the constant speed stage to the braking stage is judged, performing speed reduction braking control on the automatic door by the permanent magnet synchronous linear motor, wherein the speed-time relation of the speed reduction braking control is in an S-shaped curve.
8. The method of claim 7, wherein the determining of the transient condition comprises:
pre-establishing an S-shaped curve braking distance model of the permanent magnet synchronous linear motor driven automatic door at different speeds;
substituting the speed of the current permanent magnet synchronous linear motor driving automatic door into an S-shaped curve braking distance model to obtain a corresponding braking distance Dth;
and determining the distance D between the current position of the automatic door driven by the permanent magnet synchronous linear motor and the end position, and when D is Dth, performing speed reduction braking control on the automatic door by the permanent magnet synchronous linear motor, wherein the speed-time relation of the automatic door is in an S-shaped curve.
9. The method for controlling an automatic door based on a permanent magnet synchronous linear motor according to any one of claims 1 to 8, wherein an automatic door control system based on a permanent magnet synchronous linear motor is provided, and the method is characterized in that: the automatic door detection device comprises a permanent magnet synchronous linear motor, a Hall sensor and a master controller, wherein the permanent magnet synchronous linear motor is used for driving and controlling an automatic door, the Hall sensor is used for carrying out rotor position detection on the permanent magnet synchronous linear motor to obtain detection data, the master controller is used for processing the detection data of the Hall sensor to obtain a position detection result, and precision correction is carried out on the follow-up driving and controlling process of the permanent magnet synchronous linear motor according to the position detection result.
10. The system of claim 9, further comprising a memory interfaced with the master controller for storing data processed by the master controller.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112066863A (en) * | 2020-11-10 | 2020-12-11 | 中国科学院宁波材料技术与工程研究所 | Moving-coil linear motor position calibration device and method |
| CN112491320A (en) * | 2020-11-19 | 2021-03-12 | 杭州海康威视数字技术股份有限公司 | Method and system for determining switching time by motor-driven mechanism |
| CN114488797A (en) * | 2022-01-07 | 2022-05-13 | 南京工程学院 | Automatic door opening and closing motion curve planning method, controller and control method |
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