CN115714508A

CN115714508A - Linear motor encoder, linear motor system and control method thereof

Info

Publication number: CN115714508A
Application number: CN202211480322.1A
Authority: CN
Inventors: 钟海东; 雷群; 程振涛; 汤丽君; 汤秀清; 黄腾晖; 汤智峰
Original assignee: Guangzhou Haozhi Electromechanical Co Ltd
Current assignee: Guangzhou Haozhi Electromechanical Co Ltd
Priority date: 2022-11-24
Filing date: 2022-11-24
Publication date: 2023-02-24

Abstract

The application discloses linear motor encoder, linear motor system and control method thereof, this encoder includes: the communication device comprises a first communication board, a second communication board and a connecting board; the circuit structures of the first communication board and the second communication board are the same, and the first communication board and the second communication board are used for being installed on two sides of the primary side of the motor; the first communication board is connected with the second communication board through a connecting board; the first communication board comprises a position acquisition circuit and a subdivision chip circuit, the position acquisition circuit is used for acquiring a magnetic field signal of a variable magnetic field generated when a motor secondary of the linear motor passes through the position acquisition circuit and comprises two reluctance chips, and the physical distance between the two reluctance chips is 1/4 of the magnetic pole of the linear motor; the position acquisition circuit is connected with the subdivision chip circuit. The encoder reduces the requirement on a magnetic grid, so that a linear motor does not need to be additionally provided with objects on the secondary level of the motor, and is not restricted by a lead, thereby being capable of moving at will and improving the flexibility of the linear motor. The method and the device can be widely applied to the technical field of automation.

Description

Linear motor encoder, linear motor system and control method thereof

Technical Field

The application relates to the technical field of automation, in particular to a linear motor encoder, a linear motor system and a control method thereof.

Background

With the continuous improvement of the industrial automation level, the mechanization and automation manufacturing concepts are gradually carried out to various processing industries, the intelligent logistics is gradually widely applied, and the transportation and the transfer of materials are essential in the automatic production. In transportation and transfer, need be used to the encoder and come real-time feedback position, guarantee that the material transmits the assigned position, and in automated production, the transmission of material generally need carry out remote removal, can change transmission track and direction of transfer at will moreover, consequently, the encoder needs have sufficient flexibility to satisfy the constantly changing production line and the commodity circulation requirement.

While in the related art, the conventional encoder is generally a combination of an encoder and a magnetic grid or a grating, the encoder needs to use the magnetic grid or the grating, the magnetic grid (grating) is installed on the track, and the encoder is installed on the stator. Because the encoder needs the lead-out wire to carry out position feedback, the installation of the encoder greatly limits the movement of the motor, and the installation of the magnetic grid is difficult to adjust at will. The encoder directly utilizing the magnetic field of the motor is independently installed without using a magnetic grid and a grating, so that the position measurement can be carried out, but the state judgment during power-on and the combination and programming of products still have problems, the use of discontinuous tracks cannot be realized, the application of modularization is difficult, the limitation is large in practical use, and the digital and automatic production requirements of the existing automatic production and logistics industries cannot be met.

In summary, the problems of the related art need to be solved.

Disclosure of Invention

The present application aims to solve at least one of the technical problems in the related art to some extent.

To this end, an object of the embodiments of the present application is to provide a linear motor encoder, a linear motor system, and a control method thereof.

In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the application comprises the following steps:

in one aspect, an embodiment of the present application provides a linear motor encoder, including:

the device comprises a first communication board, a second communication board and a connecting board;

the circuit structures of the first communication board and the second communication board are the same, the first communication board is used for being installed on a first side of a group of motor primaries of the linear motor, and the second communication board is used for being installed on a second side, far away from the first side, of the motor primaries; the first communication board is connected with the second communication board through the connecting board;

the first communication board comprises a position acquisition circuit and a subdivision chip circuit, the position acquisition circuit is used for acquiring a magnetic field signal of a changing magnetic field generated when a motor secondary of the linear motor passes through, the position acquisition circuit comprises two reluctance chips, and the physical distance between the two reluctance chips is 1/4 of the magnetic pole of the linear motor; the position acquisition circuit is connected with the subdivision chip circuit.

In addition, the linear motor encoder according to the above embodiment of the present application may further have the following additional technical features:

further, in an embodiment of the present application, the linear motor encoder further includes a main control chip circuit, a power supply circuit, and an interface circuit.

Further, in an embodiment of the present application, the magnetic resistance chip is a TMR2109 chip, and the position acquisition circuit further includes a differential amplifier circuit;

the differential amplification circuit comprises an LMV321IDCKR chip, a fourth resistor, a seventh resistor, a tenth resistor and a twelfth resistor; the fifth pin of the TMR2109 chip is connected to the first pin of the LMV321IDCKR chip through the fourth resistor, the fourth pin of the TMR2109 chip is connected to the third pin of the LMV321IDCKR chip through the tenth resistor, the second pin of the LMV321IDCKR chip is grounded, the first pin of the LMV321IDCKR chip is grounded through the seventh resistor, the third pin of the LMV321IDCKR chip is connected to the fourth pin of the LMV321IDCKR chip through the twelfth resistor, the fifth pin of the LMV321IDCKR chip is connected to a power supply, and the fourth pin of the LMV321IDCKR chip outputs the processed magnetic field signal.

Further, in one embodiment of the present application, the sub-divided chip circuit includes an IC-TW8 chip and a memory;

the output end of the position acquisition circuit is connected to the input end of the IC-TW8 chip, and the output end of the IC-TW8 chip is connected to the main control chip circuit; the memory is used for storing and configuring parameters of the IC-TW8 chip.

Further, in an embodiment of the present application, the main control chip circuit includes an STM32F407VGT6 chip, a power filter circuit, a status indicator circuit, a reset circuit, a download interface circuit, a system clock source circuit, and a decoupling capacitor circuit.

Further, in an embodiment of the present application, the connection board includes multiple sets of all-polarity hall sensors, the number of the sets of all-polarity hall sensors in the connection board corresponds to the number of the primary stages of the motor, and the all-polarity hall sensors are distributed at the positions corresponding to the number of the primary stages of the motor.

Further, in an embodiment of the present application, the first communication board further includes a state quantity acquisition circuit;

the state quantity acquisition circuit comprises three bipolar Hall chips and two all-polar Hall chip sets, the three bipolar Hall chips are arranged in the center of the first communication board, each all-polar Hall chip set comprises two all-polar Hall chips connected in parallel, and the two all-polar Hall chip sets are arranged on two sides of the first communication board.

On the other hand, the embodiment of the application provides a linear motor system, which comprises a linear motor and the linear motor encoder;

the linear motor comprises a motor secondary and a plurality of motor primaries, the number of the linear motor encoders is the same as that of the motor primaries, and each linear motor encoder is arranged on the corresponding motor primary.

On the other hand, an embodiment of the present application provides a control method of a linear motor system, for controlling the linear motor system as described above, the control method includes:

acquiring state quantity data and position quantity data generated in the running process of the linear motor through the linear motor encoder;

and judging at least one of the motion direction, the position and the motion distance of the secondary motor of the linear motor according to the state quantity data and the position quantity data.

In addition, the control method of the linear motor system according to the above embodiment of the present application may further have the following additional technical features:

further, in one embodiment of the present application, the method further comprises the steps of:

acquiring a first parameter of the linear motor; the first parameters comprise the stage pair distance, the pole pair number and the magnetic field intensity of the motor secondary of the linear motor;

and determining a second parameter of the IC-TW8 chip in the subdivided chip circuit according to the first parameter, and storing the second parameter into a memory of the subdivided chip circuit.

Advantages and benefits of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application:

the embodiment of the application discloses a linear electric motor encoder includes: the communication device comprises a first communication board, a second communication board and a connecting board; the circuit structures of the first communication board and the second communication board are the same, the first communication board is used for being installed on a first side of a group of motor primaries of the linear motor, and the second communication board is used for being installed on a second side, far away from the first side, of the motor primaries; the first communication board is connected with the second communication board through the connecting board; the first communication board comprises a position acquisition circuit and a subdivision chip circuit, the position acquisition circuit is used for acquiring a magnetic field signal of a changing magnetic field generated when a motor secondary of the linear motor passes through, the position acquisition circuit comprises two reluctance chips, and the physical distance between the two reluctance chips is 1/4 of the magnetic pole of the linear motor; the position acquisition circuit is connected with the subdivision chip circuit. The linear motor encoder is directly combined with a primary motor of a linear motor and is arranged on the primary motor, and a magnetic field signal of a changing magnetic field generated when a secondary motor passes through can be utilized to induce the position, so that the acquisition of position information is realized. For conventional encoder product, this application embodiment has reduced the demand to the magnetic grid, need not install the thing additional on making linear electric motor's the motor secondary, lets it not receive the restraint of lead wire to can remove at will, improve linear electric motor's flexibility greatly.

Drawings

In order to more clearly describe the embodiments of the present application or the technical solutions in the prior art, the drawings of the embodiments of the present application or the related technical solutions in the prior art are described below, it should be understood that the drawings described below are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and it is obvious for those skilled in the art that other drawings may also be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of an installation structure of a linear motor encoder provided in an embodiment of the present application;

fig. 2 is a circuit schematic diagram of a main control chip circuit of a linear motor encoder provided in an embodiment of the present application;

fig. 3 is a schematic circuit diagram of a power supply circuit of a linear motor encoder provided in an embodiment of the present application;

fig. 4 is a circuit schematic diagram of an interface circuit of a linear motor encoder provided in an embodiment of the present application;

FIG. 5 is a schematic circuit diagram of a position acquisition circuit of a linear motor encoder provided in an embodiment of the present application;

fig. 6 is a schematic circuit diagram of a sub-chip circuit of a linear motor encoder according to an embodiment of the present disclosure;

fig. 7 is a schematic circuit diagram of a connection board of a linear motor encoder provided in an embodiment of the present application;

fig. 8 is a schematic circuit diagram of a state quantity acquisition circuit of a linear motor encoder provided in an embodiment of the present application;

fig. 9 is a schematic flowchart of a control method of a linear motor system provided in an embodiment of the present application;

fig. 10 is a schematic diagram of the position of the secondary of the linear motor during operation of the linear motor provided in the embodiments of the present application.

Detailed Description

The present application is further described with reference to the following figures and specific examples. The described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of protection of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

With the continuous improvement of the industrial automation level, the mechanization and automation manufacturing concepts are gradually carried out to various processing industries, the intelligent logistics are gradually widely applied, and the transportation and the transfer of materials are essential in the automation production. In transportation and transfer, need be used to the encoder and come real-time feedback position, guarantee that the material transmits the assigned position, and among the automated production, the transmission of material generally need carry out remote removal, can change transmission track and direction of transfer at will moreover, consequently, the encoder needs have sufficient flexibility to satisfy constantly changing production line and logistics requirement.

While in the related art, the conventional encoder is generally a combination of an encoder and a magnetic grid or a grating, the encoder needs to use the magnetic grid or the grating, the magnetic grid (grating) is arranged on a track, and the encoder is arranged on a stator. Because the encoder needs the lead-out wire to carry out position feedback, the installation of the encoder greatly limits the movement of the motor, and the installation of the magnetic grid is difficult to adjust at will. The encoder directly utilizing the magnetic field of the motor is independently installed without using a magnetic grid and a grating, so that the position measurement can be carried out, but the state judgment during power-on and the combination and programming of products still have problems, the use of discontinuous tracks cannot be realized, the application of modularization is difficult, the limitation is large in practical use, and the digital and automatic production requirements of the existing automatic production and logistics industries cannot be met.

In view of this, the present application provides a linear motor encoder, including: the communication device comprises a first communication board, a second communication board and a connecting board; the circuit structures of the first communication board and the second communication board are the same, the first communication board is used for being installed on a first side of a group of motor primaries of the linear motor, and the second communication board is used for being installed on a second side, far away from the first side, of the motor primaries; the first communication board is connected with the second communication board through the connecting board; the first communication board comprises a position acquisition circuit and a subdivision chip circuit, the position acquisition circuit is used for acquiring a magnetic field signal of a changing magnetic field generated when a motor secondary of the linear motor passes through, the position acquisition circuit comprises two reluctance chips, and the physical distance between the two reluctance chips is 1/4 of the magnetic pole of the linear motor; the position acquisition circuit is connected with the subdivision chip circuit. The linear motor encoder is directly combined with a motor primary of a linear motor, is arranged on the motor primary, and can sense the position by utilizing a magnetic field signal of a changing magnetic field generated when a motor secondary passes through, so that the acquisition of position information is realized. For conventional encoder product, this application embodiment has reduced the demand to the magnetic grid, need not install the thing additional on making linear electric motor's the motor secondary, lets it not receive the restraint of lead wire to can remove at will, improve linear electric motor's flexibility greatly.

Next, the linear motor encoder in the embodiment of the present application is explained and explained first.

Specifically, referring to fig. 1, in the embodiment of the present application, the linear motor encoder mainly includes:

In the embodiment of the application, a linear motor encoder capable of being combined at will is provided, the linear motor encoder is directly combined with a motor primary of a linear motor and is arranged on the motor primary, and the position can be induced by utilizing a magnetic field signal of a changing magnetic field generated by a motor secondary when passing through, so that the acquisition of position information is realized. For conventional encoder product, this application embodiment has reduced the demand to the magnetic grid, does not need to install additional the thing on messenger linear electric motor's the motor secondary, lets it not receive the restraint of lead wire to can remove at will, improve linear electric motor's flexibility greatly.

In the embodiment of the application, the position can be obtained by matching a simple hardware circuit with the algorithm processing of a program and utilizing a magnetic field signal of the secondary level of the motor, and the position of the linear motor under different conditions can be accurately fed back by using the two communication boards and the data processing of the program. In the embodiment of the application, each set of encoder and the primary motor are a module, when the encoder and the primary motor are used by a customer, the number of the primary motors can be increased or decreased according to the length required by a track, the primary motors can be randomly combined for use, the secondary motors can be randomly bridged on the secondary motors to move so as to keep the position continuous, the movable distance can be randomly adjusted along with the installation number, and the secondary motors can move, so that the application is not limited.

Specifically, in this embodiment of the present application, two communication boards of the linear motor encoder may be denoted as a first communication board and a second communication board. The circuit structures of the first communication board and the second communication board are the same, and the first communication board and the second communication board are installed on two primary sides of a group of motors of the linear motor. For each communication board, taking the first communication board as an example, the first communication board comprises a position acquisition circuit and a subdivision chip circuit, and the position acquisition circuit is used for acquiring a magnetic field signal of a changing magnetic field and carrying out primary processing on the magnetic field signal, specifically, in the embodiment of the application, the position acquisition circuit can use two magnetic resistance chips to induce the strength of a secondary magnetic pole, and the physical distance between the two magnetic resistance chips is 1/4 of the magnetic pole of the linear motor, so that two paths of analog signals which are 90 degrees different from each other and change along with the secondary magnetic field can be output. The position acquisition circuit is connected with the subdivision chip circuit, and the subdivision chip circuit is used for further processing the acquired variable magnetic field signals so as to ensure that the fine change of the magnetic field can be sensed, thereby improving the accuracy of positioning.

In some embodiments, the linear motor encoder further comprises a main control chip circuit, a power supply circuit, and an interface circuit.

Specifically, in the embodiment of the present application, a main control chip circuit of the linear motor encoder is used for stably and reliably carrying an operation program. In a possible implementation manner, referring to fig. 2, the main control chip circuit may use an STM32F407VGT6 chip as the main control chip, and combine with some necessary peripheral components to form a minimum system, which may include, but is not limited to, peripheral auxiliary circuits such as a power filter circuit, a status indicator lamp circuit, a reset circuit, a download interface circuit, a system clock source circuit, and a decoupling capacitor circuit, for example.

In the embodiment of the application, the power supply circuit is used for supplying power to various chips and electronic components in the linear motor encoder, and in a possible implementation mode, referring to fig. 3, the embodiment of the application can adopt a conventional 24V power supply, adopts a two-stage voltage reduction mode, firstly converts 24V into 5V through a conventional power supply chip TMR54331, and then converts the power supply into stable and accurate 3.3V through a voltage stabilization chip CJA 1117B-3.3. In addition, at the input end of the power supply, the reverse connection protection of the power supply can be realized by using a diode D6, so that the reverse connection of the power supply is prevented from burning the circuit; the surge protection of the power supply can be realized by using the diode D1, the reverse filling protection is performed at the output end by using the diode D4, the influence of the circuit on an external power supply is prevented, and the circuit is simple in integral structure and has the advantages of performance and cost.

In the embodiment of the application, the interface circuit is used for communicating with an upper computer. In one possible implementation, referring to fig. 4, the interface circuit prepares three communication interfaces: 485 interfaces, 232 interface and SPI interface, wherein, 485 interfaces can be used for communicating with the driver, and 232 interfaces can be used for the serial ports debugging of computer. The SPI interface can be used for the debugging of subdivision chip, and a connection interface passes through the connecting plate in addition for the data interchange of communication board.

In some embodiments, referring to fig. 5, the magnetoresistive chip is a TMR2109 chip, and the position acquisition circuit further comprises a differential amplification circuit;

Fig. 5 shows a specific structural schematic diagram of a position acquisition circuit provided in an embodiment of the present application. In the position acquisition circuit shown in fig. 5, the strength of the secondary magnetic pole is sensed by using two magnetoresistive chips TMR2109, and then output sin + and cos + signals is performed by a differential amplification circuit composed of an LMV321IDCKR chip and 4 resistors of a fourth resistor, a seventh resistor, a tenth resistor and a twelfth resistor. In addition, the sin-and cos-signal ends divide the voltage through resistors, and the whole voltage is lifted to the range which is convenient for the processing of the subdivision chip, so that the processing of the circuit of the subdivision chip is realized.

In some embodiments, the sub-divided chip circuit includes an IC-TW8 chip and a memory;

Referring to fig. 6, in the embodiment of the present application, the subdivision chip circuit is configured to further process the collected varying magnetic field signal, specifically, it may use an IC-TW8 chip as a subdivision chip, subdivide the signal into thousands of parts, identify the signal to the main control chip circuit, and ensure that the fine variation of the magnetic field can be processed, so as to ensure the resolution and accuracy of the position feedback, and at the same time, an EEPROM may be added as a memory for storing and configuring parameters of the subdivision chip.

In some embodiments, referring to fig. 7, the connection board may include a plurality of groups of all-polarity hall sensors, the number of groups of all-polarity hall sensors in the connection board corresponds to the number of stages of the motor primary, and the all-polarity hall sensors are distributed at the positions corresponding to the number of stages of the motor primary.

In some embodiments, the first communication board further comprises a state quantity acquisition circuit;

the state quantity acquisition circuit comprises three bipolar Hall chips and two all-polar Hall chip sets, the three bipolar Hall chips are arranged in the center of the first communication plate, each all-polar Hall chip set comprises two all-polar Hall chips which are connected in parallel, and the two all-polar Hall chip sets are arranged on two sides of the first communication plate.

In this embodiment, the communication board may further include a state quantity acquisition circuit. The state quantity acquisition circuit is used for acquiring some state quantities for auxiliary judgment, and as shown in fig. 8, the state quantity acquisition circuit uses three bipolar hall chips which are distributed in the center of the communication board, correspond to the stage pair distance and are used for detecting the change of the magnetic pole of the secondary motor, and the motion direction and the motion state of the secondary motor can be judged through program identification. In addition, the state quantity acquisition circuit uses two groups of all-polarity Hall chips, each group of all-polarity Hall chips are connected in parallel through two all-polarity Hall chips, hall signals can be output as long as a motor exists above the all-polarity Hall chips, the two groups of all-polarity Hall chips are placed on the left side and the right side of the communication board and used for determining whether a motor secondary is covered on the communication board, and the states can assist in judging the specific position of the motor secondary when the state quantity acquisition circuit is just powered on.

In the embodiment of the present application, a linear motor system is further provided, and the system includes a linear motor and the aforementioned linear motor encoder, wherein, the linear motor includes that motor secondary and a plurality of motor are elementary, the number of linear motor encoder with the elementary quantity of motor is the same, and every the linear motor encoder all sets up on the corresponding motor is elementary.

Referring to fig. 9, fig. 9 is a schematic flowchart of a control method of a linear motor system provided in an embodiment of the present application, where the control method may be configured to be executed in a main control chip circuit of the linear motor encoder, and may also be additionally provided with other module units for execution, which is not limited in this application.

Referring to fig. 9, the control method of the linear motor system includes, but is not limited to:

step 110, acquiring state quantity data and position quantity data generated in the running process of the linear motor through the linear motor encoder;

and 120, judging at least one of the motion direction, the position and the motion distance of the secondary motor of the linear motor according to the state quantity data and the position quantity data.

In some embodiments, the method further comprises:

In the embodiment of the present application, as for the software program function part of the linear motor encoder, the software program function part may include functions of parameter configuration and initialization, state quantity and position quantity acquisition, data processing, left and right board data exchange, instruction judgment, data feedback, and the like, and the specific scheme includes:

1) Hardware initialization: after the system is powered on, various hardware of the chip itself needs to be initialized, including configuring a system clock, a watchdog function, a GPIO input interface, a GPIO output interface, a communication interface, a sampling timer and the like, and the part mainly provides a hardware configuration basis for the use of various functional peripherals.

2) Parameter configuration: after hardware is initialized, first parameters of the linear motor need to be configured, the first parameters can comprise secondary alignment distance, pole pair number, magnetic field intensity and the like of the motor, and the data are stored in a system FLASH and can be changed and adjusted at any time through communication to determine detailed data of the motor. And then configuring a second parameter of the IC-TW8 according to the parameter of the secondary motor, wherein the second parameter of the IC-TW8 is written into the EEPROM chip through software, and the second parameter written by the EEPROM is configured every time the IC-TW8 is started. Similarly, these parameters can be modified and adjusted by communication.

3) Acquiring the state quantity: configuring a corresponding hardware interface as an interrupt mode, triggering edges, interrupting a program when the level of a hardware I/O port changes, judging the level of the IO port in the interrupt program, and acquiring the state of the Hall sensor in real time, wherein the acquisition of the state quantity is used for assisting in judging the approximate position of the secondary of the motor when the motor is just powered on.

4) Position quantity acquisition: configuring a timer for counting, wherein two capturing interfaces of the timer respectively capture rising edges and falling edges of signals A and B output by the subdivision chip circuit, comparing the rising edges of the signals A and B before and after, when the signal A is earlier than the signal B, indicating that the motor advances, and adding one to a counter when detecting a rising edge; when the signal B is earlier than the signal A, the motor is in backward movement, the counting is reduced by one every time a rising edge is detected, and the value of the reading counter is multiplied by the subdivision multiple to obtain the distance of the secondary movement of the motor.

5) And (3) exchanging data of the left and right boards: after the data acquisition is completed, the two communication boards need to send the acquired data to the other board and receive the data of the other board for data processing. When in transmission, a head code 0XEE is added on a data head, a tail code 0 XEF, a 0XFC, a 0XFF is added on a data tail, and when in reading, the data are identified through the head and the tail, so that the transmission of the data is not staggered, the left board and the right board can acquire the data of the situation that the motor only covers the left side and the right side through data exchange, and the data are integrated, so that the continuity of the data is ensured.

6) Data processing: after finishing the collection and exchange of data, according to the circumstances when the electricity was gone up, need divide three kinds of circumstances to handle data, refer to fig. 10, the first condition is shown as the first group's in fig. 10

encoder

2, 3, do not cover

encoder

2, 3 when the electricity was gone up, when motor secondary moves towards the encoder, the encoder can inspect motor secondary's coverage state, when the encoder detected that left side or right communication board was covered completely, can judge motor secondary's direction of motion, and begin to judge the change of auxiliary state HU, HV, HW. When the HU, HV and HW all have the status change, it indicates that the product has moved enough position, the encoder data is cleared, then the position counting is started along with the movement of the motor, and the feedback is the position data of the left communication board, as shown in the second group of encoder No. 2 in fig. 10. When the motor continues to move and completely covers the right communication board, the right communication board can also generate position data, when the UU, UV and UW of the right communication board are changed once and the position of the left communication board is zero, the data of the right communication board is emptied, the right communication board starts to count the position, the position data of the right communication board of the encoder is fed back at the moment, and as shown in the No. 2 encoder of the third group in the figure 10, the position data is similar from the right to the left. Thus, the encoder can obtain continuous position data for the entire process of the motor secondary just entering the encoder until it is quickly exiting the encoder.

The second situation is that when the power is on, the secondary of the motor covers one side of the encoder, as shown in the No. 2 encoders of the second group and the third group of FIG. 10, at this time, the approximate position can be judged according to the state on the middle plate, so as to obtain the number of turns of the motor, and then according to the position of the single turn of the encoder, the accurate position when the power is on can be obtained through the calculation of the number of turns X, the grade of the distance and the position of the single turn.

The third situation is that when the power is on, the whole encoder is covered, as shown in the encoder No. 1 of the first group of fig. 10, at this time, the encoder enters a single-turn mode, the encoder only feeds back position data of a single turn for the driver to perform the zero-returning operation, and the encoder moves to the first two states to return to zero.

7) And (4) instruction judgment: the program receives an external instruction in real time in an interrupt mode, and judges the instruction, thereby executing set work.

8) Data feedback: the encoder feeds back data to the drive in the agreed format, as determined by the command.

It can be understood that the linear motor encoder, the linear motor system and the control method thereof provided in the embodiments of the present application have at least the following advantages:

1. in order to provide a linear motor with greater flexibility, the linear motor encoder provided in the embodiment of the present application is directly installed on a stationary motor primary, and a moving linear motor secondary is used as a magnetic field source for position induction, and signals are compensated and processed by a program to achieve position acquisition. Compared with a conventional encoder product, the requirement on a magnetic grid is reduced, so that objects do not need to be additionally arranged on the secondary level of the linear motor, and the linear motor is not restricted by a lead, can be moved at will and greatly improves the flexibility of the linear motor.

2. In order to facilitate the installation of the encoder, the encoder and the motor are combined to form a whole, the motor parameters are set through program configuration, the encoder does not need to be installed in the using process of a client due to the modular design, the installation difficulty is greatly reduced, and the encoder is convenient to install and use.

3. The encoder of the embodiment of the application is based on the combination mode of two communication boards and one connecting board, and the secondary position and the motion condition of the motor under different conditions are calculated and compensated through a program algorithm, so that the encoder can process discontinuous running tracks, judge the product states of different covering conditions, is not limited by the inherent track, is convenient to expand and change at any time, realizes modularization of a single motor, can be combined at will, and greatly enhances the applicability of the encoder.

4. In order to meet the requirement of automation control, the original data of the encoder can be programmed and processed through a program, the original data are integrated into modularized data and are directly communicated with the driver, the driver can control the state of the encoder through different instructions, and the instructions can be adjusted according to actual occasions so as to adapt to most of automation occasions.

In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.

Furthermore, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion regarding the actual implementation of each module is not necessary for an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer given the nature, function, and interrelationships of the modules. Accordingly, those of ordinary skill in the art will be able to implement the present application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the application, which is to be determined by the appended claims along with their full scope of equivalents.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

While the preferred embodiments of the present application have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims

In the description herein, references to the description of the term "one embodiment," "another embodiment," or "certain embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A linear motor encoder, comprising:

the communication device comprises a first communication board, a second communication board and a connecting board;

2. The linear motor encoder of claim 1, further comprising a main control chip circuit, a power supply circuit, and an interface circuit.

3. The linear motor encoder according to claim 1, wherein the magnetic resistance chip is a TMR2109 chip, and the position acquisition circuit further comprises a differential amplifier circuit;

the differential amplification circuit comprises an LMV321IDCKR chip, a fourth resistor, a seventh resistor, a tenth resistor and a twelfth resistor; the fifth pin of the TMR2109 chip is connected to the first pin of the LMV321IDCKR chip through the fourth resistor, the fourth pin of the TMR2109 chip is connected to the third pin of the LMV321IDCKR chip through the tenth resistor, the second pin of the LMV321IDCKR chip is grounded, the first pin of the LMV321IDCKR chip is grounded through the seventh resistor, the third pin of the LMV321IDCKR chip is also connected to the fourth pin of the LMV321IDCKR chip through the twelfth resistor, the fifth pin of the LMV321IDCKR chip is connected to a power supply, and the fourth pin of the LMV321IDCKR chip outputs a processed magnetic field signal.

4. A linear motor encoder according to claim 2, wherein the sub-divided chip circuit comprises an IC-TW8 chip and a memory;

5. The linear motor encoder according to claim 2, characterized in that the main control chip circuit comprises an STM32F407VGT6 chip, a power supply filter circuit, a status indicator light circuit, a reset circuit, a download interface circuit, a system clock source circuit and a decoupling capacitor circuit.

6. The linear motor encoder according to claim 1, wherein the connection board comprises a plurality of groups of all-polar hall sensors, the number of groups of all-polar hall sensors in the connection board corresponds to the number of stages of the primary motor, and the all-polar hall sensors are distributed at positions corresponding to the number of stages of the primary motor.

7. The linear motor encoder according to any one of claims 1 to 6, wherein the first communication board further comprises a state quantity acquisition circuit;

8. A linear motor system comprising a linear motor and a linear motor encoder according to claim 7;

the linear motor comprises a motor secondary and a plurality of motor primaries, the number of the linear motor encoders is the same as that of the motor primaries, and each linear motor encoder is arranged on the corresponding motor primaries.

9. A control method of a linear motor system for controlling the linear motor system according to claim 8, characterized by comprising:

10. A method of controlling a linear motor system according to claim 9, the method further comprising the steps of:

and determining a second parameter of the IC-TW8 chip in the chip subdivision circuit according to the first parameter, and storing the second parameter into a memory of the chip subdivision circuit.