CN113734720B - Direct-drive multi-track flexible conveying system and control method thereof - Google Patents

Direct-drive multi-track flexible conveying system and control method thereof Download PDF

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Publication number
CN113734720B
CN113734720B CN202111067906.1A CN202111067906A CN113734720B CN 113734720 B CN113734720 B CN 113734720B CN 202111067906 A CN202111067906 A CN 202111067906A CN 113734720 B CN113734720 B CN 113734720B
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annular
primary
rotor
permanent magnet
annular base
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CN113734720A (en
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沈燚明
曹彦飞
阎彦
史婷娜
夏长亮
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Zhejiang University ZJU
Zhejiang University Advanced Electrical Equipment Innovation Center
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Zhejiang University ZJU
Zhejiang University Advanced Electrical Equipment Innovation Center
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Priority to PCT/CN2022/070019 priority patent/WO2023035516A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Linear Motors (AREA)

Abstract

The invention discloses a direct-drive multi-track flexible conveying system and a control method thereof. The device comprises an annular base, a primary excitation type linear motor, a power supply module, a power driving module, a position detection module and a wireless communication module. The primary excitation type linear motor comprises a long stator and a plurality of rotors, wherein the long stator is formed by connecting iron cores of a multi-section tooth socket structure and is installed on an annular base, and the rotors comprise a short primary, a power driving module, a position detection module and a wireless communication module. The short primary is of a double-sided structure and is composed of a permanent magnet array, an armature winding and a primary iron core, wherein the permanent magnet array is of an asymmetric structure. The power supply module is composed of a power supply unit and a power receiving unit, and the power receiving unit is mounted on each mover. The annular base is composed of a plurality of annular bases, and the rotor can perform orbital transfer operation on different annular bases. The invention adopts the primary excitation type linear motor with high thrust density, the long stator has simple structure and low cost, all the rotors can completely and independently run, and the flexible conveying is carried out on different annular bases in an orbital transfer way.

Description

Direct-drive multi-track flexible conveying system and control method thereof
Technical Field
The invention belongs to a flexible conveying system and a method in the technical field of flexible conveying systems, and particularly relates to a direct-drive multi-rail flexible conveying system and a control method thereof.
Background
With the development of the manufacturing technology towards precision, intellectualization and flexibility, the demand of the industrial application fields such as long-stroke automatic production lines, packaging and logistics line transportation and the like on the flexible conveying system is increasing. The traditional conveying system generally adopts a rotating motor and mechanical parts such as a chain and a belt to realize linear transmission, has low transmission efficiency, low reliability and control precision, and does not have the basis of flexibility and intellectualization. In recent years, in order to meet the demands for precision, intelligence, and flexibility in manufacturing technology, flexible conveying systems directly driven by permanent magnet linear motors have been studied and applied. The permanent magnet linear motor has the advantages of both the permanent magnet linear motor and the linear motor, can directly convert electric energy into mechanical energy of linear motion without an intermediate mechanical transmission part, has the remarkable advantages of high thrust density, high speed, high precision, high efficiency and the like, and can better meet the requirement of a flexible conveying system.
The working principle of the conventional permanent magnet linear motor is as follows: when alternating current is applied to the armature winding, an armature magnetic field is generated in the air gap. At the same time, the permanent magnet poles generate an excitation magnetic field in the air gap. The armature magnetic field and the permanent magnet excitation magnetic field jointly form an air gap magnetic field. When the motor is started, the magnetic pole is dragged, the armature traveling wave magnetic field and the permanent magnet excitation magnetic field are relatively static, and therefore current in the armature winding generates electromagnetic thrust under the action of the air gap magnetic field. If the armature is fixed, the magnetic pole is drawn into the synchronous linear motion under the action of thrust; otherwise, the armature is drawn to move linearly synchronously.
Because the motion stroke is long (usually tens of meters to hundreds of meters), the cost is a major constraint for the popularization and application of the flexible conveying system directly driven by the traditional permanent magnet linear motor. When a movable armature structure is adopted, the permanent magnet is used as a long stator and needs to be laid in the whole movement stroke range, and the using amount of the permanent magnet is very large; when a moving magnetic pole structure is adopted, the armature winding and the iron core are used as long stators and need to be laid in the whole movement stroke range, and the armature winding needs to be supplied with power in a segmented mode through the parallel connection of a plurality of inverters, so that the control is complex. Therefore, the overall cost is high whether a moving armature or a moving magnetic pole structure is adopted.
At present, some patents propose flexible conveying systems directly driven by conventional permanent magnet linear motors, such as patents with patent numbers WO1996027544a1(1996), US8996161B2(2015), WO2015028212a1(2015), EP3045399B1(2017), US10112777B2(2018), US10181780B2(2019), US10407246B2(2019), WO2019007198a1(2019), and US10773847B2(2020), all of which are conventional permanent magnet linear motors using moving magnetic pole structures, armature windings and iron cores as long stators. In order to greatly reduce the cost of the flexible conveying system directly driven by the traditional permanent magnet linear motor, the invention innovatively provides the flexible conveying system directly driven by the primary excitation type permanent magnet linear motor, wherein permanent magnets and an armature are concentrated on one side of the armature to serve as a short rotor, and a secondary is only composed of laminated cores and serves as a long stator.
The existing primary excitation type permanent magnet linear motor mainly comprises the following two types:
1. switch magnetic chain type permanent magnet linear motor
For example, the switching magnetic chain type permanent magnet linear motor proposed in chinese patents CN101355289B and CN108155775B, the topological structure clamps the permanent magnet at the middle position of the armature core teeth, and the usage of the permanent magnet is small and the length of the armature is short, so that the cost can be greatly reduced in long-stroke applications, but new problems are brought about: (1) the armature core is composed of a plurality of discrete components, and is difficult to process and install; (2) the groove area and the permanent magnet are mutually restricted, and the thrust density is limited; (3) the permanent magnet is surrounded by the armature winding, and the heat dissipation condition is poor.
2. Magnetic flux reverse type permanent magnet linear motor
As the magnetic flux reversal type permanent magnet linear motor proposed in chinese patent CN101552535B, the topology places the permanent magnets on the surface of the armature core teeth close to the air gap, and the usage amount of the permanent magnets is small and the length of the armature is short, so that the cost can be greatly reduced in long-stroke application occasions, but new problems are brought about: because the magnetic circuits are connected in series, the armature magnetic circuit needs to pass through the permanent magnet, so that the equivalent air gap of the armature magnetic circuit is enlarged, and the thrust density is limited.
The two types of primary excitation type permanent magnet linear motors are both of a symmetrical excitation structure, namely excitation magnetic fields generated by permanent magnets with two polarities are mutually symmetrical, so that only fundamental wave and odd harmonic magnetomotive force components exist after fast Fourier transform, and even harmonic magnetomotive force components do not exist. For the primary excitation type permanent magnet linear motor which generates thrust by means of an effective harmonic magnetic field, the thrust density of the motor is limited to be further improved only by means of fundamental wave and odd-order harmonic magnetomotive force.
Disclosure of Invention
Aiming at the technical problems of high cost of the existing flexible conveying system and limited thrust density of the existing primary excitation type permanent magnet linear motor, the invention provides a flexible conveying system directly driven by an asymmetric multi-harmonic primary excitation type permanent magnet linear motor. Meanwhile, the long stator adopted by the invention is only composed of laminated cores, the structure is simple, the cost is low, all the rotors can completely and independently operate, and the flexible conveying is realized by rail change on different annular bases.
The technical scheme of the invention is as follows:
a direct-drive multi-rail flexible conveying system comprises:
the system comprises two or more annular bases and a primary excitation type linear motor, wherein the annular bases are arranged on the same horizontal plane, and the primary excitation type linear motor is arranged on the annular side surface of the annular base; the primary excitation type linear motor comprises a long stator and a plurality of rotors, wherein the rotors run independently without electromagnetic coupling, and are adsorbed on the long stator through magnetic attraction, and an air gap is reserved between the rotors and the long stator; gaps for accommodating single rotors to pass are reserved between the adjacent annular bases, and the rotors perform track transfer operation from one annular base to the other annular base at the gaps aligned in parallel with different annular bases; the long stator is fixedly connected to the annular base and is formed by arranging and seamlessly connecting a plurality of sections of stator cores with tooth groove structures along the annular side face of the annular base, the inner surface of each stator core is fixed on the annular side face of the annular base, and tooth grooves are formed in the outer surface of each stator core along the annular direction of the annular base; the active cell includes the roller guide rail assembly of short elementary and both sides, short elementary and roller guide rail assembly pass through support fixed connection and are in the same place, short elementary outside that is located long stator, leave the air gap between short elementary and the long stator, short elementary both sides all are equipped with roller guide rail assembly, roller guide rail assembly includes gyro wheel and guide rail, the guide rail is along annular base's annular direction, be on a parallel with long stator and arrange the direction and lay and the rigid coupling in annular base's annular side, the gyro wheel is connected on the guide rail and is removed along the guide rail. Therefore, the rotor is fixed on the guide rail through the roller and moves on the guide rail through the roller.
The short primary and the long stator are maintained with an air gap under the interconnected support of the rollers and the rails in the roller rail assembly.
The stator core is divided into a straight line section arranged on the plane of the annular side surface of the annular base and an arc section arranged on the arc surface of the annular side surface of the annular base, and the arc inner diameter of the stator core of the arc section is the same as the outer diameter of the arc section of the annular side surface of the annular base.
The short primary comprises a permanent magnet array, an armature winding and a primary iron core which are in an asymmetric structure, the middle part of the primary iron core is a yoke part, the primary iron core on two sides of the yoke part is provided with a semi-closed slot on one side facing the long stator and one side far away from the long stator, each side is provided with a plurality of semi-closed slots at intervals along the direction parallel to the arrangement direction of the long stator, an armature tooth is formed between every two adjacent semi-closed slots, namely a tooth part of the primary iron core, each armature tooth is wound with a coil to be used as the armature winding, namely a coil is wound between every two adjacent semi-closed slots where the armature tooth is located; the permanent magnet array is formed by a plurality of permanent magnet units which are closely arranged side by side and are attached to the surface of the armature teeth of the primary iron core, each permanent magnet unit is formed by fixedly and sequentially attaching a permanent magnet A and a permanent magnet B side by side along any one direction which is parallel to the long stator, the polarities of the permanent magnets A and B are opposite, and the width of the permanent magnet B along the arrangement direction of the long stator is larger than that of the permanent magnet A along the arrangement direction of the long stator, so that asymmetry is formed; and a permanent magnet B is uniformly arranged at the opening of each semi-closed slot, and a permanent magnet A is arranged on the outer end surface of the armature tooth of each semi-closed slot.
The armature winding adopts a concentrated winding structure and is divided into an upper unit and a lower unit, the upper unit of the armature winding is wound on the armature teeth on the upper side of the yoke part of the primary iron core, the lower unit of the armature winding is wound on the armature teeth on the lower side of the yoke part of the primary iron core, and the upper unit and the lower unit of the armature winding supply power independently; when the rotor runs on a single annular base, the armature winding units close to the air gap side are independently powered; when the rotor operates in the orbital transfer mode of the two annular bases, the upper unit and the lower unit of the armature winding at the orbital transfer section supply power at the same time, then the armature winding power supply unit on the side of the annular base which operates originally is powered off, and the armature winding on the side of the annular base which operates newly supplies power.
The magnetic pole directions of the permanent magnet A and the permanent magnet B are both along the depth direction of the tooth grooves and are perpendicular to the moving direction of the rotor.
The primary iron core is a laminated iron core, and the laminating direction of the laminated iron core is along the direction vertical to the moving direction of the rotor and parallel to the mounting surface of the stator iron core of the long stator.
The number of the permanent magnet units is the same as the number of teeth of the primary iron core, and the number of teeth of the stator iron core of the long stator in the length range of a single rotor is set to be (kN)ph+2Nph) +/-1, where kNphRepresenting the number of teeth of the primary core, k representing the slot number factor, NphThe number of phases of the permanent magnet linear motor.
The primary excitation type linear motor also comprises a power supply module, wherein the power supply module mainly comprises a power supply unit and a power receiving unit, and the power supply unit and the power receiving unit are respectively arranged on the annular base and the rotor;
the power supply unit is composed of two sliding contact lines of a U-shaped structure, each sliding contact line is arranged along the annular direction of the annular base and parallel to the arrangement direction of the long stator and fixedly connected to the annular side face of the annular base, the two sliding contact lines are arranged on the two sides of the long stator side by side respectively to form a positive power line and a negative power line respectively, and the end parts of the two sliding contact lines are externally connected with a power supply;
the power receiving unit is composed of two current collectors containing carbon brushes, the two current collectors are respectively in sliding contact connection with the two sliding contact lines, and the current collectors, the short primary and the roller guide rail assembly are fixed together through a support. Therefore, the power supply unit and the power receiving unit are in sliding contact connection, and electric energy can be transmitted to the rotor in real time.
The current collector has elasticity, ensures that the rotor can be reliably connected with the sliding contact line when moving along the ring of the ring-shaped base, and reliably transmits electric energy to the rotor in real time.
Elementary excitation type linear electric motor still include position detecting module, position detecting module all is connected to the unit that receives electricity, position detecting module includes the passive magnetic grid chi of laying along long stator and the signal reading head of integrated in the active cell, the loop orientation of passive magnetic grid chi along annular base, arrange the direction in parallel with long stator and arrange and rigid coupling in annular base's annular side, signal reading head and active cell fixed mounting together, specifically signal reading head and current collector, short elementary, the gyro wheel guide rail subassembly passes through the support fixed together, the signal reading head is located passive magnetic grid chi side, the cooperation of signal reading head and passive magnetic grid chi carries out position detection.
The position detection module can detect the relative movement position of each rotor unit on the annular base in real time and transmits a position signal to the power driving module.
The primary excitation type linear motor further comprises a power driving module, a wireless communication module and an upper computer, wherein the power driving module, the wireless communication module and the rotor are fixedly installed together, specifically, the power driving module, the wireless communication module, a signal reading head, a current collector, a short primary and a roller guide rail assembly are fixed together through a support, and the power driving module acquires electric energy from an electric receiving unit and outputs three-phase alternating current to an armature winding of the short primary and the middle primary of the rotor for driving the rotor to move; the position detection module is connected with the upper computer through the wireless communication module, and the wireless communication module transmits each rotor parameter detected and collected by the position detection module to the upper computer in real time and receives a motion instruction sent by the upper computer.
The power driving module and the wireless communication module are connected to the power receiving unit, and the power receiving unit supplies power to the power driving module, the position detection module and the wireless communication module which are integrally installed with the rotor.
The power driving module comprises a lithium battery energy storage unit, a hardware protection unit, a central control unit, a three-phase full-bridge silicon carbide inversion unit and a signal acquisition and conditioning unit; the power supply module comprises a power receiving unit, a power supply unit, a lithium battery energy storage unit, a hardware protection unit, a central control unit and a three-phase full-bridge silicon carbide inversion unit, wherein the power receiving unit is connected with the power supply module; the position detection module is connected with the central control unit, and the wireless communication module is connected with the central control unit.
The power driving module receives the position signal transmitted by the position detection module and the movement instruction transmitted by the wireless communication module, and generates three-phase PWM current to drive the rotor to move.
The wireless communication module adopts a 5g communication module, transmits parameters such as the position, the speed, the voltage, the current and the like of each rotor to an upper computer in real time, and receives a motion instruction sent by the upper computer.
The power receiving unit of the power supply module, the signal reading head of the position detection module, the power driving module and the wireless communication module are integrally installed around the short primary and are fixed on the support to synchronously move along with the short primary.
Secondly, a control method of the direct-drive multi-track flexible conveying system comprises a cooperative control algorithm and a track transfer control algorithm; the cooperative control algorithm comprises the following steps:
the method comprises the following steps: parallel synchronous control is adopted among the rotors, and an upper computer issues control instructions to the rotors in parallel;
step two: according to the position signal feedback, the upper computer monitors the real-time positions [ P ] of the N rotors in real time1,P2,…,PN]According toCalculating the running distance L between N rotors at real time1,L2,…,LN]Wherein L is1Denotes the distance between the first mover and the second mover, L2Denotes the distance, L, between the second mover and the third moverNThe distance between the Nth mover and the first mover is represented;
step three: comparing and judging the running distance [ L ] between N rotors1,L2,…,LN]Distance L from minimum safe operationsWhen the k-th section runs a distance LkWhen the minimum safe operation distance Ls is less than the minimum safe operation distance Ls, operation data of the kth mover and the kth +1 mover are called;
step four: according to the speed and position instructions, the deviations of the actual operation speed and position values of the kth mover and the k +1 th mover and the instruction values are respectively judged, when the deviations are larger than a set threshold value, the mover is determined to have a fault, the speed and position instruction values are issued again to the mover, and the power driving module adjusts the output driving current to correct the motion state;
step five: monitoring the operation data of the faulty rotor, and if the operation distance between the faulty rotor and the adjacent rotor is still less than the minimum safe operation distance L in ten control cyclessAll the rotors are stopped emergently, and the fault rotor sends a fault signal to the upper computer;
the track transfer control algorithm comprises the following steps:
the method comprises the following steps: setting track change mark position [ P1 ] on each annular baseon，P1off，P2on，P2off，…,PNon,PNoff]Where the numbers 1,2 and N denote the 1 st, 2 nd and nth annular seats respectively, on denotes the start position of the track section and off denotes the end position of the track section. The track transfer section is selected from straight line sections of the annular base, and the starting position and the ending position are arranged at the superposition position of the straight line sections of two adjacent annular bases;
step two: an upper computer sends track instructions to each rotor in parallel, wherein the track instructions comprise operation of the existing annular base or operation of the adjacent annular base after track change;
step three: receivingAfter the track instruction is received, each rotor determines the real-time position [ P ] according to the position feedback signal1,P2,…,PN]And judging the real-time position of the track changing section and the initial position of the track changing section on the annular base [ P1 ]on，P2on，…,PNon]The distance of (a);
step four: for each rotor needing to be subjected to orbital transfer, after the rotor enters an orbital transfer section initial position, the upper unit and the lower unit of an armature winding of the rotor supply power simultaneously, then the armature winding power supply unit on the side of the ring-shaped base which operates originally is powered off, and the armature winding on the side of the ring-shaped base which operates newly supplies power;
step five: after the orbit is changed, the rotors feed back real-time position signals of the new annular base to the upper computer, and the upper computer monitors the running state of each rotor.
The invention adopts the primary excitation type linear motor with high thrust density, the long stator has simple structure and low cost, all the rotors can completely and independently run, and the flexible conveying is carried out on different annular bases in an orbital transfer way.
Compared with the prior art, the invention has the beneficial effects that:
(1) the permanent magnet linear motor is directly driven by the primary excitation type permanent magnet linear motor, the permanent magnets and the armature with higher cost are concentrated on one side of the armature to serve as the short rotor, the secondary is only composed of the laminated iron core with lower cost and serves as the long stator, and the system cost can be greatly reduced.
(2) The invention adopts the asymmetric excitation structure of the permanent magnet, can generate harmonic magnetomotive force with double pole pairs of higher amplitude under the same permanent magnet dosage, can balance and utilize fundamental wave magnetomotive force and second harmonic magnetomotive force by reasonably selecting the number of secondary teeth, and effectively improves the thrust density of the motor.
(3) Each rotor of the invention is provided with an independent power supply module and a power driving module, electromagnetic coupling does not exist between the rotors, and the rotors can completely independently operate and realize high-freedom flexible conveying. The moving and the stator adopt a modular structure, are convenient to process and manufacture, and can be flexibly configured according to actual requirements.
(4) The rotor of the invention adopts a double-sided structure, can realize orbital transfer operation on different annular bases, has higher degree of freedom compared with single-annular base operation, and the orbital transfer operation is switched by magnetic attraction without a complex mechanical orbital transfer structure.
Drawings
FIG. 1 is a schematic structural diagram of a direct-drive multi-track flexible conveying system;
FIG. 2 is a cross-sectional view of a direct drive multiple track flexible conveyor system; (a) is a plan view of the direct-drive type annular flexible conveying system, (B) is a sectional view A-A of (a), (c) is a partial enlarged view B of (B), and (d) is a perspective assembly view between the long stator and the rotor;
FIG. 3 is a schematic diagram of the structure of a long stator straight line segment and an arc segment of a primary excitation type linear motor; (a) is a structural schematic diagram of a straight section of the stator, and (b) is a structural schematic diagram of an arc section of the stator;
FIG. 4 is a side view of a direct drive multiple track flexible conveyor system; (a) is an overall view, (b) is a partially enlarged view;
fig. 5 is a structural schematic diagram of a primary excitation type linear motor mover; (a) is a left side view, (b) is a right side view;
FIG. 6 is a schematic diagram of electrical and signal connections of modules of the mover;
fig. 7 is a schematic view of a short primary structure of a primary excitation type linear motor; (a) is a plan view of the short primary, (b) is a sectional view of the short primary;
FIG. 8 is a schematic diagram of a permanent magnet unit structure and magnetic field distribution;
FIG. 9 is a comparison graph of air gap flux density waveform and harmonic distribution under a stator slotless core; (a) is a comparison graph of air gap flux density waveforms, (b) is a comparison graph of harmonic distribution;
fig. 10 is a short primary armature winding connection diagram;
FIG. 11 is a graph of the sum of fundamental and second harmonic amplitudes as a function of the width ratio of the permanent magnets;
FIG. 12 is a graph showing the variation of the sum of the amplitudes of the effective harmonics of each order with the tooth width ratio of the stator core under the modulation of the stator core;
FIG. 13 is a graph of motor average thrust force as a function of stator core tooth width ratio;
FIG. 14 is a graph comparing the average thrust of the motor under asymmetric excitation with symmetric excitation;
FIG. 15 is a block diagram of inter-mover cooperative control strategies;
FIG. 16 is a schematic view of the operational states of each mover;
FIG. 17 is a schematic view of a minimum safe operating distance between two movers;
fig. 18 is a schematic diagram of mover orbital transfer operation winding switching.
In the figure: the linear motor comprises an annular base 1, a primary excitation type linear motor 2, a long stator 21, a mover 22, a guide rail 23A, a roller 23B, a straight line segment 21A, an arc segment 21B, a power supply module 24, a current collector 242, a sliding contact line 241, a power driving module 25, a position detection module 26, a passive magnetic grid ruler 26A, a signal reading head 26B, a wireless communication module 27, a short primary 28, a permanent magnet array 281, an armature winding 282 and a primary iron core 283.
Detailed Description
In order to describe the present invention in more detail, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a direct-drive multi-track flexible conveying system according to this embodiment, which mainly includes an annular base 1 and a primary excitation type linear motor 2. In this embodiment, the annular base 1 is made of marble, and may be constructed of aluminum profile in practical use. The multi-track flexible conveying system comprises two or more annular bases 1, wherein the annular bases 1 are arranged on the same horizontal plane, and the annular bases 1 are annular. In the present embodiment, a multi-track flexible conveying system including two annular bases is taken as an example. The primary excitation type linear motor 2 is arranged on the annular side face of the annular base 1, the annular side faces of the annular bases 1, on which the primary excitation type linear motor is arranged, are aligned in parallel and located on the same plane, an air gap for accommodating the rotor to pass is reserved, and the rotor of the primary excitation type linear motor performs orbital transfer operation from one annular base 1 to another annular base 1 at the air gap where different annular bases are aligned in parallel. The primary excitation type linear motor 2 comprises a long stator 21 and a plurality of movers 22, wherein the movers operate independently without electromagnetic coupling, and the number of the movers can be increased or decreased according to actual needs. Meanwhile, the mover 22 can be developed for the second time according to different application requirements, and after mounting holes are formed in the surface of the mover, the mover can be used for mounting different bearing devices and conveying articles with different specifications.
Fig. 2 is a cross-sectional view of a direct drive multi-track flexible conveying system. The long stator 21 is fixed to the annular base 1 and formed by seamless joining of stator cores of a multi-segment tooth space structure, and includes a plurality of straight segments 21A and a plurality of arc segments 21B as shown in fig. 3. The stator core is provided with tooth grooves on the surface of one side facing the rotor, the tooth grooves are arranged at intervals along the moving direction of the rotor, each tooth groove is arranged along the moving direction vertical to the rotor, and the surface of one side back to the rotor is provided with threaded holes and fixedly connected to the annular base through screws. The inner diameter of the stator core of the arc-shaped section 21B at the side back to the rotor is the same as the outer diameter of the annular arc-shaped section of the annular base 1. The mover 22 is fixed to a guide rail 23A by rollers 23B, and the guide rail 23A is laid along the long stator 21 and fixed to the ring base 1. The mover 22 is attracted to the long stator 21 by magnetic attraction with an air gap left, and moves on the guide rail by the roller. The size of the air gap between the rotor and the long stator is set to be 1-2mm, and in the embodiment, the size of the air gap is 2 mm. In practical application, considering the radius of the annular base, the length of the rotor and the installation distance of the front roller and the rear roller, the selection of the air gap is restricted, namely, the rotor in the shape of a straight line section can smoothly pass through the arc section of the stator without being blocked while selecting a smaller air gap to improve the thrust density of the motor.
The power supply module 24 is composed of a power supply unit and a power receiving unit, and the power supply unit and the power receiving unit are mounted to the ring base 1 and the mover 22, respectively. In this embodiment, the power supply unit on each annular base is composed of two sliding contact lines 241 with U-shaped structures, the two sliding contact lines are respectively arranged on two sides of the long stator 21 side by side and are fixedly connected to the base to respectively form a positive electrode power line and a negative electrode power line, and one end of each sliding contact line is externally connected with a power supply. Each of the movers has a power receiving unit mounted thereon, and the power receiving units on the left and right sides of the mover 22 are each constituted by two current collectors 242 including carbon brushes, and the two current collectors 242 are respectively disposed on both sides of the short primary 28. The current collector 242 is connected with the sliding contact line 241 in a sliding contact manner, and the current collector 242 has elasticity, so that the mover can be reliably connected with the sliding contact line 241 when the mover moves in a straight section and an arc section, and electric energy can be reliably transmitted to the mover 22 in real time. When the carbon brush on the current collector 242 is worn seriously, the whole current collector 242 can be replaced to ensure that the current collector is reliably connected with the sliding contact line 241. Through the mode that wiping line and current collector sliding contact sent the electricity, the cable connection problem when a plurality of active cell move can be effectively avoided, and the cost of current collector change is lower. The position detection module 26 is composed of a passive magnetic grating ruler 26A laid along the long stator and a signal reading head 26B integrated with the mover, and the position detection module 26 feeds back the acquired speed and position signals to the mover 22 in real time for driving control. In order to improve the positioning precision of the rotor, the position detection module can adopt a grating ruler with higher precision.
Fig. 4 is a side view of a direct drive multiple track flexible conveyor system. The two annular bases are arranged on the same horizontal plane. The primary excitation type linear motor 2 is arranged on the side face of the annular base, the side faces of the two annular bases on which the primary excitation type linear motor is arranged are aligned, an air gap for accommodating a rotor to pass is reserved, and the overlapped part of the two annular bases is a track changing section. When the mover 22 operates in the track-changing section, four rollers 23B are supported on two sides to operate on the guide rail 23A. At this time, the power module 24 located at the side of the newly entered ring-shaped base simultaneously starts to supply power to the mover 22.
Fig. 5 is a structural diagram of a mover of a primary excitation type linear motor, and a main body portion of the mover 22 is composed of a short primary 28. Meanwhile, four rollers 23B are respectively installed at the left and right sides of the mover 22 for supporting the mover to be fixed on the guide rail 23A and maintaining a certain air gap with the long stator 21. The power driving module 25, the wireless communication module 27 and the upper computer are further included, and the power driving module 25, the wireless communication module 27 and the rotor 22 are fixedly installed together. The powered unit, the signal reading head 26B of the position detection module, the power driving module 25 and the wireless communication module 27 are all integrally mounted around the short primary 28 and move therewith.
Fig. 6 is a schematic diagram of electrical and signal connection of each module of the mover. The power driving module 25 obtains electric energy from the power receiving unit in real time and stores a part of the electric energy in the lithium battery through the lithium battery energy storage unit. The three-phase full-bridge silicon carbide inverter unit inverts the direct current acquired from the power receiving unit and outputs the inverted direct current as three-phase alternating current for driving the mover 22 to move. When the power receiving unit fails or is suddenly powered off, the lithium battery energy storage unit is used for supplying power to all modules on the mover 22. In addition, the hardware protection unit provides protection for faults such as overcurrent and short circuit of the short primary 28, and the signal acquisition and conditioning unit conditions and feeds back signals such as acquired current, voltage and temperature to the central control unit. The central control unit is the core of the power driving module and is responsible for receiving the position signal transmitted by the position detection module and the motion instruction transmitted by the wireless communication module, and generating a three-phase PWM signal to the three-phase full-bridge silicon carbide inverter unit for driving the rotor 22 to move. The wireless communication module can transmit each rotor parameter to an upper computer in real time, receive a motion instruction sent by the upper computer and feed the motion instruction back to the power driving module.
Fig. 7 is a structural diagram of a short primary 28 of a primary excitation type linear motor, which includes a permanent magnet array 281, an armature winding 282, and a primary core 283, which are asymmetrically configured. In this embodiment, permanent magnet array 281 is composed of NpEach permanent magnet unit is formed by attaching a permanent magnet A and a permanent magnet B side by side from left to right in a single direction, and the widths of the permanent magnets A and the permanent magnets B are different and the polarities of the permanent magnets A and the permanent magnets B are opposite. Fig. 8 is a schematic diagram of a permanent magnet unit structure and magnetic field distribution, and it can be seen from the diagram that when the permanent magnets a and B are asymmetrically distributed with different widths, the peak values of the magnetic fields of the permanent magnets a and B are different, which mainly shows that the amplitude of the magnetic field under the permanent magnet with smaller width is higher, and the amplitude of the magnetic field under the permanent magnet with larger width is lower, and the asymmetry of the positive and negative amplitudes brings extra even harmonics which can be effectively utilized. Fig. 9 shows the air gap flux density waveform and harmonic distribution under the stator slotless core in this embodiment, by introducing the asymmetric permanent magnet excitation structure, the permanent magnet magnetomotive force distribution in the motor can be expanded from the original symmetric odd number multiple distribution to the asymmetric integer multiple distribution, and under the condition of the same permanent magnet usage, the even number multiple harmonic magnetomotive force with larger amplitude, especially the harmonic magnetomotive force of two times, can be additionally increased and effectively utilizedAnd the subharmonic magnetomotive force constructs a brand new operation mode of common excitation of multiple permanent magnet magnetomotive forces.
Fig. 10 shows a connection diagram of short primary armature windings, the armature winding 282 uses a single-layer concentrated winding, the primary core 283 winds a coil every other armature tooth on both upper and lower sides, the three-phase winding has 12 coils, and the adjacent two coils on each side have an electrical angle difference of 60 degrees. The armature winding is divided into an upper unit and a lower unit, the upper unit of the armature winding is wound on the tooth part on the upper side of the yoke part of the primary iron core, the lower unit of the armature winding is wound on the tooth part on the lower side of the yoke part of the primary iron core, and the upper unit and the lower unit of the armature winding supply power independently. When the mover 22 operates on a single ring-shaped base, power is supplied individually by the armature winding units near the air gap side; when the rotor operates in the orbital transfer sections of the two annular bases, the upper unit and the lower unit of the armature winding in the orbital transfer sections are powered on simultaneously, then the armature winding power supply unit on the side of the annular base which operates originally is powered off, and the armature winding on the side of the annular base which operates newly is powered on. At this time, when the mover 22 leaves the track segment, the mover 22 enters a new ring base to start operating because the attraction force on the energized side of the armature winding is stronger.
The primary core 283 is a laminated core of an integral punched tooth space structure, and the lamination direction of the laminated core is perpendicular to the movement direction and parallel to the stator core mounting plane. A plurality of semi-closed slots are formed in the two sides of the yoke portion of the primary iron core, the semi-closed slots are arranged at intervals along the moving direction, and a primary iron core tooth portion is formed between every two adjacent semi-closed slots.
The arrangement of the two ring-shaped base track-changing long stators meets the following requirements: the central lines of the long stator iron core teeth on the two sides are staggered by half of the pole distance along the motion direction to form an asymmetric structure, and the pole distance is the periodic distance between the adjacent iron core teeth of the long stator. The optimum number of stator core teeth satisfies the following relationship: when the number of the primary iron core slots on one side is 2Nph(NphPhase number), the optimum number of teeth of the stator core is 4NphPlus or minus 1; when the number of the primary iron core slots on one side is 4NphThe optimum number of stator core teeth is 6NphPlus or minus 1; when the number of the primary iron core slots on one side is 6NphOptimum number of stator core teethMesh of 8NphAnd +/-1. By analogy, the optimal tooth number of the stator core is set to (kN)ph+2Nph) +/-1, where kNphDenotes the number of teeth on one side of the primary core 283, k denotes the slot number coefficient, NphThe number of the phases of the permanent magnet linear motor. In the present embodiment, the number of phases used is 3, and the number of stator core teeth is 17.
Table 1 shows the fundamental amplitude of the counter electromotive force at different numbers of teeth of the stator core, and it can be seen from table 1 that when the number of teeth of the stator core is 17, the fundamental amplitude of the counter electromotive force is the largest, and when the number of teeth of the stator core is 19, the fundamental amplitude is the second largest. Along with the reduction of the number of teeth of the stator core, the amplitude of the fundamental wave of the opposite electromotive force is reduced, the amplitude of the fundamental wave under the condition that the number of teeth of the stator core is 13/14 and the number of teeth of the stator core is close to the slot pole is smaller than the amplitude when the number of teeth of the stator core is 17/19, and the secondary harmonic magnetomotive force cannot be efficiently utilized due to the close slot pole with the smaller number of teeth of the stator core. Along with the increase of the number of teeth of the stator core, the amplitude of the fundamental wave of the opposite electromotive force is reduced more obviously, and the main reason is that the fundamental wave magnetomotive force cannot be efficiently utilized when the number of teeth of the stator core is larger. Therefore, in order to effectively utilize fundamental wave magnetomotive force and second harmonic wave magnetomotive force at the same time, the matching of the primary iron core slot number and the stator iron core tooth number breaks through the 'near slot matching' in the traditional symmetric excitation, the stator iron core tooth number seeks balance between the fundamental wave pole pair number and the double harmonic wave pole pair number, and the optimal number of the stator iron core tooth number meets the relationship.
TABLE 1 fundamental amplitude of counter electromotive force under different numbers of stator core teeth
Number of teeth of stator core 13 14 16 17 19 20 22 23
Counter electromotive force fundamental wave amplitude (V) 32.4 33.2 35.1 38.6 37.8 29.1 26.3 23.5
After the optimal number of the stator iron core teeth is determined, the optimal ratio of the width of the permanent magnet of the primary excitation type permanent magnet linear motor and the optimal ratio of the width of the stator iron core teeth can be quickly optimized and set by an optimization setting method based on an analytic function, and the method comprises the following steps:
step 1: under the condition that the stator is not provided with teeth and tooth grooves, a slotless air gap flux density analytic model of the asymmetric excitation magnetic pole under the stator slotless structure is established, and is expressed as follows:
Figure GDA0003617314060000111
where x denotes the distance traveled by the short primary in the direction of motion, Bslotless(x) Denotes the flux density of the slotless air gap, alpha denotes the width of the permanent magnet A occupying the permanent magnet unitRatio of total width, i represents multiples of each harmonic, g represents air gap between mover and stator, BrDenotes the remanence of the permanent magnet, murDenotes the relative permeability, h, of the permanent magnetmThickness indicating the direction of magnetization of the permanent magnet,/pRepresenting the periodic slot pitch between adjacent semi-closed slots in the primary core;
step 2: calculating the number of pole pairs equal to the number of teeth N of the primary iron corepAir gap flux density Bslotless(x) As the amplitude of fundamental wave, the number of pole pairs is calculated to be equal to two times of the number N of teeth of the single-side iron core of the primary iron core 11pAir gap flux density Bslotless(x) As a second harmonic amplitude, the maximum sum of the fundamental amplitude and the second harmonic amplitude is taken as an optimization target, and the optimization solution is carried out to obtain the proportion alpha of the width of the permanent magnet A in the total width of the permanent magnet units;
and step 3: under the condition that the stator is provided with teeth and tooth grooves, a stator magnetic conductance analytic model is established, which can be expressed as:
Figure GDA0003617314060000121
wherein t represents time, Λs(x, t) denotes the permeance function for a short primary at time t displaced by a distance x in the direction of motion, Λs0Denotes the permeance value of the 0 th order, Λs1Denotes the value of 1-order permeance, NsRepresenting the number of teeth of the stator in the same length range as the short primary, NpIndicating the number of slots of the short primary, VsRepresenting the speed of movement, x, of the short primary relative to the long stators0Denotes the initial position of the short primary relative to the long stator, wstThe tooth width of the long stator iron core teeth is represented, tau represents the distance between two adjacent teeth of the long stator iron core, and beta represents a variation coefficient;
and 4, step 4: substituting the ratio alpha of the width of the permanent magnet A to the total width of the permanent magnet unit obtained in the step 2 into a slotless air gap flux density analytical model of the asymmetric excitation magnetic pole under the stator slotless structure, and substituting the stator magnetic conductance analytical model into the following air gap flux density analytical model of the asymmetric excitation magnetic pole under the stator sloted structure to solve and obtain the air gap flux density:
Figure GDA0003617314060000122
wherein, Bslotted(x, t) represents the air gap flux density of the asymmetric excitation pole with the cogging configuration when the short primary moves a distance x in the direction of motion at time t, mu0The vacuum permeability is shown.
And 5: and (5) calculating the air gap magnetic flux densities under different pole pair numbers according to the formula in the step (4), performing fast Fourier transform on the air gap magnetic flux densities, summing the air gap magnetic flux densities, maximizing the air gap magnetic flux densities as a target, and performing optimization solution to obtain the tooth width of a single stator as an optimal value so as to complete the optimization setting of the primary excitation type permanent magnet linear motor.
Fig. 11 is a graph showing the variation of the sum of the fundamental wave and the second harmonic amplitude with the width ratio of the permanent magnet, and it can be known that the variation trend of the result obtained by the fast calculation method based on the analytic function is consistent with that of the result based on the finite element calculation, and the specific value is slightly different. Meanwhile, when the ratio α of the width of the permanent magnet a to the total width of the permanent magnet units is about one-third, the sum of the amplitudes of the fundamental wave and the second harmonic is the largest, and this ratio can be set to the optimum ratio.
On the basis, the air gap magnetic flux density is solved by using the air gap magnetic flux density analysis model of the asymmetric excitation magnetic pole under the stator tooth space structure obtained in the step 4, the solved air gap magnetic flux density is subjected to fast Fourier transform to obtain the amplitudes of the air gap magnetic flux density under different pole pairs, the pole pairs are |12i +/-17 |, i is 1, the amplitudes of 2 harmonics are summed, and the optimal proportion of the width of the stator core teeth is optimized by taking the sum of the amplitudes of the harmonics as a target to obtain an optimal value. Fig. 12 is a graph showing the variation of the sum of the amplitudes of the effective harmonics of each time with the tooth width ratio of the stator core under the modulation of the stator core, and it can be known from the graph that the variation trend of the result obtained by the fast calculation method based on the analytic function is consistent with that of the result based on the finite element calculation, and the specific value is slightly different. When the ratio of the stator core tooth width to the stator pole pitch is about one third, the sum of the amplitudes of the 5 th, 7 th, 29 th and 41 th harmonics is the largest, and this ratio can be set as the optimum ratio.
Fig. 13 is a graph showing the variation of the average thrust of the motor with the tooth width ratio of the stator core, and it can be seen from the graph that the variation trend of the average thrust with the tooth width ratio of the stator core is consistent with the variation trend of the sum of the effective harmonic amplitudes with the tooth width of the stator core. Therefore, the optimal proportion of the width of the permanent magnet and the optimal proportion of the width of the secondary iron core teeth are quickly optimized and set by an optimization setting method based on the analytic function, the aim of optimizing and improving the thrust density of the motor can be achieved, and the optimization setting of key parameters is quickly realized.
Fig. 14 is a graph comparing the average thrust of the motor under asymmetric excitation and symmetric excitation, wherein the optimal slot pole for asymmetric excitation is matched to 12 slots 17 poles, and the optimal slot pole for symmetric excitation is matched to 12 slots 14 poles. It can be known from the figure that under the same copper consumption and permanent magnet consumption, by changing the width proportion of the permanent magnet, the average thrust under the asymmetric excitation can be improved by about 38.1% compared with that under the symmetric excitation, and the thrust density of the motor is greatly improved. Therefore, the asymmetrically excited primary excitation type permanent magnet linear motor and the optimized setting method thereof can effectively improve the thrust density of the motor.
After the hardware part of the direct-drive multi-track flexible conveying system is built, the multiple rotors can be driven and controlled, and the rotors can be guaranteed to operate relatively independently and efficiently. Fig. 15 is a block diagram of a cooperative control strategy among the movers, in which the movers are controlled synchronously in parallel, an upper computer issues control commands to the movers in parallel, a wireless communication module receives the control commands and transmits the control commands to a power driving module, and a central control unit in the power driving module performs feedback control according to actual operating conditions of the movers and the control commands, and generates three-phase PWM signals to a three-phase full-bridge silicon carbide inverter unit for driving the movers to move. The parallel synchronous control can ensure that each rotor keeps certain independence while cooperatively operating, and avoids interference to the operation of the whole system caused by the operation error of a single rotor.
Fig. 16 is a schematic view showing operation states of each mover. According to the position signal feedback, the upper computer monitors the real-time positions of the N rotors in real time and expresses the real-time positions as [ P ]1,P2,…,PN]. According to real-time position [ P1,P2,…,PN]The running distance [ L ] between N movers can be calculated1,L2,…,LN]Wherein L is1Denotes the distance between the first mover and the second mover, L2Denotes the distance, L, between the second mover and the third moverkDenotes a distance, L, between the kth mover and the (k + 1) th moverNWhich represents the distance between the nth mover and the first mover.
Fig. 17 is a schematic diagram illustrating a minimum safe operation distance between two movers. Under the parallel synchronous control strategy, each rotor has a safety active area with a certain distance in the front and back directions of operation, and the safe active areas can be used for adjusting the operation state during feedback control. In the safe moving area, collision among the rotors is not possible, so that the system can run safely, and the rotors regulate the running states of the rotors according to control commands. In the operation process, the upper computer compares and judges the operation distance [ L ] between the N rotors in real time1,L2,…,LN]A relation to the minimum safe running distance Ls. When the k-th section runs for a distance LkLess than a minimum safe travel distance LsIn the meantime, the operation state of the kth mover and the kth +1 mover is abnormal, and operation data of the kth mover and the kth +1 mover needs to be called.
And respectively judging the actual running speed and deviation of the position value of the kth mover and the deviation of the position value of the kth mover are respectively judged, when the deviation is greater than a set threshold value, the mover is determined to have a fault, the speed and position instruction value is issued again to the mover, and the power driving module adjusts the output driving current to correct the motion state. The upper computer continuously and mainly monitors the operation data of the fault rotor, and if the operation distance between the fault rotor and the adjacent rotor is still smaller than the minimum safe operation distance L in ten control periodssAnd all the active cells are in emergency shutdown, and the fault active cell sends a fault signal to the upper computer.
Direct-drive multi-rail flexible conveying systemThe track-changing operation can be realized by controlling the power on and off of the units above and below the short primary armature winding in the mover 22. First, a track-changing mark position [ P1 ] is set on each ring baseon，P1off，P2on，P2off，…,PNon,PNoff]Where the numbers 1,2 and N denote the 1 st, 2 nd and nth annular bases respectively, on denotes the start position of the track segment and off denotes the end position of the track segment. The track transfer section is selected from straight line sections of the annular base, and the starting position and the ending position are arranged at the position where the straight line sections of two adjacent annular bases are overlapped. And track instructions are issued to each rotor in parallel by the upper computer, and the track instructions comprise two types of operation of maintaining the current annular base or changing the track to the adjacent annular base. When the rotor receives the track instruction, each rotor determines the real-time position [ P ] according to the position feedback signal1,P2,…,PN]And judging the real-time position of the track-changing section and the initial position of the track-changing section on the annular base [ P1 ]on，P2on，…,PNon]Ready for the orbital transfer operation.
Fig. 18 is a schematic diagram illustrating switching of the mover orbital transfer operation winding, which can be divided into three operation states. State 1: for each mover needing to be subjected to orbital transfer, when the mover just enters the initial position P of the orbital transfer sectiononIn the process, the armature winding primary power supply unit of the rotor 22 still maintains power supply, so that the stable operation of the rotor 22 on the long stator is ensured; state 2: when the rotor 22 completely enters the track changing section, the new power supply unit of the armature winding starts to supply power, and the amplitude and the phase of the three-phase current in the new armature winding refer to the original power supply unit of the armature winding; state 3: when the upper and lower power supply units of the armature winding stably supply power at the same time and the rotor 22 stably operates, the original power supply unit of the armature winding is powered off, and the power supply unit of the armature winding on the newly operating annular base side supplies power. At this time, when the mover 22 leaves the track segment, the mover 22 enters a new ring base to start operating because the attraction force on the energized side of the armature winding is stronger. After the orbit is changed, the rotors feed back real-time position signals of the new annular base to the upper computer, and the upper computer monitors the running state of each rotor.
The embodiments described above are presented to facilitate one of ordinary skill in the art to understand and practice the present invention. It will be readily apparent to those skilled in the art that various modifications to the above-described embodiments may be made, and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.

Claims (9)

1. The utility model provides a flexible conveying system of direct-drive formula multitrack which characterized in that:
the system comprises two or more annular bases (1) and primary excitation type linear motors (2), wherein each annular base (1) is arranged on the same horizontal plane, and the primary excitation type linear motors (2) are arranged on the annular side surfaces of the annular bases (1); the primary excitation type linear motor (2) comprises a long stator (21) and a plurality of movers (22), wherein the movers (22) operate independently and do not have electromagnetic coupling, the movers (22) are adsorbed on the long stator (21) through magnetic attraction, and air gaps are reserved between the movers (22) and the long stator (21); gaps for accommodating the single rotor (22) to pass are reserved between the adjacent annular bases (1), and the rotor (22) performs track transfer operation from one annular base (1) to the other annular base (1) at the gaps where the different annular bases (1) are aligned in parallel;
the long stator (21) is fixedly connected to the annular base (1) and is formed by arranging stator cores of a multi-section tooth space structure along the annular side face of the annular base (1) and connecting the stator cores in a seamless mode, the inner surface of each stator core is fixed on the annular side face of the annular base (1), and tooth spaces are formed in the outer surface of each stator core along the annular direction of the annular base (1);
the rotor (22) comprises a short primary (28) and a roller guide rail assembly, the short primary (28) and the roller guide rail assembly are fixedly connected together through a support, the short primary (28) is located on the outer side of the long stator (21), an air gap is reserved between the short primary (28) and the long stator (21), the roller guide rail assembly is arranged on each of two sides of the short primary (28) and comprises a roller (23B) and a guide rail (23A), the guide rail (23A) is laid and fixedly connected to the annular side face of the annular base (1) along the annular direction of the annular base (1) and in parallel with the arrangement direction of the long stator (21), and the roller (23B) is connected to the guide rail (23A) and moves along the guide rail;
under the mutual connection support of a roller (23B) and a guide rail (23A) in the roller guide rail assembly, a short primary (28) and a long stator (21) are kept to have an air gap;
the short primary (28) comprises a permanent magnet array (281), an armature winding (282) and a primary iron core (283) which are in asymmetric structures, the middle part of the primary iron core (283) is a yoke part, the primary iron core (283) on two sides of the yoke part is provided with semi-closed slots on one side facing the long stator (21) and one side far away from the long stator (21), each side is provided with a plurality of semi-closed slots at intervals along the arrangement direction parallel to the long stator (21), armature teeth are formed between adjacent semi-closed slots, and each armature tooth is wound with a coil to be used as the armature winding (282);
the permanent magnet array (281) is formed by a plurality of permanent magnet units which are closely arranged side by side and are attached to the surface of the armature teeth of the primary iron core (283), each permanent magnet unit is formed by fixing a permanent magnet A and a permanent magnet B which are sequentially attached side by side along any one direction which is parallel to the long stator (21), the polarities of the permanent magnet A and the permanent magnet B are opposite, and the width of the permanent magnet B along the arrangement direction of the long stator (21) is larger than that of the permanent magnet A along the arrangement direction of the long stator (21), so that asymmetry is formed; a permanent magnet B is uniformly arranged at the opening of each semi-closed slot, and a permanent magnet A is arranged on the outer end face of the armature tooth of each semi-closed slot;
the armature winding (282) is of a concentrated winding structure and is divided into an upper unit and a lower unit, the upper unit of the armature winding is wound on the armature teeth on the upper side of the yoke part of the primary iron core (283), the lower unit of the armature winding is wound on the armature teeth on the lower side of the yoke part of the primary iron core (283), and the upper unit and the lower unit of the armature winding supply power independently.
2. A direct drive multiple track flexible conveyor system according to claim 1, wherein:
the stator core divide into straightway (21A) of arranging on the plane of annular side of annular base (1) and segmental arc (21B) of arranging on the cambered surface of annular side of annular base (1), segmental arc (21B) the same with the segmental arc external diameter of annular side of annular base (1) the arc internal diameter of stator core.
3. A direct drive multiple track flexible conveyor system according to claim 1, wherein:
the primary core (283) adopts a laminated core, and the lamination direction of the laminated core is vertical to the moving direction of the rotor (22) and parallel to the stator core mounting surface of the long stator (21).
4. A direct drive multiple track flexible conveyor system according to claim 1, wherein:
the number of the permanent magnet units is the same as the number of teeth of the primary iron core, and the number of teeth of the stator iron core of the long stator (21) in the length range of a single rotor is set to be (kN)ph+2Nph) +/-1, where kNphDenotes the number of teeth of the primary core (283), k denotes the slot number coefficient, NphThe number of phases of the permanent magnet linear motor.
5. A direct drive multiple track flexible conveyor system according to claim 1, wherein: the primary excitation type linear motor (2) further comprises a power supply module (24), the power supply module (24) mainly comprises a power supply unit and a power receiving unit, and the power supply unit and the power receiving unit are respectively installed on the annular base (1) and the rotor (22); the power supply unit is composed of two sliding contact lines (241) of a U-shaped structure, each sliding contact line is arranged along the annular direction of the annular base (1) and parallel to the arrangement direction of the long stator (21) and fixedly connected to the annular side face of the annular base (1), the two sliding contact lines are arranged on two sides of the long stator (21) side by side respectively to form a positive power line and a negative power line respectively, and the end parts of the two sliding contact lines are externally connected with a power supply; the power receiving unit is composed of two current collectors (242) including carbon brushes, and the two current collectors (242) are respectively connected to two trolley lines (241) in a sliding contact manner.
6. A direct drive multiple track flexible conveyor system according to claim 1, wherein:
primary excitation type linear electric motor (2) still include position detection module (26), position detection module (26) are including passive magnetic grid chi (26A) and signal reading head (26B), passive magnetic grid chi (26A) are along the circumferencial direction of annular base (1), be on a parallel with long stator (21) and arrange the annular side of direction arrangement and rigid coupling in annular base (1), signal reading head (26B) and active cell (22) fixed mounting together, signal reading head (26B) are located passive magnetic grid chi (26A) side, signal reading head (26B) and passive magnetic grid chi (26A) cooperation carry out position detection.
7. A direct drive multiple track flexible conveyor system according to claim 1, wherein:
the primary excitation type linear motor (2) further comprises a power driving module (25), a wireless communication module (27) and an upper computer, the power driving module (25), the wireless communication module (27) and the rotor (22) are fixedly mounted together, the power driving module (25) obtains electric energy from a power receiving unit and outputs three-phase alternating current to an armature winding (282) of a middle-short primary (28) of the rotor (22) for driving the rotor (22) to move; the position detection module is connected with the upper computer through the wireless communication module, and the wireless communication module (27) transmits each mover parameter detected and collected by the position detection module to the upper computer in real time and receives a motion instruction sent by the upper computer.
8. A direct drive multiple track flexible conveyor system according to claim 5, wherein:
the power receiving unit of the power supply module (24), the signal reading head (26B) of the position detection module (26), the power driving module (25) and the wireless communication module (27) are integrally installed around the short primary (28) and fixed on the support to synchronously move along with the short primary (28).
9. The control method applied to the direct-drive multi-track flexible conveying system of any one of claims 1 to 8, which comprises a cooperative control algorithm and a track change control algorithm; the cooperative control algorithm comprises the following steps:
the method comprises the following steps: the rotors (22) adopt parallel synchronous control, and an upper computer issues control instructions to the rotors in parallel;
step two: according to positionThe upper computer monitors the real-time positions [ P ] of the N movers (22) in real time by feeding back the position signals1,P2,…,PN]Calculating the running distance [ L ] between N movers according to the real-time position1,L2,…,LN]Wherein L is1Denotes the distance between the first mover and the second mover, L2Denotes the distance, L, between the second mover and the third moverNRepresenting the distance between the Nth mover and the first mover;
step three: comparing and judging the running distance [ L ] between N rotors1,L2,…,LN]Distance L from minimum safe operationsWhen the k-th section runs a distance LkWhen the minimum safe operation distance Ls is less than the minimum safe operation distance Ls, operation data of the kth mover and the kth +1 mover are called;
step four: according to the speed and position instructions, the deviations of the actual operation speed and position values of the kth mover and the k +1 th mover and the instruction values are respectively judged, when the deviations are larger than a set threshold value, the mover is determined to have a fault, the speed and position instruction values are issued again to the mover, and the power driving module adjusts the output driving current to correct the motion state;
step five: monitoring the operation data of the fault rotor, and if the operation distance between the fault rotor and the adjacent rotor is still less than the minimum safe operation distance L in ten control periodssAll the rotors are stopped emergently, and the fault rotor sends a fault signal to the upper computer;
the track transfer control algorithm comprises the following steps:
the method comprises the following steps: setting track change mark position [ P1 ] on each annular baseon，P1off，P2on，P2off，…,PNon,PNoff]Wherein the numbers 1,2 and N denote the 1 st, 2 nd and nth annular bases, respectively, on denotes the start position of the track segment and off denotes the end position of the track segment; the track transfer section is selected from straight line sections of the annular base, and the starting position and the ending position are arranged at the superposition position of the straight line sections of two adjacent annular bases;
step two: an upper computer sends track instructions to each rotor in parallel, wherein the track instructions comprise operation of the existing annular base or operation of the adjacent annular base after track change;
step three: after receiving the track instruction, each rotor determines its real-time position [ P ] according to the position feedback signal1,P2,…,PN]And judging the real-time position of the track changing section and the initial position of the track changing section on the annular base [ P1 ]on，P2on，…,PNon]The distance of (d);
step four: for each rotor needing to be subjected to orbital transfer, after the rotor enters an orbital transfer section initial position, the upper unit and the lower unit of an armature winding of the rotor supply power simultaneously, then the armature winding power supply unit on the side of the ring-shaped base which operates originally is powered off, and the armature winding on the side of the ring-shaped base which operates newly supplies power;
step five: after the orbit is changed, the rotors feed back real-time position signals of the new annular base to the upper computer, and the upper computer monitors the running state of each rotor.
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