CN115822410A - Linear motor type door moving control device - Google Patents
Linear motor type door moving control device Download PDFInfo
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- CN115822410A CN115822410A CN202211631406.0A CN202211631406A CN115822410A CN 115822410 A CN115822410 A CN 115822410A CN 202211631406 A CN202211631406 A CN 202211631406A CN 115822410 A CN115822410 A CN 115822410A
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Abstract
The invention relates to a linear motor type door moving control device, wherein a linear motor for moving a door comprises two groups of stator coils arranged at intervals and a rotor formed by arranging strong magnetic steel, the linear motor type door moving control device comprises a control board arranged between the two groups of stator coils, the control board comprises a door moving controller and a position detection unit, and the linear motor type door moving control device is characterized in that: the position detection unit comprises at least two groups of position detection sensors which are arranged at intervals, and each group of position detection sensors is in communication connection with the sliding door controller. Compared with the prior art, the invention has the advantages that: according to the invention, at least two groups of position detection sensors which are arranged at intervals are arranged, and the door moving controller utilizes the position information detected by the position detection sensors to carry out fusion, so that an accurate door moving position signal can be obtained, and the seamless switching of exciting currents between two groups of stator coils is realized, so that the door moving can be controlled in a magnetic field orientation manner, and better speed and thrust stability are obtained.
Description
Technical Field
The invention relates to a linear motor type sliding door control device.
Background
At present, a linear motor is adopted for controlling the automatic sliding door, a Hall switch is usually adopted for collecting a reversing position signal, namely the reversing of the linear motor is controlled according to the state of the Hall switch, and the control mode is used on the linear motor, so that the problems of low position positioning precision, large speed and torque fluctuation and large noise during movement are generally caused.
Disclosure of Invention
The present invention is directed to provide a linear motor type sliding door control device that has high positioning accuracy and can obtain stable speed and thrust during movement, in view of the above-mentioned prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a linear electric motor type moves door controlling means for the control moves door and uses linear electric motor, wherein moves the stator coil that the linear electric motor includes two sets of intervals and arranges the active cell that forms by strong magnet steel, linear electric motor type moves door controlling means including setting up the control panel between two sets of stator coils, including moving the door controller and being used for detecting active cell position signal's position detecting element, its characterized in that on this control panel: the position detection unit on the control panel comprises at least two groups of position detection sensors which are arranged at intervals, and each group of position detection sensors is in communication connection with the sliding door controller.
Preferably, the position detection sensors are provided in two sets, a first position sensor and a second position sensor, respectively, and the stator coils of the two sets are a first stator coil and a second stator coil, respectively, the first position sensor being provided near the first stator coil, and the second position sensor being provided near the second stator coil.
Preferably, the sliding door controller adopts a magnetic field orientation control algorithm to control the currents of the two groups of stator coils.
As an improvement, the sliding door controller comprises a sliding door motion planning module, a first analog-to-digital converter, a second analog-to-digital converter, a first position calculating module, a second position calculating module, a position information fusion module, a speed calculating module, a position control unit, a speed control unit, an excitation switching module, a first current control unit and a second current control unit, the output end of the first position sensor is connected with the input end of the first position calculation module, the output end of the first position calculation module is connected with the first input end of the position information fusion module, the output end of the second position calculation module is connected with the input end of the second position calculation module, the output end of the second position calculation module is connected with the second input end of the position information fusion module, the position information fusion module simultaneously transmits the position feedback signals output by the position information fusion module to the position control unit and the speed calculation module, the position information fusion module outputs the switching instructions output by the position information fusion module to the excitation switching module, the position information fusion module outputs the motor electrical angle output by the position information fusion module to the first current control unit and the second current control unit, the sliding door motion planning module is used for transmitting the position instructions to the position control unit, the speed calculation module outputs the speed feedback information to the speed control unit, the position control unit calculates and outputs the speed instructions to the speed control unit according to the position instructions and the position feedback signals, the speed control unit calculates and outputs current instructions to the excitation switching module, the first current control unit and the second stator coil PWM signals.
In another improvement, when the mover moves from one end point to the other end point, the position information fusion module calculates the position feedback signal S by the following formula:
S＝A*S1+(1-A)*S2；
a is a weight coefficient, the value range is [0-1], the initial value of A is 1 or 0, A is decreased or increased with time or position; s1 represents the position information calculated by the first position calculation module, and S2 represents the position information calculated by the second position calculation module.
In another improvement, the current value I1 output by the first current control unit to the first stator coil is obtained by the following formula: i1= I x a; the current value I2 output by the second current control unit to the second stator coil is obtained by the following formula: i2= I (1-a); where I represents the total current command output by the speed control unit.
The improvement is that the two groups of stator coils and the control panel are both fixed on a shell, and the shell is fixed on a door frame; the rotor is fixed on the rotor base, and the rotor base is fixed on the guide rail.
And the rotor comprises a plurality of groups of strong magnetic steel magnets which are alternately arranged by N poles and S poles.
Compared with the prior art, the invention has the advantages that: according to the invention, at least two groups of position detection sensors which are arranged at intervals are arranged, and the door moving controller utilizes the position information detected by the position detection sensors to carry out fusion, so that an accurate door moving position signal can be obtained, and the seamless switching of exciting current between two groups of stator coils is realized, so that the door moving can be controlled in a magnetic field orientation manner, and better speed and thrust stability are obtained, and the position positioning precision is greatly improved compared with that of a traditional method; in addition, the current fluctuation of the motor is small, the running noise is small, and the energy is saved.
Drawings
Fig. 1 is a schematic structural diagram of a linear motor for a sliding door in an embodiment of the present invention.
Fig. 2 is a block diagram of a sliding door controller according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The linear motor type sliding door control device according to the present embodiment is used for controlling a linear motor for sliding doors, wherein the linear motor for sliding doors includes a housing 1 fixed to a door frame, two sets of stator coils fixed to the housing and disposed at an interval, respectively denoted as a first stator coil 2 and a second stator coil 3, a mover 4 composed of a plurality of sets of ferromagnetic magnetic steels having N poles and S poles alternately arranged, the mover 4 being fixed to a mover base 5, and the mover base 5 being fixed to a guide rail 6, as shown in fig. 1. The linear motor type door moving control device comprises a control plate 7 arranged between two groups of stator coils, and the control plate 7 comprises a door moving controller and a position detection unit for detecting a rotor position signal.
In this embodiment, the position detection unit on the control board includes two sets of position detection sensors arranged at intervals, which are a first position sensor 71 and a second position sensor 72, respectively, and both the first position sensor 71 and the second position sensor 72 are in communication connection with the sliding door controller; and the door moving controller controls the currents of the two groups of stator coils by adopting a magnetic field orientation control algorithm. Specifically, the sliding door controller includes an IO module 73, a bluetooth communication module 74, a sliding door motion planning module 75, a first analog-to-digital converter 76, a second analog-to-digital converter 77, a first position calculation module 78, a second position calculation module 79, a position information fusion module 80, a speed calculation module 81, a position control unit 82, a speed control unit 83, an excitation switching module 84, a first current control unit 85 and a second current control unit 86, wherein the IO module 73 and the bluetooth communication module 74 are both connected to the sliding door motion planning module 75, an output end of the first position sensor 71 is connected to an input end of the first position sensor 71, an output end of the first position sensor 71 is connected to an input end of the first position calculation module 78, an output end of the first position calculation module 78 is connected to a first input end of the position information fusion module 80, an output end of the second position sensor 72 is connected to an input end of the second position calculation module 79, an output end of the second position calculation module 79 is connected to a second input end of the position information fusion module 80, the position information fusion module 80 simultaneously transmits a position feedback signal 82 output to the position information fusion module 82 and the position information fusion module 82, the excitation control unit 83 outputs a speed control command to the position information fusion module 82, the position information fusion module 82 and the position control unit 82, the excitation control unit 83, the position information fusion module 82 outputs a speed control unit 82 for outputting a speed control command to the speed control unit 82, the speed control unit 83 calculates an output current command to the excitation switching module 84 according to the speed command and the speed feedback information, the excitation switching module 84 controls the first current control unit and the second current control unit, respectively, and the first current control unit 85 and the second current control unit 86 output the first SVPWM signal and the second SVPWM signal to the first stator coil 2 and the second stator coil 3, respectively.
The magnetic field intensity or magnetic field gradient of the magnetic steel of the rotor is detected through the first position sensor 71 and the second position sensor 72, so that two analog quantity signals are obtained, the two analog quantity signals are acquired by the first analog-to-digital converter 76 and the second analog-to-digital converter 77 and then are converted into digital signals, real-time position information of the rotor is obtained through calculation of the first position calculation module 78 and the second position calculation module 79, the resolution of the position information can reach 12 bits, and if the magnetic pole distance of the magnetic steel is 12mm, the position resolution can reach 0.0058mm. Based on the position value, the motor is controlled by a Field Oriented Control (FOC) algorithm, the control algorithm comprises a current loop, a speed loop and a position loop, the control panel drives the power module in an SVPWM mode, and on the basis, the accurate position, speed and current control of the sliding door can be realized, and the anti-collision function can be realized more accurately.
In order to realize the seamless switching of the mover in the corresponding interval of the two stator coils, it is necessary to fuse the position signals collected by the first position sensor 71 and the second position sensor 72 into one position data and realize the switching of the excitation currents of the two stator coils.
The door movement planning module 75 is responsible for coordinating and controlling the whole door movement and man-machine interaction, and when the door is powered on for the first time, the door movement controller needs to automatically find two movement end points of the door. And at the moment, the door moving controller enters a speed mode to move back and forth, when the speed value fed back by the encoder tends to be 0 after the door moving controller touches the frame of the door, the door moving controller considers that the door moving controller moves to an end point, records the current position, and can be used for determining the position coordinates of the starting point and the end point after back and forth operation. After the door is started, the door moving controller controls the door to enter a door closing state, at this time, the door opening signal is triggered by an IO signal of the IO module 73, if the door opening trigger signal is detected, the door moving motion planning module 75 performs acceleration and deceleration control and obtains a position instruction, the position instruction is sent to the position control unit 82, and the position control unit 82 outputs a speed instruction to the speed control unit 83 according to the position instruction and the detected position feedback operation. The speed control unit 83 performs calculation to output a current command based on the speed command and the speed feedback value calculated by the speed calculation module 81. The current instruction is sent to the excitation switching module 84, and the excitation switching module 84 switches the first current control unit 85 and the second current control unit 86, which output given currents, according to the switching instruction given by the position fusion module. After the first current control unit 85 or the second current control unit 86 is activated, an SVPWM (space vector PWM) signal is output according to the current command and the current electrical angle operation of the motor to drive the two stator coils, thereby controlling the movement of the mover.
The position information fusion module 80 is responsible for fusing the position values of the two position sensors, calculating the electrical angle of the motor and sending a switching instruction of the current control unit, and is a key module for determining the performance of the whole sliding door controller. The first position sensor 71 and the second position sensor 72 detect the magnetic field intensity of the strong magnet of the mover, and as the mover moves, the sensors output 2 analog signals changing with the position, the 2 analog signals are generally spatially arranged to form sine waves with a phase difference of 90 degrees, and the two sine waves are subjected to arc tangent operation by the first position calculation module 78 and the second position calculation module 79 to calculate position information. When the mover moves from one end point to the other end point, the signals of the position sensors of the first position sensor 71 and the second position sensor 72 will pass through 3 states, respectively
State 1: the first position sensor 71 has position information, and the second position sensor 72 has no position information.
State 2: the first position sensor 71 and the second position sensor 72 each have position information.
State 3: the second position sensor 72 has position information, and the first position sensor 71 has no position information.
When in the state 2, to look at the moving direction, if the mover moves from the first position sensor 71 to the second position sensor 72, after a signal of the second position sensor 72 appears, waiting for a period of time t, and beginning to fuse the signals of the two position sensors, the fusion algorithm may adopt a weight switching method:
S＝A*S1+(1-A)*S2；
a is a weight coefficient, the value range is [0-1], A is 1 when the switching is started, and A is decreased along with the time or the position, so that the position is gradually switched to the second position sensor 72. Similarly, when the moving direction of the mover is from the second position sensor 72 to the first position sensor 71, the fusion position is also determined by the above formula, but the value of a is gradually increased from 0 to 1. In the above equation, S represents the post-fusion position, S1 represents the calculated position of the first position sensor 71, and S2 represents the calculated position of the second position sensor 72.
When in state 1 and state 3, using data of the first position sensor or data of the second position sensor as the fusion output position, a =1 in state 1 and a =0 in state 3; therefore, a very continuous position feedback value can be obtained by adjusting the weight A, smooth seamless current excitation switching is realized, and the motor runs more stably. The gradual adjustment method for a may change linearly with time, may change linearly with position, or may have different functional relationships with time and position or better switching performance.
Meanwhile, the weight A is also used for switching the current values of the two groups of stator coils, namely when the position fusion algorithm starts to switch, the weight of the current of the first stator coil starts to fall, and the current of the second stator coil starts to rise.
I1＝I*A；
I2＝I*(1-A)；
Where I denotes a total current command output by the speed control unit, I1 denotes a current command of the first stator coil, and I2 denotes a current command of the second stator coil.
The position information fusion module in the embodiment can obtain an accurate door moving position signal through a fusion method, and realizes seamless switching of exciting currents between the double stator coils, so that the door moving can be controlled in a magnetic field orientation mode, better speed and thrust stability are obtained, and the position positioning precision is greatly improved compared with that of a traditional method. In addition, the current fluctuation of the motor is small, the running noise is small, and the energy is saved.
Claims (8)
1. The utility model provides a linear electric motor type moves door controlling means for the control moves door and uses linear electric motor, wherein moves the stator coil that the linear electric motor includes two sets of intervals and arranges the active cell that forms by strong magnet steel, linear electric motor type moves door controlling means including setting up the control panel between two sets of stator coils, including moving the door controller and being used for detecting active cell position signal's position detecting element, its characterized in that on this control panel: the position detection unit on the control panel comprises at least two groups of position detection sensors which are arranged at intervals, and each group of position detection sensors is in communication connection with the sliding door controller.
2. The linear motor type shift gate control device according to claim 1, characterized in that: the position detection sensor is provided with two groups, namely a first position sensor and a second position sensor, the two groups of stator coils are respectively a first stator coil and a second stator coil, the first position sensor is arranged close to the first stator coil, and the second position sensor is arranged close to the second stator coil.
3. The linear motor type shift gate control device according to claim 2, characterized in that: the sliding door controller adopts a Field Oriented Control (FOC) control algorithm to control the current of the two groups of stator coils.
4. The linear motor type shift gate control device according to claim 2, characterized in that: the sliding door controller comprises a sliding door motion planning module, a first analog-to-digital converter, a second analog-to-digital converter, a first position calculation module, a second position calculation module, a position information fusion module, a speed calculation module, a position control unit, a speed control unit, an excitation switching module, a first current control unit and a second current control unit, the output end of the first position sensor is connected with the input end of the first position calculation module, the output end of the first position calculation module is connected with the first input end of the position information fusion module, the output end of the second position calculation module is connected with the input end of the second position calculation module, the output end of the second position calculation module is connected with the second input end of the position information fusion module, the position information fusion module simultaneously transmits the position feedback signals output by the position information fusion module to the position control unit and the speed calculation module, the position information fusion module outputs the switching instructions output by the position information fusion module to the excitation switching module, the position information fusion module outputs the motor electrical angle output by the position information fusion module to the first current control unit and the second current control unit, the sliding door motion planning module is used for transmitting the position instructions to the position control unit, the speed calculation module outputs the speed feedback information to the speed control unit, the position control unit calculates and outputs the speed instructions to the speed control unit according to the position instructions and the position feedback signals, the speed control unit calculates and outputs current instructions to the excitation switching module, the first current control unit and the second stator coil PWM signals.
5. The linear motor type shift gate control device according to claim 4, characterized in that: when the rotor moves from one end point to the other end point, the position information fusion module calculates a position feedback signal S through the following formula:
S＝A*S1+(1-A)*S2；
a is a weight coefficient, the value range is [0-1], the initial value of A is 1 or 0, A is decreased or increased with time or position; s1 represents the position information calculated by the first position calculation module, and S2 represents the position information calculated by the second position calculation module.
6. The linear motor type shift gate control device according to claim 5, characterized in that: the current value I1 output by the first current control unit to the first stator coil is obtained by the following formula: i1= I x a; the current value I2 output by the second current control unit to the first stator coil is obtained by the following formula: i2= I (1-a); where I represents the total current command output by the speed control unit.
7. The linear motor type shift gate control device according to any one of claims 1 to 6, characterized in that: the two groups of stator coils and the control board are fixed on a shell, and the shell is fixed on a door frame; the rotor is fixed on the rotor base, and the rotor base is fixed on the guide rail.
8. The linear motor type shift gate control device according to claim 7, characterized in that: the rotor comprises a plurality of groups of strong magnetic steel which are alternately arranged by N poles and S poles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211631406.0A CN115822410A (en) | 2022-12-19 | 2022-12-19 | Linear motor type door moving control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211631406.0A CN115822410A (en) | 2022-12-19 | 2022-12-19 | Linear motor type door moving control device |
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| Publication Number | Publication Date |
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| CN115822410A true CN115822410A (en) | 2023-03-21 |
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| CN202211631406.0A Pending CN115822410A (en) | 2022-12-19 | 2022-12-19 | Linear motor type door moving control device |
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| CN (1) | CN115822410A (en) |
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- 2022-12-19 CN CN202211631406.0A patent/CN115822410A/en active Pending
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