CN117125489A - Magnetic levitation conveying system braking method and device, magnetic levitation conveying system and storage medium - Google Patents
Magnetic levitation conveying system braking method and device, magnetic levitation conveying system and storage medium Download PDFInfo
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- CN117125489A CN117125489A CN202311062887.2A CN202311062887A CN117125489A CN 117125489 A CN117125489 A CN 117125489A CN 202311062887 A CN202311062887 A CN 202311062887A CN 117125489 A CN117125489 A CN 117125489A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application discloses a braking method and device of a magnetic levitation conveying system, the magnetic levitation conveying system and a storage medium.
Description
Technical Field
The application relates to the technical field of magnetic levitation conveying systems, in particular to a magnetic levitation conveying system braking method and device, a magnetic levitation conveying system and a storage medium.
Background
The mover is used as a moving part of the whole magnetic levitation conveying system, is provided with a permanent magnet plate, simulates a translation magnetic field and the permanent magnet plate on the mover to generate thrust by controlling a coil on a conveying module, and then acts on a guide rail on the module through a roller on the mover to realize moving and running of the mover on the guide rail.
One prior art technique controls the mover to slow down to brake by re-planning the speed by changing the multiplying power to 0 when it is detected that the mover enters the end deceleration region of the rail section. However, in the mode of multiplying power of 0, the position where the mover stops is uncontrollable, so that the situation of discontinuous acceleration occurs, the predicted braking distance is caused to jump, and the predicted braking distance is extremely easy to exceed a safe range, so that the mover is derailed.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a braking method and device for a magnetic levitation conveying system, the magnetic levitation conveying system and a storage medium, which can solve the problem that a rotor of the traditional magnetic levitation conveying system is easy to derail.
According to an embodiment of the first aspect of the application, a braking method of a magnetic levitation conveying system comprises the following steps:
obtaining the initial speed of a rotor, wherein the initial speed is the speed of the rotor reaching a speed reduction position, and the speed reduction position is the boundary of a forbidden region of a guide rail;
obtaining a forbidden stopping distance of the tail end of the guide rail, an offset of a position measurement point of the mover and a geometric center of the mover, an anti-collision distance and a redundant distance of the mover;
determining a forbidden stop position according to the tail end forbidden stop distance, the anti-collision distance, the offset and the redundant distance;
calculating a first distance according to the initial speed of the mover, wherein the first distance is a distance for controlling the mover to perform decelerating movement with the multiplying power of 0 until stopping the movement;
if the first distance is greater than the second distance, determining a deceleration function according to the deceleration position, the forbidden position and the initial speed, controlling the rotor to brake according to the forbidden position and the deceleration function, wherein the deceleration function is used for enabling the rotor to descend to zero from the initial speed before the forbidden position or when the rotor is at the forbidden position, and the absolute value of deceleration is increased and then reduced, and the second distance is the distance between the deceleration position and the forbidden position.
The braking method of the magnetic levitation conveying system according to the embodiment of the first aspect of the application has at least the following beneficial effects:
and if the first distance is larger than the second distance, confirming that the rotor does deceleration motion with the multiplying power of 0 until the rotor stops to cause derailment, and controlling the rotor to brake according to the forbidden position and the deceleration function, so that the initial speed of the rotor is reduced to zero before or at the forbidden position. Compared with the traditional magnetic levitation conveying system technology, the braking method of the magnetic levitation conveying system provided by the embodiment of the application has the advantages that the speed of the rotor is reduced to zero before the forbidden position or at the forbidden position, the absolute value of the deceleration is increased and then reduced, and the acceleration change is continuous, so that the rotor can stop before the forbidden position or at the forbidden position, and derailment is avoided.
According to some embodiments of the application, the rest positions include a first rest position and a second rest position; the first forbidden position is a position of the guide rail which is forbidden to be crossed when the mover moves from the first end of the guide rail to the second end of the guide rail; the second forbidden position is a position of the guide rail which is forbidden to be crossed when the mover moves from the second end of the guide rail to the first end of the guide rail.
According to some embodiments of the application, the first rest position is obtained by the following formula:
S left ＝S safe +S prohibition -S offset -S d ，
wherein S is left S is the first forbidden position safe For the collision avoidance distance S projibition For the forbidden distance of the tail end, S offset For the offset, S d Is the redundant distance.
According to some embodiments of the application, the second rest position is obtained by the following formula:
S right ＝S-S safe -S prohibition -S offset +S d ，
wherein S is right S is the length of the guide rail and S is the second forbidden position safe For the collision avoidance distance S prohibition For the forbidden distance of the tail end, S offset For the offset, S d Is the redundant distance.
According to some embodiments of the application, the controlling the mover brake according to the rest position and the deceleration function includes:
acquiring a real-time position of the rotor and a real-time speed corresponding to the real-time position;
obtaining the expected speed of the rotor according to the speed reduction function;
determining a braking deceleration based on the real-time speed, the desired speed, the real-time position, and the no-stop position;
and controlling the rotor to brake according to the brake deceleration.
According to some embodiments of the application, the braking deceleration is obtained by the following formula:
wherein A is t For the braking deceleration, V t For the desired speed V h For the real-time speed, S h For the real-time position, S pe And the forbidden position is the forbidden position.
According to some embodiments of the application, the determining a deceleration function from the deceleration position, the rest position, and the initial speed comprises:
and determining the deceleration function according to the deceleration position, the forbidden position and the initial speed based on a seven-segment S-shaped curve speed planning algorithm.
According to a second aspect of the present application, a brake device for a magnetic levitation transportation system includes:
the data acquisition module is used for acquiring the forbidden stop distance of the tail end of the guide rail, the initial speed of the rotor, the offset of the position measurement point of the rotor and the geometric center of the rotor, the anticollision distance and the redundancy distance of the rotor, wherein the initial speed is the speed of the rotor reaching a deceleration position, and the deceleration position is the forbidden stop area boundary of the guide rail;
the speed planning module is used for determining a forbidden stop position according to the tail end forbidden stop distance, the anti-collision distance, the offset and the redundant distance, and calculating a first distance according to the initial speed of the rotor, wherein the first distance is a distance for controlling the rotor to do deceleration motion with the multiplying power of 0 until stopping the motion; if the first distance is greater than the second distance, determining a deceleration function according to the deceleration position, the forbidden position and the initial speed, wherein the deceleration function is used for enabling the mover to descend from the initial speed to zero before the forbidden position or when the mover is at the forbidden position, and the absolute value of deceleration is increased and then reduced, and the second distance is the distance between the deceleration position and the forbidden position;
and the braking control module is used for controlling the rotor to brake according to the forbidden and stopped position and the deceleration function.
The braking device of the magnetic levitation conveying system according to the embodiment of the second aspect of the application has at least the following beneficial effects:
and if the first distance is larger than the second distance, confirming that the rotor does deceleration motion with the multiplying power of 0 until the rotor stops to cause derailment, and controlling the rotor to brake according to the forbidden position and the deceleration function, so that the initial speed of the rotor is reduced to zero before or at the forbidden position. Compared with the traditional magnetic levitation conveying system technology, the magnetic levitation conveying system braking device provided by the embodiment of the application has the advantages that the speed of the rotor is reduced to zero before or at the forbidden position, the absolute value of the deceleration is increased and then reduced, and the acceleration change is continuous, so that the rotor can stop before or at the forbidden position, and derailment is avoided.
According to a third aspect of the present application, a magnetic levitation transportation system includes:
a mover;
the guide rail is in sliding connection with the mover and drives the mover to move through electromagnetic force;
and the control unit is used for executing the braking method of the magnetic levitation conveying system.
The magnetic levitation conveying system according to the embodiment of the third aspect of the application has at least the following beneficial effects:
and if the first distance is larger than the second distance, confirming that the rotor does deceleration motion with the multiplying power of 0 until the rotor stops to cause derailment, and controlling the rotor to brake according to the forbidden position and the deceleration function, so that the initial speed of the rotor is reduced to zero before or at the forbidden position. Compared with the traditional magnetic levitation conveying system technology, the magnetic levitation conveying system of the embodiment of the application has the advantages that the speed of the mover is reduced to zero before the forbidden position or at the forbidden position, the absolute value of the deceleration is increased and then reduced, and the acceleration change is continuous, so that the mover can stop before the forbidden position or at the forbidden position, and derailment is avoided.
A computer readable storage medium according to an embodiment of the fourth aspect of the present application stores therein a processor-executable program for implementing the magnetic levitation transport system braking method as described above when executed by a processor.
The computer-readable storage medium according to the embodiment of the fourth aspect of the present application has at least the following advantageous effects:
and if the first distance is larger than the second distance, confirming that the rotor does deceleration motion with the multiplying power of 0 until the rotor stops to cause derailment, and controlling the rotor to brake according to the forbidden position and the deceleration function, so that the initial speed of the rotor is reduced to zero before or at the forbidden position. Compared with the traditional magnetic levitation conveying system technology, the computer readable storage medium of the fourth aspect of the embodiment of the application avoids derailment by reducing the speed to zero before or at the forbidden position of the mover, and increasing and then reducing the absolute value of the deceleration, and continuing the acceleration change, so that the mover can stop before or at the forbidden position.
Additional aspects and advantages of the 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 application.
Drawings
The application is further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a braking method of a magnetic levitation transportation system according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for controlling rotor braking according to an embodiment of the present application;
fig. 3 is a schematic diagram of a braking device of a magnetic levitation transportation system according to an embodiment of the application.
Reference numerals:
the system comprises a magnetic levitation transportation system braking device 100, a data acquisition module 110, a speed planning module 120 and a braking control module 130.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present application and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, electrical connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1, a braking method of a magnetic levitation transportation system according to an embodiment of the present application includes, but is not limited to, step S100, step S200, step S300, step S400, and step S500.
Step S100: obtaining the initial speed of the rotor, wherein the initial speed is the speed of the rotor reaching a speed reduction position, and the speed reduction position is the boundary of a forbidden region of the guide rail;
in the step, the stopping area is a pre-set early warning area at the tail end of the guide rail, the speed reduction position is the boundary of the stopping area, when the rotor enters the stopping area, the rotor starts to reduce speed, namely, when the rotor reaches the speed reduction position, braking control is started, and the initial speed of the rotor is determined, namely, the speed of the rotor reaching the speed reduction position is obtained, so that the rotor can be braked in the subsequent step.
Step S200: obtaining a forbidden stopping distance of the tail end of the guide rail, an offset of a position measurement point of the rotor and the geometric center of the rotor, an anti-collision distance and a redundant distance of the rotor;
in the step, the stopping distance of the tail end is the stopping distance of the active cell at the tail end of the guide rail; the position measuring point of the rotor is a point used for measuring the position of the rotor, and in order to conveniently obtain the real-time position of the rotor, the position measuring point of the rotor is not arranged at the geometric center of the rotor, and the actual position of the rotor is conveniently determined according to the offset by obtaining the offset of the measuring point of the rotor and the geometric center of the rotor; and the forbidden stop position is determined according to the forbidden stop distance, the anti-collision distance, the offset and the redundant distance of the tail end in the subsequent step.
It can be understood that the end forbidden distance, the anti-collision distance and the redundant distance are all preset values, and are obtained by empirically taking values according to specific application scenes. The offset is calculated according to the position of the position measuring point of the mover and the position of the geometric center of the mover.
Step S300: determining a forbidden stop position according to the forbidden stop distance of the tail end, the anti-collision distance, the offset and the redundant distance;
in the step, the forbidden position is determined according to the forbidden distance of the tail end, the anti-collision distance, the offset and the redundant distance, so that the situation that the rotor is derailed when braking before the forbidden position is ensured, and the forbidden position is taken as a position where the rotor is forbidden to pass through in the subsequent step to conduct speed planning.
Step S400: calculating a first distance according to the initial speed of the mover, wherein the first distance is a distance for controlling the mover to perform decelerating movement with the multiplying power of 0 until stopping the movement;
in the step, the first distance is calculated to obtain the distance from the rotor to the motion stopping in a conventional braking mode, namely the distance from the rotor to the motion stopping in a speed reducing position from the speed reducing motion at the multiplying power of 0.
Step S500: if the first distance is larger than the second distance, determining a deceleration function according to the deceleration position, the forbidden position and the initial speed, controlling the rotor to brake according to the forbidden position and the deceleration function, wherein the deceleration function is used for enabling the rotor to descend from the initial speed to zero before the forbidden position or when the rotor is at the forbidden position, and the absolute value of deceleration is increased and then reduced, and the second distance is the distance between the deceleration position and the forbidden position;
in the step, the second distance is the distance between the deceleration position and the forbidden position, if the first distance is larger than the second distance, it is confirmed that the rotor cannot finish braking before reaching the forbidden position or when reaching the forbidden position in a conventional braking mode, derailment risks exist, then a deceleration function is determined according to the deceleration position, the forbidden position and the initial speed, and the rotor is controlled to brake according to the forbidden position and the deceleration function, so that the rotor is enabled to descend from the initial speed to zero before or during the forbidden position, braking is finished, the absolute value of the deceleration of the rotor is increased and then reduced, the acceleration speed change is continuous in the braking process of the rotor, the speed change is smooth, and the braking distance cannot jump.
If the first distance is less than or equal to the second distance, the control mover is braked by decelerating in a conventional braking manner, that is, decelerating at a magnification of 0 at the decelerating position until stopping.
In this embodiment, by comparing the first distance with the second distance, if the first distance is greater than the second distance, it is confirmed that the mover is decelerated at a magnification of 0 until stopping to cause derailment of the mover, and braking of the mover is controlled according to the prohibiting position and the deceleration function, so that the initial speed of the mover is reduced to zero before or at the prohibiting position. Compared with the traditional magnetic levitation conveying system technology, the braking method of the magnetic levitation conveying system provided by the embodiment of the application has the advantages that the speed of the rotor is reduced to zero before the forbidden position or at the forbidden position, the absolute value of the deceleration is increased and then reduced, and the acceleration change is continuous, so that the rotor can stop before the forbidden position or at the forbidden position, and derailment is avoided.
In one embodiment of the present application, the stopping positions in step S300 are further described, where the stopping positions include a first stopping position and a second stopping position; the first forbidden position is a position of the guide rail which is forbidden to be crossed when the mover moves from the first end of the guide rail to the second end of the guide rail; the second forbidden position is a position of the guide rail which is forbidden to be crossed when the mover moves from the second end of the guide rail to the first end of the guide rail.
In this embodiment, under an application scenario, the mover moves back and forth between two ends of the guide rail, when the mover moves from the first end of the guide rail to the second end of the guide rail, in order to prevent the mover from derailing at the second end of the guide rail, a first stopping position is preset at the second end of the guide rail, and when the mover moves from the second end of the guide rail to the first end of the guide rail, in order to prevent the mover from derailing at the first end of the guide rail, a second stopping position is preset at the first end of the guide rail.
According to some embodiments of the application, the first rest position is obtained by the following formula:
S left ＝S safe +S prohibition -S offset -S d ，
wherein S is left S is the first forbidden position safe Is an anti-collision distance S prohibition For stopping the distance of the tail end S offset Is an offset, S d Is a redundant distance.
In this embodiment, according to the above formula, the first stopping position is calculated by summing the collision avoidance distance and the end stopping distance, and subtracting the offset and the redundant distance.
According to an embodiment of the application, the second rest position is obtained by the following formula:
S right ＝S-S safe -S prohibition -S offset +S d ，
wherein S is right S is the length of the guide rail and S is the second forbidden position safe Is an anti-collision distance S prohibition For stopping the distance of the tail end S offset Is an offset, S d Is a redundant distance.
In this embodiment, according to the above formula, the second stopping position is calculated by subtracting the anti-collision distance, the end stopping distance and the offset from the length of the guide rail, and adding the redundant distance.
In one embodiment of the present application, the "controlling the brake of the mover according to the prohibiting position and the deceleration function" in step S500 is further described, and referring to fig. 2, step S500 includes, but is not limited to, step S510, step S520, step S530, and step S540.
Step S510: acquiring a real-time position of the rotor and a real-time speed corresponding to the real-time position;
in this step, the manner of obtaining the real-time position of the mover is not limited, and for example, an infrared sensor, a grating sensor, a magnetic grating sensor, or the like is used to obtain the real-time position of the mover.
Step S520: obtaining the expected speed of the rotor according to the speed reduction function;
step S530: determining a braking deceleration according to the real-time speed, the expected speed, the real-time position and the forbidden position;
step S540: and controlling the rotor to brake according to the braking deceleration.
In this embodiment, the real-time position and the real-time speed of the mover are obtained, the expected speed of the mover is obtained based on the deceleration function, the braking deceleration is determined according to the real-time position, the real-time speed, the expected speed and the forbidden position of the mover, and then the mover is controlled to decelerate according to the determined braking deceleration, so as to complete braking.
In one embodiment of the application, the braking deceleration is obtained by the following formula:
wherein A is t For braking deceleration, V t To a desired speed, V h For real-time speed, S h For real-time position, S pe Is a forbidden position.
In this embodiment, according to the above formula, the braking deceleration is calculated from the desired speed, the real-time position, and the prohibiting position, so that the rotor is controlled to brake according to the braking deceleration.
In one embodiment of the present application, the "determining a deceleration function according to the deceleration position, the stop position and the initial speed" in step S500 includes, but is not limited to, step S550.
S550: and determining a deceleration function according to the deceleration position, the forbidden position and the initial speed based on a seven-segment S-shaped curve speed planning algorithm.
In this embodiment, according to the seven-segment S-shaped curve speed planning algorithm, the speed upper limit value, the acceleration upper limit value and the jerk upper limit value of the magnetic levitation conveying system are determined, and the deceleration motion process of the rotor, that is, the deceleration function can be determined.
It should be noted that, the motion process obtained by the seven-segment S-shaped curve speed planning algorithm is divided into an acceleration segment, a uniform acceleration segment, a deceleration acceleration segment, a uniform velocity segment, an acceleration deceleration segment, a uniform deceleration segment and a deceleration segment, and the deceleration function is used for controlling the braking of the mover, so that the deceleration motion process of the mover is determined only by the uniform velocity segment, the acceleration deceleration segment, the uniform deceleration segment and the deceleration segment of the seven-segment S-shaped curve speed planning algorithm, or the deceleration motion process of the mover is determined by the acceleration segment, the uniform deceleration segment and the deceleration segment of the seven-segment S-shaped curve speed planning algorithm, so as to obtain the deceleration function.
It should be noted that, the method for obtaining the deceleration function is not limited, and the deceleration function can be determined according to the deceleration position, the forbidden position and the initial speed based on a five-segment S-shaped curve speed planning algorithm.
In addition, an embodiment of the present application further discloses a braking device 100 of a magnetic levitation transportation system, referring to fig. 3, including:
the data obtaining module 110 is configured to obtain a stopping distance of the end of the guide rail, an initial speed of the mover, an offset of a position measurement point of the mover and a geometric center of the mover, an anti-collision distance and a redundant distance of the mover, where the initial speed is a speed at which the mover reaches a deceleration position, and the deceleration position is a stopping area boundary of the guide rail;
the speed planning module 120 is configured to determine a forbidden stop position according to a forbidden stop distance, an anti-collision distance, an offset, and a redundant distance, and calculate a first distance according to an initial speed of the mover, where the first distance is a distance for controlling the mover to perform a deceleration motion with a multiplying power of 0 until stopping the motion; if the first distance is larger than the second distance, determining a deceleration function according to the deceleration position, the forbidden position and the initial speed, wherein the deceleration function is used for enabling the rotor to descend to zero from the initial speed before the forbidden position or when the rotor is at the forbidden position, the absolute value of deceleration is increased and then reduced, and the second distance is the distance between the deceleration position and the forbidden position;
the brake control module 130 is configured to control the rotor brake according to the prohibiting position and the deceleration function.
In this embodiment, by comparing the first distance with the second distance, if the first distance is greater than the second distance, it is confirmed that the mover is decelerated at a magnification of 0 until stopping to cause derailment of the mover, and braking of the mover is controlled according to the prohibiting position and the deceleration function, so that the initial speed of the mover is reduced to zero before or at the prohibiting position. Compared with the conventional magnetic levitation conveying system technology, the magnetic levitation conveying system braking device 100 of the embodiment has the advantages that the speed of the mover is reduced to zero before or at the forbidden position, the absolute value of the deceleration is increased and then reduced, and the acceleration change is continuous, so that the mover can stop before or at the forbidden position, and derailment is avoided.
In addition, an embodiment of the application also discloses a magnetic levitation conveying system, which comprises:
a mover;
the guide rail is in sliding connection with the rotor and drives the rotor to move through electromagnetic force;
and the control unit is used for executing the braking method of the magnetic levitation conveying system.
In this embodiment, by comparing the first distance with the second distance, if the first distance is greater than the second distance, it is confirmed that the mover is decelerated at a magnification of 0 until stopping to cause derailment of the mover, and braking of the mover is controlled according to the prohibiting position and the deceleration function, so that the initial speed of the mover is reduced to zero before or at the prohibiting position. Compared with the traditional magnetic levitation conveying system technology, the magnetic levitation conveying system of the embodiment has the advantages that the speed of the mover is reduced to zero before or at the forbidden position, the absolute value of the deceleration is increased and then reduced, and the acceleration change is continuous, so that the mover can stop before or at the forbidden position, and derailment is avoided.
The mounting position of the control unit is not limited, and the control unit may be mounted on a guide rail or a mover, for example.
In addition, an embodiment of the application also discloses a computer readable storage medium, in which a program executable by a processor is stored, and the program executable by the processor is used for realizing the braking method of the magnetic levitation transportation system.
In this embodiment, by comparing the first distance with the second distance, if the first distance is greater than the second distance, it is confirmed that the mover is decelerated at a magnification of 0 until stopping to cause derailment of the mover, and braking of the mover is controlled according to the prohibiting position and the deceleration function, so that the initial speed of the mover is reduced to zero before or at the prohibiting position. Compared with the traditional magnetic levitation conveying system technology, the computer readable storage medium of the embodiment avoids derailment by reducing the speed to zero before or at the forbidden position of the mover, and increasing and then reducing the absolute value of the deceleration, so that the mover can stop before or at the forbidden position.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.
Claims (10)
1. The braking method of the magnetic levitation conveying system is characterized by comprising the following steps of:
obtaining the initial speed of a rotor, wherein the initial speed is the speed of the rotor reaching a speed reduction position, and the speed reduction position is the boundary of a forbidden region of a guide rail;
obtaining a forbidden stopping distance of the tail end of the guide rail, an offset of a position measurement point of the mover and a geometric center of the mover, an anti-collision distance and a redundant distance of the mover;
determining a forbidden stop position according to the tail end forbidden stop distance, the anti-collision distance, the offset and the redundant distance;
calculating a first distance according to the initial speed of the mover, wherein the first distance is a distance for controlling the mover to perform decelerating movement with the multiplying power of 0 until stopping the movement;
if the first distance is greater than the second distance, determining a deceleration function according to the deceleration position, the forbidden position and the initial speed, controlling the rotor to brake according to the forbidden position and the deceleration function, wherein the deceleration function is used for enabling the rotor to descend to zero from the initial speed before the forbidden position or when the rotor is at the forbidden position, and the absolute value of deceleration is increased and then reduced, and the second distance is the distance between the deceleration position and the forbidden position.
2. The method of claim 1, wherein the disabling position comprises a first disabling position and a second disabling position; the first forbidden position is a position of the guide rail which is forbidden to be crossed when the mover moves from the first end of the guide rail to the second end of the guide rail; the second forbidden position is a position of the guide rail which is forbidden to be crossed when the mover moves from the second end of the guide rail to the first end of the guide rail.
3. The method of braking a magnetic levitation transport system of claim 2, wherein the first forbidden position is obtained by the following formula:
S left ＝S safe +S prohibition -S offset -S d ，
wherein S is left S is the first forbidden position safe For the collision avoidance distance S prohibition For the forbidden distance of the tail end, S offset For the offset, S d Is the redundant distance.
4. The method of claim 2, wherein the second stop position is obtained by the following equation:
S right ＝S-S safe -S prohibition -S offset +S d ，
wherein S is right S is the length of the guide rail and S is the second forbidden position safe For the collision avoidance distance S prohibition For the forbidden distance of the tail end, S offset For the offset, S d Is the redundant distance.
5. The method of braking a magnetic levitation transport system according to claim 1, wherein the controlling the mover to brake according to the prohibiting position and the deceleration function comprises:
acquiring a real-time position of the rotor and a real-time speed corresponding to the real-time position;
obtaining the expected speed of the rotor according to the speed reduction function;
determining a braking deceleration based on the real-time speed, the desired speed, the real-time position, and the no-stop position;
and controlling the rotor to brake according to the brake deceleration.
6. The method of claim 5, wherein the braking deceleration is obtained by the following formula:
wherein A is t For the braking deceleration, V t For the desired speed V h For the real-time speed, S h For the real-time position, S pe And the forbidden position is the forbidden position.
7. The method of claim 1, wherein determining a deceleration function based on the deceleration position, the stop position, and the initial velocity comprises:
and determining the deceleration function according to the deceleration position, the forbidden position and the initial speed based on a seven-segment S-shaped curve speed planning algorithm.
8. The utility model provides a magnetic levitation conveying system arresting gear which characterized in that includes:
the data acquisition module is used for acquiring the forbidden stop distance of the tail end of the guide rail, the initial speed of the rotor, the offset of the position measurement point of the rotor and the geometric center of the rotor, the anticollision distance and the redundancy distance of the rotor, wherein the initial speed is the speed of the rotor reaching a deceleration position, and the deceleration position is the forbidden stop area boundary of the guide rail;
the speed planning module is used for determining a forbidden stop position according to the tail end forbidden stop distance, the anti-collision distance, the offset and the redundant distance, and calculating a first distance according to the initial speed of the rotor, wherein the first distance is a distance for controlling the rotor to do deceleration motion with the multiplying power of 0 until stopping the motion; if the first distance is greater than the second distance, determining a deceleration function according to the deceleration position, the forbidden position and the initial speed, wherein the deceleration function is used for enabling the mover to descend from the initial speed to zero before the forbidden position or when the mover is at the forbidden position, and the absolute value of deceleration is increased and then reduced, and the second distance is the distance between the deceleration position and the forbidden position;
and the braking control module is used for controlling the rotor to brake according to the forbidden and stopped position and the deceleration function.
9. The magnetic levitation conveying system is characterized by comprising:
a mover;
the guide rail is in sliding connection with the mover and drives the mover to move through electromagnetic force;
a control unit for executing the braking method of the magnetic levitation transportation system according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a processor-executable program is stored, which when executed by a processor is adapted to carry out the magnetic levitation transportation system braking method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311062887.2A CN117125489A (en) | 2023-08-22 | 2023-08-22 | Magnetic levitation conveying system braking method and device, magnetic levitation conveying system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311062887.2A CN117125489A (en) | 2023-08-22 | 2023-08-22 | Magnetic levitation conveying system braking method and device, magnetic levitation conveying system and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117125489A true CN117125489A (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311062887.2A Pending CN117125489A (en) | 2023-08-22 | 2023-08-22 | Magnetic levitation conveying system braking method and device, magnetic levitation conveying system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117125489A (en) |
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2023
- 2023-08-22 CN CN202311062887.2A patent/CN117125489A/en active Pending
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