CN114362596B - 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, wherein the linear motor position feedback system comprises a position detection module for detecting motor rotor position information in real time, a signal generation and detection module capable of generating motor rotor displacement signals through interaction with a motor rotor 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 realize that the detected motor rotor position information and displacement signals are transmitted to the signal processing control module, and the signal processing control module processes the received motor rotor position information and displacement signals to obtain a feedback signal capable of reflecting the running position state of the motor and simultaneously transmits the obtained feedback signal to a motor driver. The linear motor position feedback system can effectively realize the running control of the linear motor with high speed, high precision and high reliability, 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 thereof.
Background
The traditional linear motor position feedback control is mainly realized through sensors such as gratings, magnetic gratings, capacitive gratings and the like. However, in the prior art, the motor position sensor needs to be configured with a sensor reading head during operation, and the reading head wire-pulling wire and the like need to be installed on the rotor, so that the existing motor position sensor mechanism cannot be effectively applied to the motor position sensor mechanism such as: the special occasions needing wireless feedback such as moving out of the rotor and splicing the stator in a modularized manner are in a wireless feedback technology, such as a wireless communication technology adopting Bluetooth or wifi, so that the reliability and the high speed of servo control cannot be compatibly ensured. Therefore, there is a need in the industry to develop a servo wireless position feedback system and method that can ensure high-speed, high-precision and high-reliability operation of a linear motor.
In view of this, the present invention has been made.
Disclosure of Invention
In order to overcome the defects, the invention provides the linear motor position feedback system and the working method, which can effectively realize the high-speed, high-precision and high-reliability operation control of the linear motor, and greatly expand the industrial application occasions of the linear motor.
The technical scheme adopted by the invention for solving the technical problems is as follows: the linear motor position feedback system comprises a motor stator and a motor rotor movably arranged on the motor stator, wherein the linear motor position feedback system comprises a position detection module, a signal generation and detection module and a signal processing control module, wherein the position detection module is used for detecting the position information of the motor rotor in real time, the signal generation and detection module can interact with the motor rotor to generate a motor rotor displacement signal, the position detection module and the signal generation and detection module are respectively connected with the signal processing control module so as to realize that the motor rotor position information and the displacement signal detected by the position detection module and the signal processing control module are transmitted to the signal processing control module, and the signal processing control module processes the received motor rotor position information and the received motor rotor displacement signal to obtain a feedback signal capable of reflecting the running position state of the motor and simultaneously transmits the obtained feedback signal to a motor driver.
As a further improvement of the present invention, the position detection module has a plurality of switch hall sensors which are mounted on the motor stator side by side along a linear movement direction of the motor mover, and when the motor mover moves linearly relative to the motor stator, a projection of the motor mover toward the motor stator can always cover three of the 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 matched with the plurality of signal generating and detecting units in a working way, 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 judging reference for determining which signal generating and detecting unit works, so that the position information of the motor rotor is detected in real time.
As a further development of the invention, the number N of signal generating and detecting units satisfies the following relation:
N≥X/L，
wherein X is the length of the motor stator, and L is the length of the magnetic steel on the motor rotor;
in addition, the working range of the position sensor in any signal generating and detecting unit can cover three switch Hall sensors matched with the position sensor.
As a further improvement of the invention, the position sensor in each signal generating and detecting unit and the magnetic steel on the motor rotor induce to generate motor rotor displacement signals.
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 man-machine interaction module, where the signal processing module B is connected with the signal generating and detecting module and is capable of performing modulation filtering processing on the received motor rotor displacement signal, the signal processing module C is connected with the position detecting module and is capable of performing signal conversion processing on the received motor rotor position information, the multiplexer module is respectively connected with the signal processing module B and the signal processing module C and is capable of performing splicing synthesis processing on the received motor rotor displacement signal and the motor rotor position information to obtain a synthesized signal, and meanwhile, the multiplexer module also transmits the obtained synthesized signal to the signal modulation module, and the signal modulation module performs calculation processing on the synthesized signal to obtain a feedback signal capable of reflecting the motor running position state; in addition, the signal modulation module is also respectively connected with the signal transmission module and the man-machine interaction module, so that the feedback signals are transmitted to the motor driver through the signal transmission module, and the state information of the motor running position or the motor fault information is displayed through the man-machine interaction module.
As a further improvement of the invention, the signal processing control module is also mounted on the motor stator.
As a further improvement of the invention, the plurality of signal processing modules B are respectively connected with the plurality of 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 input interfaces A are respectively connected with the output ends of the 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 mode or a communication protocol mode.
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 with the signal processing control module so as to realize that the detected position information and displacement signal of the motor rotor are transmitted 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 running position state of the motor, and simultaneously transmits the obtained feedback signal to the motor driver.
As a further improvement of the present invention, in the above step S1, the position detection module has a plurality of switch hall sensors which are mounted on the motor stator side by side along a linear movement direction of the motor mover, and when the motor mover moves linearly with respect to the motor stator, a projection of the motor mover toward the motor stator can always cover three of the 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 matched with the plurality of signal generating and detecting units in a working way, 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 judging reference for determining which signal generating and detecting 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 is integrated with 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 modulation module, a signal transmission module and a man-machine interaction module,
the specific method for processing the received motor rotor position information and the displacement signal by the signal processing control module comprises the following steps:
s21: the signal processing module B modulates and filters the received motor rotor displacement signal and transmits the modulated and filtered motor rotor displacement 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 signal to the multiplexer module;
s22: the multiplexer module performs splicing and synthesizing processing on the received motor rotor displacement signals and motor rotor position information, namely: firstly judging which of the signal generating and detecting units works according to the motor rotor position information 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 and synthesizing processing is completed, a synthesized signal is obtained, and meanwhile, the multiplexer module also transmits the obtained synthesized 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 also carries out continuity judgment on the obtained feedback signal and judges whether the output state of the feedback signal is normal or not:
a) If the feedback signal output is normal, the signal modulation module transmits the obtained feedback signal to the motor driver through the signal transmission module, and meanwhile, the signal modulation module also displays the state information of the motor running position through the man-machine interaction module;
b) If the feedback signal output is abnormal, the signal modulation module outputs an enabling-off 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 beneficial effects of the invention are as follows: compared with the prior art, the linear motor position feedback system and the working method provided by the invention can effectively perform wireless control on the linear motor, and can realize low-cost operation control on 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 the position feedback system of the linear motor according to the present invention;
fig. 2 is a schematic block diagram of the working 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—a switch hall sensor; 32-a signal generation and detection module; 320—a position sensor; 33-a signal processing control module; 330-signal processing module B; 331-a signal processing module C; 332-a multiplexer module; 333—a signal modulation module; 334-a signal transmission module; 335-man-machine interaction module.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure, by describing embodiments of the present invention with reference to specific examples.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or scope thereof. The terms "a", "B", "C", etc. are used herein for convenience of description and are not intended to limit the scope of the present invention, but rather to change or adjust the relative relationship thereof, without substantially changing the technical content, and are considered to be within the scope of the present invention.
Example 1:
fig. 1 is a schematic structural diagram of a position feedback system of a linear motor according to the present invention.
The linear motor comprises a motor stator 1 and a motor rotor 2 movably arranged on the motor stator 1, wherein 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 realize that the detected motor rotor position information and displacement signal are transmitted to the signal processing control module 33, the signal processing control module 33 processes the received motor rotor position information and displacement signal to obtain a feedback signal capable of reflecting the running position state of the motor, and simultaneously transmits the obtained feedback signal to a motor driver, and the motor driver controls the linear motor to work by the feedback signal.
In the present embodiment, preferably, 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 movement direction of the motor mover 2, and when the motor mover 2 moves linearly relative to the motor stator 1, the projection of the motor mover 2 toward the motor stator 1 can always cover three of the switch hall sensors 310;
the signal generating and detecting module 32 has a plurality of signal generating and detecting units which are mounted on the motor stator 1 side by side 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 switch hall sensors 310 are also operatively engaged with the plurality of signal generating and detecting units, namely: when the motor mover 2 moves linearly with respect to the motor stator 1, the middle one of the three switch hall sensors 310 covered by the motor mover 2 is used as a judgment reference for determining which of the signal generating and detecting units operates, thereby detecting the position information of the motor mover 2 in real time.
Further preferably, the number N of 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 movement 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 of the signal generating and detecting units can cover the three switch hall sensors 310 which are matched with the working range.
Further preferably, the position sensor 320 in each signal generating and detecting unit and the magnetic steel on the motor rotor 2 induce to generate a motor rotor displacement signal. In addition, the displacement signal of the motor rotor can be generated by the induction of the position sensor by arranging a magnetic grating ruler or other magnets on the motor rotor.
In this embodiment, preferably, 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, where 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 rotor 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 rotor position information, the multiplexer module 332 is respectively connected to the signal processing module B330 and the signal processing module C331 and is capable of performing splice synthesis processing on the received motor rotor displacement signal and the received motor rotor position information to obtain a synthesized signal, and meanwhile, the multiplexer module 332 also transmits the obtained synthesized signal to the signal modulation module 333, and the signal modulation module 333 performs calculation processing on the synthesized signal to obtain a feedback signal capable of reflecting the motor running position state; in addition, the signal modulation module 333 is further connected to the signal transmission module 334 and the man-machine interaction module 335, respectively, so as to transmit the feedback signal to the motor driver through the signal transmission module 334, and display the motor running position status information or the motor fault information through the man-machine interaction module 335. The working principle of the signal processing control module can be seen from figure 2.
Further preferably, the signal processing control module 33 is also mounted on the motor stator 1.
Further preferably, the plurality of signal processing modules B330 are respectively connected with the plurality of 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 input interfaces a are respectively connected with the output ends of the signal processing modules B330 in a one-to-one correspondence manner; because the input interfaces A of the multiplexer module are in one-to-one correspondence with the signal processing modules B, and the signal processing modules B are in one-to-one correspondence with the signal generating and detecting units, the number of the input interfaces A of the multiplexer module also meets the relation N not less than 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 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 with the signal processing control module 33 so as to realize that the detected position information and displacement signal of the motor rotor are transmitted 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 rotor to obtain a feedback signal capable of reflecting the operation position state of the motor, and simultaneously transmits the obtained feedback signal to the motor driver, and the motor driver controls the linear motor to work by the feedback signal.
In this embodiment, preferably, 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 movement direction of the motor mover 2, and when the motor mover 2 moves linearly relative to the motor stator 1, the projection of the motor mover 2 toward the motor stator 1 always covers three switch hall sensors 310;
the signal generating and detecting module 32 has a plurality of signal generating and detecting units which are mounted on the motor stator 1 side by side 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 switch hall sensors 310 are also operatively engaged with the plurality of signal generating and detecting units, namely: when the motor mover 2 moves linearly with respect to the motor stator 1, the middle one of the three switch hall sensors 310 covered by the motor mover 2 is used as a judgment reference for determining which of the signal generating and detecting units operates, thereby detecting the position information of the motor mover 2 in real time.
Preferably, in the 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 man-machine interaction module 335,
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 B330 performs modulation filtering processing on the received motor rotor displacement signal and then transmits the modulated motor rotor displacement 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 rotor position information, and then transmits the signal to the multiplexer module 332;
s22: the multiplexer module 332 performs a splicing and synthesizing process on the received motor rotor displacement signal and the motor rotor position information, that is: firstly judging which of the signal generating and detecting units works according to the motor rotor position information 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 above-mentioned splicing and synthesizing process is completed, a synthesized signal is obtained, and the multiplexer module 332 also transmits the obtained synthesized signal to the signal modulation module 333;
s23: the signal modulation module 333 performs calculation processing on 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 an FPGA/CPLD/MCU to obtain an incremental signal, a three-phase signal or an absolute value signal which accords with the requirement of 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 output is normal, the signal modulation module 333 transmits the obtained feedback signal to the motor driver through the signal transmission module 334, and at the same time, the signal modulation module 333 also displays the state information of the motor operation position through the man-machine interaction module 335;
b) If the feedback signal output is abnormal, the signal modulation module 333 outputs an off-enable control signal to the motor driver through the signal transmission module 334, and at the same time, the signal modulation module 333 also displays motor fault information through the man-machine 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 perform wireless control on the linear motor, and can realize low-cost operation control on 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.
The above description is only of the preferred embodiments of the present invention, but not intended to limit the invention, and it should be noted that it is possible for a person skilled in the art to make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should be considered as being within the scope of the present invention.
Claims (9)
1. A linear motor position feedback system, the linear motor has motor stator (1) and movable mounting in motor active cell (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), wherein 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 realize that the motor rotor position information and the displacement signal detected by the position detection module and the signal processing control module are transmitted to the signal processing control module (33), and the signal processing control module (33) processes the received motor rotor position information and the received motor rotor displacement signal to obtain a feedback signal capable of reflecting the running position state of the motor and simultaneously transmits the obtained feedback signal to a motor driver;
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 motor rotor displacement signal and a signal processing module A which is electrically connected with the position sensor (320) and can process the motor rotor displacement signal; in addition, the plurality of switch 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 judging standard for determining which signal generating and detecting unit works, so that the position information of the motor rotor (2) is detected in real time.
2. The linear motor position feedback system of claim 1, wherein: the number N of 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, 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 three switch Hall sensors (310) matched with the working range.
3. The linear motor position feedback system of claim 2, wherein: and a position sensor (320) in each signal generating and detecting unit and magnetic steel on the motor rotor (2) induce to generate motor rotor displacement signals.
4. The linear motor position feedback system of claim 2, 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 a received motor rotor displacement signal, 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 signal and the received motor rotor position information to obtain a synthesized signal, meanwhile, the multiplexer module (332) also transmits the obtained synthesized signal to the signal modulation module (333), and the signal modulation module (333) performs calculation processing on the synthesized signal to obtain a feedback signal reflecting the running position of the motor; in addition, the signal modulation module (333) is further connected with the signal transmission module (334) and the man-machine interaction module (335) respectively, so that the feedback signal is transmitted to the motor driver through the signal transmission module (334), and the state information of the motor running position or the motor fault information is displayed through the man-machine interaction module (335).
5. The linear motor position feedback system of claim 4, wherein: the signal processing control module (33) is also mounted on the motor stator (1).
6. The linear motor position feedback system of claim 4, wherein: the signal processing modules B (330) 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 input interfaces A are respectively connected with the output ends of the signal processing modules B (330) in a one-to-one correspondence manner; the signal transmission module (334) transmits a feedback signal to the motor driver in a differential form or a communication protocol form.
7. A method of operating a linear motor position feedback system according to any one of claims 1-6, wherein: 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 with the signal processing control module (33) so as to realize the transmission of the position information and the displacement signal of the motor rotor detected by the position detection module 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 motor rotor position information and displacement signals to obtain a feedback signal capable of reflecting the motor operation position state, and simultaneously transmits the obtained feedback signal to the motor driver.
8. The method of operating a linear motor position feedback system of claim 7, wherein: in the step S1, the position detection module (31) has a plurality of switch hall sensors (310), the switch hall sensors (310) are mounted on the motor stator (1) side by side along the linear movement direction of the motor mover (2), and when the motor mover (2) moves linearly relative to the motor stator (1), the 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) 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 motor rotor displacement signal and a signal processing module A which is electrically connected with the position sensor (320) and can process the motor rotor displacement signal; in addition, the plurality of switch 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 judging standard for determining which signal generating and detecting unit works, so that the position information of the motor rotor (2) is detected in real time.
9. The method of operating a linear motor position feedback system of claim 8, wherein: in the 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 man-machine interaction module (335), and 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 B (330) carries out modulation filtering processing on the received motor rotor displacement signal and then transmits the motor rotor displacement signal to the multiplexer module (332); the signal processing module C (331) performs signal conversion processing on the received motor rotor position information and then transmits the signal conversion processing to the multiplexer module (332); s22: the multiplexer module (332) performs splicing and synthesizing processing on the received motor rotor displacement signal and motor rotor position information, namely: firstly judging which of the signal generating and detecting units works according to the motor rotor position information 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; obtaining a composite signal after the splicing and synthesizing process is completed, and simultaneously, the multiplexer module (332) also transmits the obtained composite 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 performs continuity judgment on the obtained feedback signal, and judges whether the output state of the feedback signal is normal or not: a) If the feedback signal output is normal, 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 state information of the motor running position through the man-machine interaction module (335); b) If the feedback signal output is abnormal, the signal modulation module (333) outputs an enabling-off 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 man-machine interaction module (335).
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