CN114362596A - Linear motor position feedback system and working method - Google Patents
Linear motor position feedback system and working method Download PDFInfo
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Abstract
The invention discloses a linear motor position feedback system and a working method thereof, comprising a position detection module for detecting the position information of a motor rotor in real time, a signal generation and detection module capable of interacting with the motor rotor to generate a motor rotor displacement signal and a signal processing control module, wherein the position detection module and the signal generation and detection module are respectively connected with the signal processing control module to transmit the detected motor rotor position information and displacement signal to the signal processing control module, the signal processing control module processes the received motor rotor position information and displacement signal to obtain a feedback signal capable of reflecting the running position state of a motor, and transmits the obtained feedback signal to a motor driver. The linear motor position feedback system can effectively realize high-speed, high-precision and high-reliability operation control on the linear motor, and greatly expands the industrial application occasions of the linear motor.
Description
Technical Field
The invention relates to the technical field of motor control, and particularly provides a linear motor position feedback system and a working method.
Background
The position feedback control of the traditional linear motor is mainly realized by sensors such as a grating, a magnetic grating and a capacitive grating. However, in the prior art, the motor position sensor needs to be provided with a sensor reading head during operation, and the reading head dragging line and the like need to be installed on the mover, so that the existing motor position sensor mechanism cannot be effectively applied to the following situations: the rotor moves out, the stator is modularly spliced out and the like in special occasions needing wireless feedback, because in the wireless feedback technology, if the wireless communication technology such as Bluetooth or wifi is adopted, the reliability and the high speed of the servo control cannot be compatibly ensured. Therefore, there is a need to develop a servo wireless position feedback system and method that can ensure high-speed, high-precision, and high-reliability operation of the linear motor.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
In order to overcome the defects, the invention provides a linear motor position feedback system and a working method, which can effectively realize high-speed, high-precision and high-reliability operation control on a linear motor and greatly expand the industrial application occasions of the linear motor.
The technical scheme adopted by the invention for solving the technical problem is as follows: a linear motor position feedback system, a linear motor is provided with a motor stator and a motor rotor movably arranged on the motor stator, the linear motor position feedback system comprises a position detection module for detecting the position information of the motor rotor in real time, a signal generation and detection module capable of interacting with the motor rotor to generate a motor rotor displacement signal and a signal processing control module, the position detection module and the signal generation and detection module are respectively connected with the signal processing control module, so as to transmit the detected position information and displacement signals of the motor rotor to the signal processing control module, the signal processing control module processes the received motor rotor position information and displacement signals to obtain a feedback signal capable of reflecting the motor running position state, and transmits the obtained feedback signal to the motor driver.
As a further improvement of the present invention, the position detection module has a plurality of switch hall sensors, the plurality of switch hall sensors are mounted on the motor stator side by side along a linear moving direction of the motor rotor, and when the motor rotor moves linearly relative to the motor stator, a projection of the motor rotor toward the motor stator can always cover three switch hall sensors;
the signal generating and detecting module is provided with a plurality of signal generating and detecting units which are arranged on the motor stator side by side along the linear moving direction of the motor rotor, and each signal generating and detecting unit is also provided with a position sensor which can interact with the motor rotor to generate a motor rotor displacement signal and a signal processing module A which is electrically connected with the position sensor and can process the motor rotor displacement signal;
in addition, the plurality of switch hall sensors are also in working cooperation with the plurality of signal generating and detecting units, namely: when the motor rotor moves linearly relative to the motor stator, the middle one of the three switch Hall sensors covered by the motor rotor is used as a judgment reference for determining which signal generation and detection unit works, so that the position information of the motor rotor is detected in real time.
As a further improvement of the present invention, the number N of the signal generating and detecting units satisfies the following relation:
N≥X/L，
in the formula, X is the length of the motor stator, and L is the length of magnetic steel on the motor rotor;
in addition, the working range of the position sensor in any signal generating and detecting unit can cover the three switch Hall sensors which are matched with the position sensor.
As a further improvement of the invention, a position sensor in each signal generating and detecting unit and magnetic steel on the motor rotor are used for inducing to generate a motor rotor displacement signal.
As a further improvement of the present invention, the signal processing control module is integrated with a signal processing module B, a signal processing module C, a multiplexer module, a signal modulation module, a signal transmission module and a human-computer interaction module, wherein the signal processing module B is connected to the signal generating and detecting module and is capable of performing modulation filtering processing on the received displacement signal of the motor rotor, the signal processing module C is connected to the position detecting module and is capable of performing signal conversion processing on the received position information of the motor rotor, the multiplexer module is respectively connected to the signal processing module B and the signal processing module C and is capable of performing splicing synthesis processing on the received displacement signal of the motor rotor and the position information of the motor rotor to obtain a synthesized signal, and simultaneously, the multiplexer module further transmits the obtained synthesized signal to the signal modulation module, the signal modulation module calculates the synthesized signal to obtain a feedback signal capable of reflecting the running position state of the motor; in addition, the signal modulation module is also respectively connected with the signal transmission module and the man-machine interaction module so as to transmit the feedback signal to the motor driver through the signal transmission module and display the motor running position state information or the motor fault information through the man-machine interaction module.
As a further improvement of the invention, the signal processing control module is also installed on the motor stator.
As a further improvement of the present invention, the number of the signal processing modules B is multiple, and the signal processing modules B are respectively connected with the multiple signal generating and detecting units in a one-to-one correspondence manner;
correspondingly, the multiplexer module is provided with a plurality of input interfaces a, and the plurality of input interfaces a are respectively connected with the output ends of the plurality of signal processing modules B in a one-to-one correspondence manner;
the signal transmission module transmits a feedback signal to the motor driver in a differential form or a communication protocol form.
The invention also provides a working method of the linear motor position feedback system, which comprises the following steps:
s1: providing a position detection module, a signal generation and detection module and a signal processing control module, wherein the position detection module can detect the position information of a motor rotor in real time, the signal generation and detection module can interact with the motor rotor to generate a displacement signal of the motor rotor, and the position detection module and the signal generation and detection module are respectively connected to the signal processing control module so as to transmit the position information and the displacement signal of the motor rotor detected by the position detection module and the signal generation and detection module to the signal processing control module;
s2: the signal processing control module processes the received motor rotor position information and displacement signals to obtain a feedback signal capable of reflecting the motor running position state, and transmits the obtained feedback signal to the motor driver.
As a further improvement of the present invention, in the step S1, the position detecting module has a plurality of switch hall sensors, the switch hall sensors are mounted on the motor stator side by side along a linear moving direction of the motor rotor, and when the motor rotor moves linearly relative to the motor stator, a projection of the motor rotor toward the motor stator can always cover three switch hall sensors;
the signal generating and detecting module is provided with a plurality of signal generating and detecting units which are arranged on the motor stator side by side along the linear moving direction of the motor rotor, and each signal generating and detecting unit is also provided with a position sensor which can interact with the motor rotor to generate a motor rotor displacement signal and a signal processing module A which is electrically connected with the position sensor and can process the motor rotor displacement signal;
in addition, the plurality of switch hall sensors are also in working cooperation with the plurality of signal generating and detecting units, namely: when the motor rotor moves linearly relative to the motor stator, the middle one of the three switch Hall sensors covered by the motor rotor is used as a judgment reference for determining which signal generation and detection unit works, so that the position information of the motor rotor is detected in real time.
As a further improvement of the present invention, in the step S2, the signal processing control module integrates a signal processing module B connected to the signal generating and detecting module, a signal processing module C connected to the position detecting module, a multiplexer module, a signal modulating module, a signal transmitting module and a human-computer interaction module,
the specific method for processing the received motor rotor position information and displacement signals by the signal processing control module is as follows:
s21: the signal processing module B modulates and filters the received motor rotor displacement signal and transmits the signal to the multiplexer module;
the signal processing module C performs signal conversion processing on the received motor rotor position information and then transmits the processed motor rotor position information to the multiplexer module;
s22: the multiplexer module carries out splicing and synthesizing processing on the received motor rotor displacement signal and the motor rotor position information, namely: firstly, judging which signal generating and detecting unit works according to the position information of the motor rotor detected by the position detecting module, and then switching and controlling a position sensor in the signal generating and detecting unit to interact with the motor rotor to generate a motor rotor displacement signal; after the splicing synthesis processing is finished, a synthetic signal is obtained, and meanwhile, the multiplexer module also transmits the obtained synthetic signal to the signal modulation module;
s23: the signal modulation module calculates the synthesized signal to obtain a feedback signal capable of reflecting the running position state of the motor;
s24: the signal modulation module is also used for carrying out continuity judgment on the obtained feedback signal and judging whether the output state of the feedback signal is normal:
a) if the feedback signal is output normally, the signal modulation module transmits the obtained feedback signal to the motor driver through the signal transmission module, and simultaneously, the signal modulation module also displays the motor running position state information through the human-computer interaction module;
b) if the feedback signal is not normally output, the signal modulation module outputs an off enable control signal to the motor driver through the signal transmission module, and meanwhile, the signal modulation module also displays motor fault information through the man-machine interaction module.
The invention has the beneficial effects that: compared with the prior art, the linear motor position feedback system and the working method provided by the invention can effectively and effectively perform wireless control on the linear motor, and realize the low-cost operation control of the linear motor with high speed, high precision and high reliability, so that the linear motor can be widely applied to various high-speed and high-precision industrial application occasions such as semiconductor industry, numerical control machine tools, automatic equipment and the like.
Drawings
FIG. 1 is a schematic diagram of a structural principle of a position feedback system of a linear motor according to the present invention;
fig. 2 is a block diagram illustrating the operation principle of the signal processing control module according to the present invention.
The following description is made with reference to the accompanying drawings:
1-a motor stator; 2, a motor rotor; 31 — a position detection module; 310 — switching hall sensor; 32-a signal generation and detection module; 320 — a position sensor; 33-signal processing control module; 330-signal processing module B; 331-signal processing module C; 332-multiplexer module; 333-signal modulation module; 334-signal transmission module; 335 — human-computer interaction module.
Detailed Description
The following description of the embodiments of the present invention is provided by way of specific embodiments, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical significance. The terms "a", "B" and "C" used herein are for convenience of description only and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
Example 1:
fig. 1 is a schematic diagram illustrating a structural principle of a linear motor position feedback system according to the present invention.
The linear motor is provided with a motor stator 1 and a motor rotor 2 movably arranged on the motor stator 1, the linear motor position feedback system comprises a position detection module 31 for detecting the position information of the motor rotor 2 in real time, a signal generation and detection module 32 capable of interacting with the motor rotor 2 to generate a motor rotor displacement signal and a signal processing control module 33, the position detection module 31 and the signal generation and detection module 32 are respectively connected with the signal processing control module 33 to realize the transmission of the motor rotor position information and the displacement signal detected by the signal generation and detection module 31 and the signal processing control module 33, the signal processing control module 33 processes the received motor rotor position information and the displacement signal to obtain a feedback signal capable of reflecting the motor operation position state, and simultaneously transmitting the obtained feedback signal to a motor driver, wherein the motor driver controls the linear motor to work according to the feedback signal.
In this embodiment, it is preferable that the position detection module 31 has a plurality of switch hall sensors 310, the plurality of switch hall sensors 310 are mounted on the motor stator 1 side by side along a linear moving direction of the motor mover 2, and when the motor mover 2 moves linearly relative to the motor stator 1, a projection of the motor mover 2 toward the motor stator 1 can always cover three switch hall sensors 310;
the signal generating and detecting module 32 has a plurality of signal generating and detecting units, which are installed side by side on the motor stator 1 along the linear moving direction of the motor mover 2, and each of the signal generating and detecting units further has a position sensor 320 capable of interacting with the motor mover 2 to generate a motor mover displacement signal and a signal processing module a electrically connected to the position sensor 320 and capable of processing the motor mover displacement signal to obtain an orthogonal displacement signal;
in addition, the plurality of switching hall sensors 310 also work in cooperation with the plurality of signal generating and detecting units, that is: when the motor mover 2 moves linearly relative to the motor stator 1, a middle one of the three switch hall sensors 310 covered by the motor mover 2 serves as a criterion for determining which of the signal generating and detecting units operates, so as to detect the position information of the motor mover 2 in real time.
Further preferably, the number N of the signal generating and detecting units satisfies the following relation: n is more than or equal to X/L, wherein X is the length of the motor stator (the length direction of the motor stator is the linear moving direction of the motor rotor), and L is the length of magnetic steel on the motor rotor;
in addition, the working range of the position sensor 320 in any one of the signal generating and detecting units can cover the three switch hall sensors 310 working in cooperation therewith.
Further preferably, the position sensor 320 in each signal generating and detecting unit and the magnetic steel on the motor mover 2 induce to generate a motor mover displacement signal. Besides, a magnetic grating ruler or other magnets can be arranged on the motor rotor to realize the induction generation of the motor rotor displacement signal with the position sensor.
In this embodiment, it is preferable that the signal processing control module 33 is integrated with a signal processing module B330, a signal processing module C331, a multiplexer module 332, a signal modulation module 333, a signal transmission module 334, and a man-machine interaction module 335, wherein the signal processing module B330 is connected to the signal generating and detecting module 32 and is capable of performing modulation filtering processing on the received motor mover displacement signal, the signal processing module C331 is connected to the position detecting module 31 and is capable of performing signal conversion processing (such as high-low level signal conversion) on the received motor mover position information, and the multiplexer module 332 is respectively connected to the signal processing module B330 and the signal processing module C331 and is capable of performing splicing and synthesizing processing, splicing, synthesizing, and processing on the received motor mover displacement signal and the motor mover position information, A synthesized signal is obtained, meanwhile, the multiplexer module 332 further transmits the obtained synthesized signal to the signal modulation module 333, and the signal modulation module 333 calculates and processes the synthesized signal to obtain a feedback signal capable of reflecting the running position state of the motor; in addition, the signal modulation module 333 is further connected to the signal transmission module 334 and the human-computer interaction module 335, so as to transmit the feedback signal to the motor driver through the signal transmission module 334, and display the motor operation position state information or the motor fault information through the human-computer interaction module 335. The working principle of the signal processing control module can be seen in fig. 2.
Further preferably, the signal processing control module 33 is also mounted on the motor stator 1.
Preferably, the number of the signal processing modules B330 is multiple, and the signal processing modules B are respectively connected to the multiple signal generating and detecting units in a one-to-one correspondence manner;
correspondingly, the multiplexer module 332 has a plurality of input interfaces a, and the plurality of input interfaces a are respectively connected with the output ends of the plurality of signal processing modules B330 in a one-to-one correspondence; because the plurality of input interfaces A of the multiplexer module correspond to the plurality of signal processing modules B one by one, and the plurality of signal processing modules B correspond to the plurality of signal generating and detecting units one by one, the number of the input interfaces A of the multiplexer module also satisfies the relation that N is more than or equal to X/L;
the signal transmission module 334 transmits the feedback signal to the motor driver in a differential form or a communication protocol form.
Example 2:
the embodiment 2 discloses a working method of a linear motor position feedback system, which includes the following steps:
s1: providing a position detection module 31, a signal generation and detection module 32 and a signal processing control module 33, wherein the position detection module 31 can detect the position information of the motor mover 2 in real time, the signal generation and detection module 32 can interact with the motor mover 2 to generate a displacement signal of the motor mover, and the position detection module 31 and the signal generation and detection module 32 are both respectively connected to the signal processing control module 33, so as to transmit the position information and the displacement signal of the motor mover detected by the position detection module 31 and the signal generation and detection module 32 to the signal processing control module 33;
s2: the signal processing control module 33 processes the received position information and displacement signal of the motor mover to obtain a feedback signal capable of reflecting the operating position state of the motor, and transmits the obtained feedback signal to the motor driver, and the motor driver controls the linear motor to work according to the feedback signal.
In this embodiment, in step S1, it is preferable that the position detection module 31 has a plurality of switch hall sensors 310, the plurality of switch hall sensors 310 are mounted on the motor stator 1 side by side along a linear movement direction of the motor mover 2, and when the motor mover 2 moves linearly relative to the motor stator 1, a projection of the motor mover 2 toward the motor stator 1 can always cover three switch hall sensors 310;
the signal generating and detecting module 32 has a plurality of signal generating and detecting units, which are installed side by side on the motor stator 1 along the linear moving direction of the motor mover 2, and each of the signal generating and detecting units further has a position sensor 320 capable of interacting with the motor mover 2 to generate a motor mover displacement signal and a signal processing module a electrically connected to the position sensor 320 and capable of processing the motor mover displacement signal to obtain an orthogonal displacement signal;
in addition, the plurality of switching hall sensors 310 also work in cooperation with the plurality of signal generating and detecting units, that is: when the motor mover 2 moves linearly relative to the motor stator 1, a middle one of the three switch hall sensors 310 covered by the motor mover 2 serves as a criterion for determining which of the signal generating and detecting units operates, so as to detect the position information of the motor mover 2 in real time.
Preferably, in step S2, the signal processing control module 33 integrates a signal processing module B330 connected to the signal generating and detecting module 32, a signal processing module C331 connected to the position detecting module 31, a multiplexer module 332, a signal modulating module 333, a signal transmitting module 334 and a human-computer interaction module 335,
the specific method for processing the received motor rotor position information and displacement signal by the signal processing control module 33 is as follows:
s21: the signal processing module B330 performs modulation filtering processing on the received motor mover displacement signal and transmits the processed signal to the multiplexer module 332;
the signal processing module C331 performs signal conversion processing (such as high-low level signal conversion) on the received motor mover position information, and transmits the processed information to the multiplexer module 332;
s22: the multiplexer module 332 performs splicing and synthesizing processing on the received displacement signal of the motor rotor and the position information of the motor rotor, that is: firstly, judging which signal generating and detecting unit works according to the position information of the motor rotor detected by the position detecting module 31, and then switching and controlling a position sensor 320 in the signal generating and detecting unit to interact with the motor rotor 2 to generate a motor rotor displacement signal; after the splicing and synthesizing process is completed, a synthesized signal is obtained, and the multiplexer module 332 further transmits the obtained synthesized signal to the signal modulation module 333;
s23: the signal modulation module 333 calculates the synthesized signal to obtain a feedback signal capable of reflecting the running position state of the motor; according to the signal form required by the motor driver, the signal modulation module can be designed by adopting FPGA/CPLD/MCU to obtain an incremental signal, a three-phase signal or an absolute value signal which is required by the motor driver;
s24: the signal modulation module 333 further performs continuity judgment on the obtained feedback signal, and judges whether the output state of the feedback signal is normal:
a) if the feedback signal is output normally, the signal modulation module 333 transmits the obtained feedback signal to the motor driver through the signal transmission module 334, and meanwhile, the signal modulation module 333 also displays the motor running position state information through the human-computer interaction module 335;
b) if the feedback signal is not output normally, the signal modulation module 333 outputs an off enable control signal to the motor driver through the signal transmission module 334, and meanwhile, the signal modulation module 333 also displays motor fault information through the human-computer interaction module 335.
In summary, compared with the prior art, the linear motor position feedback system and the working method provided by the invention can effectively and wirelessly control the linear motor, and can realize the low-cost operation control of the linear motor with high speed, high precision and high reliability, so that the linear motor can be widely applied to various high-speed and high-precision industrial application occasions such as semiconductor industry, numerical control machine tools, automation equipment and the like.
The above description is only a preferred embodiment of the present invention, but not intended to limit the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as within the protective scope of the present invention.
Claims (10)
1. The utility model provides a linear electric motor position feedback system, linear electric motor have motor stator (1) and movable mounting in motor rotor (2) on motor stator (1), its characterized in that: the linear motor position feedback system comprises a position detection module (31) for detecting the position information of the motor rotor (2) in real time, a signal generation and detection module (32) capable of interacting with the motor rotor (2) to generate a motor rotor displacement signal and a signal processing control module (33), the position detection module (31) and the signal generation and detection module (32) are respectively connected with the signal processing control module (33), so as to transmit the detected position information and displacement signals of the motor rotor to the signal processing control module (33), the signal processing control module (33) processes the received motor rotor position information and displacement signals to obtain a feedback signal capable of reflecting the motor running position state, and transmits the obtained feedback signal to the motor driver.
2. The linear motor position feedback system of claim 1, wherein: the position detection module (31) is provided with a plurality of switch Hall sensors (310), the switch Hall sensors (310) are arranged on the motor stator (1) side by side along the linear movement direction of the motor rotor (2), and when the motor rotor (2) moves linearly relative to the motor stator (1), the projection of the motor rotor (2) towards the motor stator (1) can always cover three switch Hall sensors (310);
the signal generating and detecting module (32) is provided with a plurality of signal generating and detecting units which are arranged on the motor stator (1) side by side along the linear moving direction of the motor rotor (2), and each signal generating and detecting unit is also provided with a position sensor (320) which can interact with the motor rotor (2) to generate a displacement signal of the motor rotor and a signal processing module A which is electrically connected with the position sensor (320) and can process the displacement signal of the motor rotor;
in addition, the plurality of switched hall sensors (310) are also in working cooperation with the plurality of signal generating and detecting units, namely: when the motor rotor (2) moves linearly relative to the motor stator (1), the middle one of the three switch Hall sensors (310) covered by the motor rotor (2) is used as a judgment reference for determining which signal generation and detection unit works, so that the position information of the motor rotor (2) is detected in real time.
3. The linear motor position feedback system of claim 2, wherein: the number N of the signal generating and detecting units satisfies the following relational expression:
N≥X/L，
in the formula, X is the length of the motor stator, and L is the length of magnetic steel on the motor rotor;
in addition, the working range of the position sensor (320) in any signal generating and detecting unit can cover the three switch Hall sensors (310) which are matched with the position sensor.
4. A linear motor position feedback system according to claim 3, wherein: and a position sensor (320) in each signal generating and detecting unit and the magnetic steel on the motor rotor (2) are used for inducing to generate a motor rotor displacement signal.
5. A linear motor position feedback system according to claim 3, wherein: the signal processing control module (33) is integrated with a signal processing module B (330), a signal processing module C (331), a multiplexer module (332), a signal modulation module (333), a signal transmission module (334) and a man-machine interaction module (335), wherein the signal processing module B (330) is connected with the signal generating and detecting module (32) and can perform modulation filtering processing on received motor rotor displacement signals, the signal processing module C (331) is connected with the position detecting module (31) and can perform signal conversion processing on received motor rotor position information, the multiplexer module (332) is respectively connected with the signal processing module B (330) and the signal processing module C (331) and can perform splicing synthesis processing on the received motor rotor displacement signals and the received motor rotor position information, A synthesized signal is obtained, meanwhile, the multiplexer module (332) also transmits the obtained synthesized signal to the signal modulation module (333), and the signal modulation module (333) obtains a feedback signal capable of reflecting the running position state of the motor after calculating the synthesized signal; in addition, the signal modulation module (333) is also respectively connected with the signal transmission module (334) and the human-computer interaction module (335), so that the feedback signal is transmitted to the motor driver through the signal transmission module (334), and the motor running position state information or the motor fault information is displayed through the human-computer interaction module (335).
6. The linear motor position feedback system of claim 5, wherein: the signal processing control module (33) is also arranged on the motor stator (1).
7. The linear motor position feedback system of claim 5, wherein: the signal processing modules B (330) are multiple and are respectively connected with the signal generating and detecting units in a one-to-one correspondence manner;
correspondingly, the multiplexer module (332) is provided with a plurality of input interfaces a, and the plurality of input interfaces a are respectively connected with the output ends of the plurality of signal processing modules B (330) in a one-to-one correspondence manner;
the signal transmission module (334) transmits the feedback signal to the motor driver in a differential form or a communication protocol form.
8. A working method of a linear motor position feedback system is characterized in that: the method comprises the following steps:
s1: providing a position detection module (31), a signal generation and detection module (32) and a signal processing control module (33), wherein the position detection module (31) can detect the position information of the motor rotor (2) in real time, the signal generation and detection module (32) can interact with the motor rotor (2) to generate a displacement signal of the motor rotor, and the position detection module (31) and the signal generation and detection module (32) are respectively connected to the signal processing control module (33) to transmit the position information and the displacement signal of the motor rotor detected by the position detection module and the signal generation and detection module to the signal processing control module (33);
s2: the signal processing control module (33) processes the received motor rotor position information and displacement signals to obtain a feedback signal capable of reflecting the motor running position state, and transmits the obtained feedback signal to the motor driver.
9. The operating method of a linear motor position feedback system according to claim 8, wherein: in the step S1, the position detecting module (31) has a plurality of switch hall sensors (310), the plurality of switch hall sensors (310) are mounted on the motor stator (1) side by side along the linear moving direction of the motor rotor (2), and when the motor rotor (2) moves linearly relative to the motor stator (1), the projection of the motor rotor (2) towards the motor stator (1) can always cover three switch hall sensors (310);
the signal generating and detecting module (32) is provided with a plurality of signal generating and detecting units which are arranged on the motor stator (1) side by side along the linear moving direction of the motor rotor (2), and each signal generating and detecting unit is also provided with a position sensor (320) which can interact with the motor rotor (2) to generate a displacement signal of the motor rotor and a signal processing module A which is electrically connected with the position sensor (320) and can process the displacement signal of the motor rotor;
in addition, the plurality of switched hall sensors (310) are also in working cooperation with the plurality of signal generating and detecting units, namely: when the motor rotor (2) moves linearly relative to the motor stator (1), the middle one of the three switch Hall sensors (310) covered by the motor rotor (2) is used as a judgment reference for determining which signal generation and detection unit works, so that the position information of the motor rotor (2) is detected in real time.
10. The operating method of a linear motor position feedback system according to claim 9, wherein: in the above step S2, the signal processing control module (33) is integrated with a signal processing module B (330) connected to the signal generating and detecting module (32), a signal processing module C (331) connected to the position detecting module (31), a multiplexer module (332), a signal modulating module (333), a signal transmitting module (334) and a human-computer interaction module (335),
and the specific method for processing the received motor rotor position information and displacement signals by the signal processing control module (33) is as follows:
s21: the signal processing module B (330) modulates and filters the received motor rotor displacement signal and transmits the signal to the multiplexer module (332);
the signal processing module C (331) performs signal conversion processing on the received motor rotor position information and transmits the processed motor rotor position information to the multiplexer module (332);
s22: the multiplexer module (332) performs splicing and synthesizing processing on the received motor rotor displacement signals and the motor rotor position information, namely: firstly, judging which signal generating and detecting unit works according to the position information of the motor rotor detected by the position detecting module (31), and then switching and controlling a position sensor (320) in the signal generating and detecting unit to interact with the motor rotor (2) to generate a motor rotor displacement signal; after the splicing and synthesizing processing is finished, a synthesized signal is obtained, and meanwhile, the multiplexer module (332) also transmits the obtained synthesized signal to the signal modulation module (333);
s23: the signal modulation module (333) calculates the synthesized signal to obtain a feedback signal capable of reflecting the running position state of the motor;
s24: the signal modulation module (333) also carries out continuity judgment on the obtained feedback signal, and judges whether the output state of the feedback signal is normal:
a) if the feedback signal is output normally, the signal modulation module (333) transmits the obtained feedback signal to the motor driver through the signal transmission module (334), and meanwhile, the signal modulation module (333) displays the motor running position state information through the human-computer interaction module (335);
b) if the feedback signal is not normally output, the signal modulation module (333) outputs an off enable control signal to the motor driver through the signal transmission module (334), and meanwhile, the signal modulation module (333) displays motor fault information through the man-machine interaction module (335).
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