CN113942804A - Logistics transportation system based on linear motor - Google Patents
Logistics transportation system based on linear motor Download PDFInfo
- Publication number
- CN113942804A CN113942804A CN202111328910.9A CN202111328910A CN113942804A CN 113942804 A CN113942804 A CN 113942804A CN 202111328910 A CN202111328910 A CN 202111328910A CN 113942804 A CN113942804 A CN 113942804A
- Authority
- CN
- China
- Prior art keywords
- linear motor
- module
- value
- linear
- reference value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 238000012545 processing Methods 0.000 claims abstract description 41
- 230000008859 change Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 23
- 238000004422 calculation algorithm Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000009365 direct transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Abstract
The utility model relates to a logistics transportation system based on a linear motor, which comprises at least one linear transportation track, wherein stators of the linear motor are arranged in the linear transportation track at intervals in a subsection mode, and the linear transportation track and rotors of the linear motor are arranged in a one-to-one correspondence mode; the linear motor stators are arranged in one-to-one correspondence with the closed-loop control system; the position detection module acquires a position pulse signal count value of a linear motor rotor; the current detection module detects the actual value of the driving current output to the motor driving module by the processing module; the processing module obtains a driving current change reference value according to the position actual value, the position reference value, the speed actual value and the speed reference value of the linear motor rotor, and adjusts a driving pulse signal output to the motor driving module according to the driving current actual value and the driving current change reference value. Through the technical scheme, the timeliness and the carrying capacity of the logistics transportation system are improved, and the control precision of the linear motor is improved.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of motors, in particular to a logistics transportation system based on a linear motor.
Background
With the rapid development of the current society, logistics transportation plays an important role in economic development. The new economic form of electronic commerce is created by network economy and modern logistics, so that the time is shortened, the transaction speed is accelerated, and the transaction cost is greatly reduced.
At present, the rise of electronic commerce, emerging business model and parcel delivery terminal have many, consuming time power, characteristics such as the delivery cost is higher for express delivery transportation industry urgent need high-speed, high-efficient, low-cost, accurate automatic logistics transportation system improves the timeliness and the carrying capacity of transportation delivery.
Disclosure of Invention
Based on this, it is necessary to solve the technical problems, the present disclosure provides a logistics transportation system based on a linear motor, which improves the timeliness and carrying capacity of the logistics transportation system, and improves the control accuracy of the linear motor.
The embodiment of the present disclosure provides a logistics transportation system based on a linear motor, the logistics transportation system includes:
the linear motor stators are arranged in the linear transportation track in a segmented and spaced manner, the linear transportation track and the linear motor rotors are arranged in a one-to-one correspondence manner, and the linear motor rotors are used for driving the transport vehicle to move along the corresponding linear transportation track;
the linear motor stators are arranged in one-to-one correspondence with a closed-loop control system, the closed-loop control system comprises a position detection module, a processing module, a current detection module and a motor driving module, the processing module is respectively in communication connection with the detection module and the motor driving module, and the current detection module is respectively in communication connection with the motor driving module and the processing module;
the position detection module is used for acquiring a position pulse signal count value of the corresponding linear motor rotor, and the current detection module is used for detecting a driving current actual value output to the motor driving module by the processing module;
the processing module is used for resolving and obtaining a corresponding position actual value and a corresponding speed actual value of the linear motor rotor according to the position pulse signal counting value, obtaining a driving current change reference value according to the position actual value, the position reference value, the speed actual value and the speed reference value, and adjusting a driving pulse signal output to the motor driving module according to the driving current actual value and the driving current change reference value.
Optionally, the position detection module includes:
the magnetic grid pulse detection module is used for acquiring a pulse signal containing the position information of the corresponding linear motor rotor;
and the pulse counting module is used for counting the pulses in the pulse signals to acquire the position pulse signal counting value.
Optionally, the position detection module further includes a data sending module, the processing module includes a data receiving module, and the data sending module is configured to send the position pulse signal count value to the data receiving module.
Optionally, the processing module includes:
the calculating module is in communication connection with the position detection module and is used for calculating according to the position pulse signal counting value to obtain the position actual value and the speed actual value;
the first closed-loop control module is used for acquiring the position reference value and the speed reference value and acquiring the driving current change reference value according to the position actual value, the position reference value, the speed actual value and the speed reference value;
the second closed-loop control module is in communication connection with the current detection module and is used for acquiring the actual value of the driving current and acquiring a driving current adjusting value according to the actual value of the driving current and the driving current change reference value;
and the pulse generation module is in communication connection with the motor driving module and is used for adjusting the driving pulse signal according to the driving current adjusting value.
Optionally, the closed-loop control system further comprises:
and the upper computer interface circuit is in communication connection with the first closed-loop control module and is used for acquiring the position reference value and the speed reference value and outputting the position reference value and the speed reference value to the first closed-loop control module.
Optionally, the processing module is a digital signal processing module.
Optionally, two ends of the linear motor stator are respectively provided with a grating pulse detection module, and the grating pulse detection module is used for detecting the position of the linear motor rotor and enabling the corresponding closed-loop control system.
Optionally, the logistics transportation system comprises:
the linear transportation rail comprises a plurality of linear transportation rails, and at least two linear transportation rails have different extending directions.
Optionally, the linear motor stator is supplied with electricity in sections.
Optionally, the linear motor mover is not electrically connected.
The logistics transportation system based on the linear motor comprises at least one linear transportation track, linear motor stators are arranged in the linear transportation track at intervals in a segmented mode, the linear transportation track and linear motor rotors are arranged in a one-to-one correspondence mode, and the linear motor rotors are used for driving a transportation vehicle to move along the corresponding linear transportation track. Therefore, the linear motor is applied to the logistics transportation system, the formation of the linear transportation rail for multi-direction logistics transportation in a specific space is facilitated, the high-speed, high-efficiency, low-cost and accurate automatic logistics transportation system is facilitated, and the timeliness and carrying capacity of logistics transportation and distribution are improved. In addition, the linear motor stators and the closed-loop control system are arranged in a one-to-one correspondence mode in the embodiment of the linear motor control system, closed-loop control over the rotor position, the rotor speed and the stator driving current of the linear motor is achieved, control accuracy of the linear motor is effectively improved, and control accuracy of the logistics transportation system is further improved.
Drawings
Fig. 1 is a schematic structural diagram of a logistics transportation system based on a linear motor according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a closed-loop control system provided in an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of another closed-loop control system provided in the embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the disclosure and are not intended to limit the disclosure.
Fig. 1 is a schematic structural diagram of a logistics transportation system based on a linear motor according to an embodiment of the present disclosure. As shown in fig. 1, the logistics transportation system based on the linear motor comprises at least one linear transportation rail 11, fig. 1 exemplarily outputs one linear transportation rail 11, linear motor stators 13 are arranged in the linear transportation rail 11 in a segmented and spaced manner, the linear transportation rail 11 and linear motor movers 12 are arranged in a one-to-one correspondence manner, and the linear motor movers 12 are used for driving a transportation vehicle to move along the corresponding linear transportation rail 11.
Specifically, the linear transport tracks 11 and the linear motor movers 12 are arranged in a one-to-one correspondence, that is, one linear motor mover 12 is arranged corresponding to one linear transport track 11, and the linear motor mover 12 makes a linear motion along the corresponding linear transport track 11. The linear motor stators 13 are arranged in the linear transportation track 11 in a segmented and spaced manner, as shown in fig. 1, that is, one linear motor stator 13 is arranged on the linear transportation track 11 at a distance, the linear motor stator 13 can be integrally installed in the linear transportation track 11, an idle area 14 is arranged between two adjacent linear motor stators 13, and no linear motor stator 13 is laid in the idle area 14, so that the linear motor stators 13 are arranged in the linear transportation track 11 in a segmented and spaced manner.
The linear motor mover 12 is freely movable on the linear transport rail 11, and thus serves to move a transport vehicle, such as a logistics transport vehicle, along the linear transport rail 11. Fig. 1 also shows the moving speed of the linear motor mover 12 corresponding to different areas of the linear transport track 11, where the ordinate in fig. 1 represents the moving speed v of the linear motor mover 12, the abscissa represents the time t, the dashed line in the fig. 1 coordinate represents the set moving speed of the linear motor mover 12, and the solid line in the fig. 1 coordinate represents the actual moving speed of the linear motor mover 12.
When the linear motor rotor 12 moves to the range of the linear motor stator 13, the linear motor stator 13 controls the linear motor rotor 12 to move on the linear transportation track 11 in an accelerating manner; when the linear motor stator 13 moves to the range of the idle area 14, the linear motor rotor 12 continues to slide along the linear transportation track 11 by means of inertia, and the sliding speed slightly decreases. The linear motor stators 13 which are arranged in the linear transportation track 11 in a segmented and spaced mode control the linear motor rotor 12 to move along the linear transportation track 11, and then the linear motor rotor 12 drives the transportation vehicle to move along the linear transportation track 11.
Therefore, the logistics transportation system based on the linear motor comprises at least one linear transportation track, the linear motor stators are arranged in the linear transportation track at intervals in a segmented mode, the linear transportation track and the linear motor rotors are arranged in a one-to-one correspondence mode, and the linear motor rotors are used for driving the transportation vehicle to move along the corresponding linear transportation track. Therefore, the linear motor is applied to the logistics transportation system, the formation of the linear transportation rail for multi-direction logistics transportation in a specific space is facilitated, the high-speed, high-efficiency, low-cost and accurate automatic logistics transportation system is facilitated, and the timeliness and carrying capacity of logistics transportation and distribution are improved.
Fig. 2 is a schematic structural diagram of a closed-loop control system according to an embodiment of the present disclosure. Referring to fig. 1 and 2, the linear motor stators 13 are arranged in a one-to-one correspondence with the closed-loop control systems, that is, one linear motor stator 13 is arranged in a correspondence with one closed-loop control system, and the closed-loop control system is configured to drive the corresponding linear motor stator 13.
The closed loop control system includes a position detection module 21, a processing module 22, a current detection module 23, and a motor drive module 24. The processing module 22 is in communication connection with the position detection module 21 and the motor driving module 24, respectively, and the current detection module 23 is in communication connection with the motor driving module 24 and the processing module 22, respectively. The communication connection may be a wired connection or a wireless connection, which is not specifically limited by the embodiments of the present disclosure.
The position detection module 21 is configured to obtain a position pulse signal count value of the corresponding linear motor mover 12, and the current detection module 23 is configured to detect an actual value of a driving current output to the motor driving module 24 by the processing module 22. The processing module 22 is configured to calculate and obtain a corresponding actual position value and an actual speed value of the linear motor mover 12 according to the position pulse signal count value, obtain a drive current variation reference value according to the actual position value, the position reference value, the actual speed value, and the speed reference value, and adjust a drive pulse signal output to the motor driving module 24 according to the drive current actual value and the drive current variation reference value.
Specifically, the position detection module 21 detects the position of the linear motor 00 mover relative to the corresponding linear motor stator 13, and obtains a position pulse signal count value of the corresponding linear motor mover 12; the current value obtained by the current detection module 23 is the actual value of the driving current of the linear motor 00, and is sent to the processing module 22; the processing module 22 obtains the pulse signal count value and resolves the position actual value and the speed actual value of the corresponding linear motor mover 12, and further obtains the drive current change reference value according to the position actual value, the position reference value, the speed actual value and the speed reference value. The processing module 22 adjusts a driving pulse signal output to the motor driving module 24 according to the obtained actual value of the driving current and the driving current variation reference value, so as to realize three-loop control on the position, the speed and the current of the linear motor 00; the motor driving module 24 is configured to generate a corresponding control current based on the driving pulse signal, drive the linear motor 00 to operate, and implement control of the linear motor 00.
Therefore, the linear motor stators and the closed-loop control system are arranged in a one-to-one correspondence mode according to the embodiment of the disclosure, closed-loop control over the rotor position, the rotor speed and the stator driving current of the linear motor is achieved, the control precision of the linear motor is effectively improved, and the control precision of the logistics transportation system is further improved.
Optionally, with reference to fig. 1 and fig. 2, the position detection module 21 includes:
the magnetic grid pulse detection module 211 is configured to acquire a pulse signal including position information of the corresponding linear motor mover 12;
a pulse counting module 212, configured to count pulses in the pulse signal to obtain the position pulse signal count value.
Specifically, when the linear motor mover 12 moves to a region where the linear motor stator 13 is located, the magnetic grid pulse detection module 211 acquires a pulse signal corresponding to the linear motor mover and outputs the pulse signal to the pulse counting module 212, where the pulse signal includes relative position information of the linear motor mover 12 and the linear motor stator 13. The pulse counting module 212 obtains the pulse signal output by the magnetic grid pulse detection module 211, so as to count the pulses in the pulse signal to obtain a position pulse signal count value, and the position pulse signal count value can reflect the relative position of the linear motor mover 12 and the linear motor stator 13.
Optionally, with reference to fig. 1 and fig. 2, the position detection module further includes a data sending module 213, the processing module 22 includes a data receiving module 221, and the data sending module 213 is configured to send the position pulse signal count value to the data receiving module 221.
Specifically, when the linear motor mover 12 moves to a range of the linear motor stator 13, the corresponding data sending module 213 receives the position pulse signal count value output by the pulse counting module 212 and sends the position pulse signal count value to the data receiving module 221 in the processing module 22, so that the processing module 22 processes the position pulse signal count value. For example, the data sending module 213 and the data receiving module 221 are both wireless data communication modules, and the specific wireless communication mode between the data sending module 213 and the data receiving module 221 is not limited in the embodiment of the present disclosure.
Therefore, the embodiment of the present disclosure adopts a wireless data transmission manner, so that the linear motor mover 12 is not limited by the number of cables or the length of the cables during the movement process, and can be operated more conveniently in an expected manner, and the operation cost is lower. In addition, the wired communication has large limitation, and has high requirements on the wiring engineering of cables in some special and complicated application occasions, and the wireless data transmission mode is not limited by the conditions and has wider adaptability. When the number of the linear motor rotors 12 is increased, the linear motor rotors are only required to be connected into a wireless data communication network, and compared with the linear motor rotors, the expansibility is better, the equipment maintenance is easier to realize, only the data sending end module and the data receiving end module are required to be maintained, the reason can be quickly found out when a fault occurs, and the normal work can be recovered.
Optionally, with reference to fig. 1 and 2, the processing module 22 includes:
a calculating module 222, communicatively connected to the position detecting module 21, configured to calculate and obtain the actual position value and the actual speed value according to the position pulse signal count value;
a first closed-loop control module 223, configured to obtain the position reference value and the speed reference value, and obtain the driving current variation reference value according to the position actual value, the position reference value, the speed actual value, and the speed reference value;
the second closed-loop control module 224 is connected in communication with the current detection module 23, and configured to obtain the actual value of the driving current and obtain a driving current adjustment value according to the actual value of the driving current and the driving current variation reference value;
and a pulse generating module 225, communicatively connected to the motor driving module 24, for adjusting the driving pulse signal according to the driving current adjustment value.
Specifically, the processing module 22 includes a data receiving module 221, a resolving module 222, a first closed-loop control module 223, a second closed-loop control module 224, and a pulse generating module 225. When the linear motor mover 12 moves to a region where the linear motor stator 13 is located, the calculating module 222 obtains the position pulse signal count value output by the data receiving module 221, and calculates the position pulse signal count value including the position information of the linear motor mover 12 by using a speed position calculating algorithm to obtain the position and the moving speed of the linear motor mover 12 relative to the linear motor stator 13, thereby obtaining the actual position value and the actual speed value of the linear motor mover 12.
The first closed-loop control module 223 obtains a position actual value and a speed actual value of the linear motor mover 12 output by the resolving module 222, and obtains a position reference value and a speed reference value, in fig. 2, a signal a represents a signal including the position reference value and the speed reference value, the position reference value is a moving position of the system expected linear motor mover 12 and a moving speed of the system expected linear motor mover 12, and the first closed-loop control module 223 judges whether the current linear motor needs to be accelerated, decelerated or the current running state is kept unchanged and judges the running direction of the linear motor according to the position actual value, the position reference value, the speed actual value and the speed reference value and by using a position-speed closed-loop control algorithm.
For example, the first closed-loop control module 223 may determine whether the linear motor needs to be accelerated, decelerated or kept in the current operation state by comparing the speed actual value with the speed reference value, for example, if the speed actual value is smaller than the speed reference value, it is determined that the linear motor needs to be accelerated. The first closed-loop control module 223 may determine the operation direction of the linear motor by comparing the position actual value with the position reference value, for example, the position actual value is greater than the position reference value, and determine that the linear motor needs to move in the reverse direction. Accordingly, the first closed-loop control module generates a corresponding current reference value according to the position actual value, the position reference value, the speed actual value and the speed reference value, and the current reference value is used as a driving current change reference value.
The second closed-loop control module 224 is used to obtain the driving current variation reference value output by the first closed-loop control module 223. In addition, the second closed-loop control module 224 is communicatively connected to the current detection module 23 for obtaining the actual value of the driving current of the motor driving module 24. The second closed-loop control module 224 obtains the driving current adjustment value of the motor driving module 24 according to the actual value of the driving current and the variation reference value of the driving current through a current closed-loop control algorithm, and outputs the driving current adjustment value to the pulse generating module 225.
The pulse generating module 225 is used for acquiring the driving current control value output by the second closed-loop control module 224 and generating a driving pulse signal through a pulse generating algorithm in the pulse generating module 225. In addition, the pulse generating module 225 is in communication connection with the motor driving module 24, and outputs the adjusted driving pulse signal to the motor driving module 24, so as to control the motor driving module 24 to generate a driving current to drive the linear motor.
Whereby the driving current variation reference value corresponds to a difference between the position actual value and the position reference value and between the velocity actual value and the velocity reference value, namely, the driving current variation reference value is a variation value of the driving current required for the position actual value to reach the position reference value and the speed actual value to reach the speed reference value, the driving current actual value is the actual driving current of the current linear motor, the driving current adjustment value can be a difference value between the driving current actual value and the driving current variation reference value, the driving current variation reference value can be a positive value or a negative value, therefore, the linear motor is driven by the driving current adjusting value to enable the linear motor rotor to reach the reference position and to run at the reference speed, closed-loop control over the rotor position, the rotor speed and the stator driving current of the linear motor is achieved, control accuracy of the linear motor is effectively improved, and control accuracy of the logistics transportation system is further improved.
Fig. 3 is a schematic structural diagram of another closed-loop control system provided in the embodiment of the present disclosure. On the basis of the structure shown in fig. 2, the closed-loop control system with the structure shown in fig. 3 further includes an upper computer interface circuit 251, which is in communication connection with the first closed-loop control module 223, and is configured to obtain the position reference value and the speed reference value and output the position reference value and the speed reference value to the first closed-loop control module 223.
Specifically, with reference to fig. 1 and fig. 3, the closed-loop control system further includes an upper computer module upper computer interface circuit 251, the upper computer 252 is in communication connection with the first closed-loop control module 223 through the upper computer interface circuit 251, and the upper computer interface circuit 251 is configured to obtain an expected speed and an expected position output by the upper computer 252, and use the expected speed and the expected position as reference values in a motor position and speed closed-loop control algorithm in the first closed-loop control module 223, that is, as a position reference value and the speed reference value, respectively.
Illustratively, the Processing module may be a Digital Signal Processing (DSP) module, which may rapidly implement various Digital Signal Processing algorithms. Illustratively, the processing module 22 may include a digital signal processing chip and a power configuration chip for powering the digital signal processing chip. The processing module 22, i.e. the DSP module, may be composed of a hardware circuit portion and a control algorithm portion implemented in the DSP chip based on hardware programming, the hardware circuit portion is composed of a DSP chip and a corresponding power configuration chip, and the control algorithm implemented in the DSP chip based on hardware programming includes a speed position calculation algorithm, a position speed closed-loop control algorithm, a current closed-loop control algorithm, and a pulse generation algorithm, as described in the above embodiments. The digital signal processing chip can adopt TI company C2000 series chip. The DSP chip may also be another type of chip, which is not limited in this disclosure.
Optionally, two ends of the linear motor stator may be respectively provided with a grating pulse detection module, and the grating pulse detection module is configured to detect a position of the linear motor rotor and enable the linear motor rotor to correspond to the closed-loop control system.
Specifically, two ends of the linear motor stator are respectively provided with a grating pulse detection module. The grating pulse detection module is mainly used for detecting the action range of which linear motor stator the linear motor rotor is specifically positioned in under the condition of multiple linear motor stators. When the linear motor rotor moves to the entry end position of the linear motor stator, a grating reading head of the grating detection part positioned at the entry end position detects a pulse signal, and then the linear motor rotor can be judged to start to enter the range of the linear motor rotor; when the linear motor rotor moves to the position of the leaving end of the linear motor stator, the grating reading head of the grating detection part positioned at the position of the leaving section end detects a pulse signal, and then the fact that the linear motor rotor needs to leave the linear motor stator can be judged. The closed-loop control system corresponding to the stator of the linear motor can be switched according to the pulse signal detected by the leaving end. On one hand, a closed-loop control system is ensured to control a corresponding linear motor stator; on the other hand, when the linear motor rotor is ensured to leave the linear motor stator, the linear motor rotor can stably move to the next section of linear transportation track.
When the grating reading heads at the two ends of the linear motor stator detect pulse signals, the pulse signals can be used for judging on which linear motor stator the linear motor rotor is specifically positioned, and the pulse signals are used as switching signals for starting to control the section of linear motor stator, namely, a closed-loop control system corresponding to the section of linear motor stator is controlled to start working, and the rest closed-loop control systems do not work. That is, in the embodiment of the present disclosure, pulse signals obtained by the grating reading heads at the two ends of the linear motor stator can be used as a switching signal for the closed-loop control system to start to apply a control current to the linear motor stator, so that the energy consumption of the system is greatly reduced, and the energy consumption of the logistics transportation system is further greatly reduced; the motor control precision is greatly improved, so that the timeliness and the carrying capacity of the logistics transportation system are improved.
Illustratively, the motor drive module 24 may include a high-speed optical coupling isolation circuit, a drive circuit, and a three-phase inverter bridge circuit. The current detection module 23 may include a current sensor, an overcurrent protection signal generation circuit for generating an overcurrent protection signal to implement overcurrent protection, and a current sensor interface circuit. Therefore, the safe operation of the motor is ensured, the specific working principle of the circuit is more conventional, and the detailed description is omitted.
Alternatively, the linear motor stator may be supplied with power in stages. The linear motor adopted in the embodiment of the disclosure has a structural form of a long primary stage and a short secondary stage, the coil windings are connected end to end, and the linear motor stators supply power in a segmented manner, namely different power supply systems are adopted to supply power to different linear motor stators, so that the overall power consumption of the system is greatly reduced, and the efficiency of the system is improved. Therefore, the linear motor is applied to the logistics transportation system, so that the energy consumption of the logistics transportation system is greatly reduced, and the efficiency of the system is improved.
Optionally, the linear motor mover is not electrically connected. In the embodiment of the disclosure, the adopted permanent magnet linear motor rotor does not electrically move autonomously, electric energy is directly converted into mechanical energy required by linear motion, compared with a rotary motor, mechanical contact is avoided, transmission force is generated in an air gap, and no friction is generated except for a linear motor guide rail. The running stroke of the linear motor is not limited in theory, and the performance is not influenced by the change of the stroke size; a wider range of running speed can be provided, and the advantages are more prominent particularly in a high-speed state; in addition, the device has the characteristics of large acceleration, stable operation, high precision, high repeatability and the like. The linear motor well solves the problems of transmission efficiency, reliability and the like, and is low in cost and easy to maintain. In addition, the linear motor has the important advantages of high thrust density, direct drive, no intermediate transmission structure and simple structure. The linear motor has the advantages that the installation and operation of a track network can be realized within a small volume limit, and meanwhile, the linear motor has quick dynamic response due to the direct transmission characteristic, and the rapid start and stop operation can be carried out on the rotor and the load. The linear synchronous motor has the characteristics of small loss, high force energy index, high response speed and the like, so that the linear synchronous motor has great superiority compared with other high-speed precise systems.
Optionally, the logistics transportation system comprises a plurality of linear transportation rails, and at least two of the linear transportation rails have different extending directions. Specifically, the linear motor stators are arranged in sections, and the linear transportation rails can form a vertically and horizontally staggered and horizontally/vertically interactive three-dimensional latticed transportation network, so that the linear motor rotors can freely move in a three-dimensional space to drive the motor rotors in real time, the automatic, intelligent and efficient operation of the motor rotors in the rail network is realized, and the intelligent automatic transportation function is completed.
Exemplarily, the logistics transportation system based on the linear motor, which is provided by the embodiment of the disclosure, can be applied to an underground comprehensive pipe gallery, so that the idle time and the idle space of the existing underground rail transit are fully utilized, more functions are given to the rail transit system, the time and space utilization rate of rail transit infrastructure is improved, and the efficiency and the transportation capacity of the logistics transportation system are improved; and simultaneously, the urban traffic problem and the atmospheric pollution problem are solved.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A logistics transportation system based on a linear motor is characterized by comprising:
the linear motor stators are arranged in the linear transportation track in a segmented and spaced manner, the linear transportation track and the linear motor rotors are arranged in a one-to-one correspondence manner, and the linear motor rotors are used for driving the transport vehicle to move along the corresponding linear transportation track;
the linear motor stators are arranged in one-to-one correspondence with a closed-loop control system, the closed-loop control system comprises a position detection module, a processing module, a current detection module and a motor driving module, the processing module is respectively in communication connection with the position detection module and the motor driving module, and the current detection module is respectively in communication connection with the motor driving module and the processing module;
the position detection module is used for acquiring a position pulse signal count value of the corresponding linear motor rotor, and the current detection module is used for detecting a driving current actual value output to the motor driving module by the processing module;
the processing module is used for resolving and obtaining a corresponding position actual value and a corresponding speed actual value of the linear motor rotor according to the position pulse signal counting value, obtaining a driving current change reference value according to the position actual value, the position reference value, the speed actual value and the speed reference value, and adjusting a driving pulse signal output to the motor driving module according to the driving current actual value and the driving current change reference value.
2. The linear motor based logistics transportation system of claim 1, wherein the position detection module comprises:
the magnetic grid pulse detection module is used for acquiring a pulse signal containing the position information of the corresponding linear motor rotor;
and the pulse counting module is used for counting the pulses in the pulse signals to acquire the position pulse signal counting value.
3. The linear motor based logistics transportation system of claim 2, wherein the position detection module further comprises a data sending module, and the processing module comprises a data receiving module, and the data sending module is configured to send the position pulse signal count value to the data receiving module.
4. The linear motor based logistics transportation system of claim 1, wherein the processing module comprises:
the calculating module is in communication connection with the position detection module and is used for calculating according to the position pulse signal counting value to obtain the position actual value and the speed actual value;
the first closed-loop control module is used for acquiring the position reference value and the speed reference value and acquiring the driving current change reference value according to the position actual value, the position reference value, the speed actual value and the speed reference value;
the second closed-loop control module is in communication connection with the current detection module and is used for acquiring the actual value of the driving current and acquiring a driving current adjusting value according to the actual value of the driving current and the driving current change reference value;
and the pulse generation module is in communication connection with the motor driving module and is used for adjusting the driving pulse signal according to the driving current adjusting value.
5. The linear motor based logistics transportation system of claim 4, wherein the closed loop control system further comprises:
and the upper computer interface circuit is in communication connection with the first closed-loop control module and is used for acquiring the position reference value and the speed reference value and outputting the position reference value and the speed reference value to the first closed-loop control module.
6. The linear motor based logistics transportation system of claim 1, wherein the processing module is a digital signal processing module.
7. The logistics transportation system based on the linear motor as claimed in claim 1, wherein grating pulse detection modules are respectively arranged at two ends of the stator of the linear motor, and are used for detecting the position of the rotor of the linear motor and enabling the rotor to correspond to the closed-loop control system.
8. The linear motor based logistics transportation system of claim 1, comprising:
the linear transportation rail comprises a plurality of linear transportation rails, and at least two linear transportation rails have different extending directions.
9. The linear motor based logistics transportation system of claim 1, wherein the linear motor stator is powered in sections.
10. The linear motor based logistics transportation system of claim 1, wherein the linear motor mover is not electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111328910.9A CN113942804A (en) | 2021-11-10 | 2021-11-10 | Logistics transportation system based on linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111328910.9A CN113942804A (en) | 2021-11-10 | 2021-11-10 | Logistics transportation system based on linear motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113942804A true CN113942804A (en) | 2022-01-18 |
Family
ID=79337748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111328910.9A Pending CN113942804A (en) | 2021-11-10 | 2021-11-10 | Logistics transportation system based on linear motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113942804A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040108824A1 (en) * | 2002-05-31 | 2004-06-10 | Mitsuo Ueda | Motor drive control apparatus |
| CN101339711A (en) * | 2008-08-28 | 2009-01-07 | 浙江天煌科技实业有限公司 | Linear motor movement control experimental device applying various control policies |
| CN101424940A (en) * | 2007-11-02 | 2009-05-06 | 深圳市大族精密机电有限公司 | Multi-shaft mobile system driven by linear electric motor |
| CN204993012U (en) * | 2015-10-23 | 2016-01-20 | 安徽工程大学 | Directly drive formula plane machine controller |
| CN109672317A (en) * | 2018-11-27 | 2019-04-23 | 江苏大学 | A kind of electronic door drive of modularization translation and its drive control method based on linear motor |
| CN112019100A (en) * | 2020-08-21 | 2020-12-01 | 北京航空航天大学 | Linear motor control system based on wireless data transmission |
| CN112803859A (en) * | 2021-01-28 | 2021-05-14 | 上海机电工程研究所 | Stator discontinuous linear motor control system based on sectional control algorithm |
| CN113054884A (en) * | 2021-04-23 | 2021-06-29 | 北京航空航天大学 | Multi-rotor linear motor cooperative control system and method based on adjacent coupling |
| CN213770510U (en) * | 2020-06-24 | 2021-07-23 | 湖南凌翔磁浮科技有限责任公司 | Drive control system and annular magnetic suspension conveying platform |
-
2021
- 2021-11-10 CN CN202111328910.9A patent/CN113942804A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040108824A1 (en) * | 2002-05-31 | 2004-06-10 | Mitsuo Ueda | Motor drive control apparatus |
| CN101424940A (en) * | 2007-11-02 | 2009-05-06 | 深圳市大族精密机电有限公司 | Multi-shaft mobile system driven by linear electric motor |
| CN101339711A (en) * | 2008-08-28 | 2009-01-07 | 浙江天煌科技实业有限公司 | Linear motor movement control experimental device applying various control policies |
| CN204993012U (en) * | 2015-10-23 | 2016-01-20 | 安徽工程大学 | Directly drive formula plane machine controller |
| CN109672317A (en) * | 2018-11-27 | 2019-04-23 | 江苏大学 | A kind of electronic door drive of modularization translation and its drive control method based on linear motor |
| CN213770510U (en) * | 2020-06-24 | 2021-07-23 | 湖南凌翔磁浮科技有限责任公司 | Drive control system and annular magnetic suspension conveying platform |
| CN112019100A (en) * | 2020-08-21 | 2020-12-01 | 北京航空航天大学 | Linear motor control system based on wireless data transmission |
| CN112803859A (en) * | 2021-01-28 | 2021-05-14 | 上海机电工程研究所 | Stator discontinuous linear motor control system based on sectional control algorithm |
| CN113054884A (en) * | 2021-04-23 | 2021-06-29 | 北京航空航天大学 | Multi-rotor linear motor cooperative control system and method based on adjacent coupling |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100555146C (en) | A kind of servo drive of large power long range permanent magnetism synchronous linear motor | |
| CN112019100B (en) | Linear motor control system based on wireless data transmission | |
| CN110040155B (en) | Control system of magnetic suspension train turnout | |
| CN103420260B (en) | The divided stator segmentation permanent-magnetism linear motor of distributed power supply is adopted directly to drive elevator system | |
| CN112803859A (en) | Stator discontinuous linear motor control system based on sectional control algorithm | |
| CN101850523B (en) | Magnetic suspension feeding platform of liner synchronous motor of digital control machine tool | |
| CN114070138A (en) | Winding switching control system, method and device of permanent magnet synchronous linear motor | |
| CN213770510U (en) | Drive control system and annular magnetic suspension conveying platform | |
| CN110011513A (en) | A kind of bilateral switched relutance linear motor of modularization primary permanent magnet formula | |
| CN113942804A (en) | Logistics transportation system based on linear motor | |
| CN111130299A (en) | Linear motion device based on resonant magnetic coupling wireless energy transfer technology and control method | |
| CN201881156U (en) | Precise heavy machine tool magnetic levitation motion platform driven by bilinear synchronous motor | |
| CN215344337U (en) | High-precision high-speed motion platform | |
| Bauer et al. | Inductive power supply (IPS®) for the transrapid | |
| CN109291799A (en) | Drive system for tube-rail transportation system | |
| CN112436712A (en) | Advanced control segmented power supply device and method for long-distance linear motor driving system | |
| KR101498888B1 (en) | Position detecting device for two-phase and two-row linear motor propulsion system | |
| CN101972933B (en) | Magnetic suspension motion platform of precision heavy machine tool driven by double linear synchronous motors | |
| CN201664856U (en) | Linear synchronous motor magnetic suspension feeding platform of numerical control machine | |
| CN201667604U (en) | Direct magnetic suspension permanent magnet linear synchronous motor for digital control feeding platform | |
| CN112701989B (en) | Multi-rotor and multi-stator linear motor control system based on pseudo-longitudinal wave elastic theory | |
| CN102064752A (en) | Control device and method of reciprocal power-fed type bilinear induction machine operating mechanism | |
| CN104584360A (en) | System and method for detecting islanding of electrical machines and protecting same | |
| CN101860173A (en) | Direct magnetic suspension permanent magnet linear synchronous motor for numerical control feeding platform | |
| CN103508315B (en) | Elevator operating troubles prognoses system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220118 |
|
| RJ01 | Rejection of invention patent application after publication |