CN117566383A

CN117566383A - Control method of magnetic drive system moving assembly and related equipment

Info

Publication number: CN117566383A
Application number: CN202311558688.0A
Authority: CN
Inventors: 叶进余; 卢红星; 刘雯卉
Original assignee: Suzhou Zongwei Technology Co ltd
Current assignee: Suzhou Zongwei Technology Co ltd
Priority date: 2023-11-21
Filing date: 2023-11-21
Publication date: 2024-02-20

Abstract

According to the control method and the related equipment for the moving component of the magnetic drive system, the initial speed and the initial acceleration of the moving component are obtained according to the initial speed information of the target object entering the moving component from the initial position; then calculating to obtain estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration; comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value, and generating the number of segments of the target segments and an acceleration change curve of each target segment according to the comparison result; and finally, controlling the acceleration of the moving assembly based on the acceleration change curve in the target segment in sequence so that the moving assembly transports the target object from the initial position to the target position. Therefore, the magnetic drive system moving assembly can more accurately transport the target object from the initial position to the target position, and meanwhile smoothness of the moving assembly in the transportation process is improved.

Description

Control method of magnetic drive system moving assembly and related equipment

Technical Field

The application relates to the technical field of control, in particular to a control method and related equipment for a moving component of a magnetic drive system.

Background

The magnetic drive conveying system is a logistics conveying system based on a magnetic drive technology, and utilizes the magnetic drive and suspension principle to realize rapid, stable and non-contact conveying of articles. In the magnetic drive conveying system, the conveying efficiency of the magnetic drive conveying system can be improved by controlling the accurate stopping of the moving assembly for conveying the target object from the starting position to the target position.

In the related art, the stopping control of the moving assembly in the magnetic drive conveying system generally adopts uniform deceleration from a starting position until the speed is reduced to zero when the target position is reached, and when the initial speed of the starting position is high, the stopping control method needs to set high acceleration to decelerate, so that the moving process of the target object is blocked, and meanwhile, the situation that the final stopping position of the moving assembly exceeds the target position easily occurs.

Disclosure of Invention

The embodiment of the application provides a control method and related equipment for a moving assembly of a magnetic drive system, which can improve the accuracy of transporting a target object to a target position by the moving assembly of the magnetic drive system.

To achieve the above object, a first aspect of an embodiment of the present application provides a method for controlling a moving component of a magnetic drive system, where the method includes:

Obtaining the initial speed and the initial acceleration of the moving assembly according to the initial speed information of the target object entering the moving assembly from the initial position;

calculating to obtain estimated speed data according to a preset maximum acceleration, a preset acceleration time and the initial acceleration;

comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value, and generating the number of segments of a target segment and an acceleration change curve of each target segment according to a comparison result;

and sequentially controlling the acceleration of the moving component based on the acceleration change curve in the target segment so that the moving component transports the target object from the initial position to a target position.

In some embodiments, the estimated speed data comprises: maximum estimated speed, intermediate estimated speed, and differential estimated speed; the calculating to obtain estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration includes:

calculating to obtain a maximum estimated speed based on the product of a preset maximum acceleration and a preset acceleration time, and obtaining a middle estimated speed based on a middle value of the maximum estimated speed;

Obtaining a difference value between the preset maximum acceleration and the initial acceleration, and dividing the difference value by a preset acceleration rate to obtain an acceleration estimation conversion time;

calculating to obtain an estimated acceleration according to the acceleration estimation transformation time and the preset acceleration rate;

and adding the difference value between the preset maximum acceleration and the estimated acceleration to the intermediate estimated speed to obtain a difference value estimated speed.

In some embodiments, the generating the segment number of the target segment and the acceleration change curve of each target segment according to the comparison result includes:

if the initial speed is greater than the maximum estimated speed and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, a first target segment, a second target segment and a third target segment are generated;

the initial acceleration is lifted to the preset maximum acceleration at the preset acceleration rate at a constant speed in the first target segment, the preset maximum acceleration is maintained in the second target segment, and the preset maximum acceleration is decelerated to a preset value at the preset acceleration rate at the third target segment.

In some embodiments, the generating the segment number of the target segment and the acceleration change curve of each target segment according to the comparison result further includes:

if the initial speed is smaller than or equal to the maximum estimated speed and the absolute value of the initial acceleration is smaller than or equal to the preset acceleration value, generating a fourth target segment and a fifth target segment;

and in the fourth target segment, the initial acceleration is lifted to a first intermediate acceleration at a constant speed according to the preset acceleration rate, and in the fifth target segment, the first intermediate acceleration is decelerated to a preset value at the preset acceleration rate.

if the initial speed is greater than the intermediate estimated speed and the difference estimated speed and the absolute value of the initial acceleration is greater than the preset acceleration value, a sixth target segment, a seventh target segment and an eighth target segment are generated;

the initial acceleration is lifted to the preset maximum acceleration at the preset acceleration rate at a constant speed in the sixth target segment, the preset maximum acceleration is maintained in the seventh target segment, and the preset maximum acceleration is decelerated to a preset value at the preset acceleration rate at the eighth target segment.

if the initial speed is greater than the intermediate estimated speed, the initial speed is less than the difference estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, a ninth target segment and a tenth target segment are generated;

and in the ninth target segment, the initial acceleration is lifted to a second intermediate acceleration at a constant speed according to the preset acceleration rate, and in the tenth target segment, the second intermediate acceleration is decelerated to a preset value at the preset acceleration rate.

if the initial speed is smaller than the middle estimated speed and the absolute value of the initial acceleration is larger than the preset acceleration value, generating an eleventh target segment;

and uniformly decelerating the initial acceleration to a preset value in the eleventh target segment at the preset acceleration rate.

To achieve the above object, a second aspect of the embodiments of the present application provides a control device for a moving assembly of a magnetic drive system, the device including:

The acquisition module is used for acquiring the initial speed and the initial acceleration of the mobile assembly according to the initial speed information of the target object entering the mobile assembly from the initial position;

the calculation module is used for calculating estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration;

the judging and generating module is used for comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value and generating the number of segments of a target segment and an acceleration change curve of each target segment according to a comparison result;

and the control module is used for controlling the acceleration of the moving assembly based on the acceleration change curve in the target segment in sequence so as to enable the moving assembly to transport the target object from the initial position to the target position.

To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the method for controlling a moving component of a magnetic drive system according to the first aspect.

To achieve the above object, a fourth aspect of the embodiments of the present application proposes a storage medium, which is a computer-readable storage medium, storing a computer program, which when executed by a processor, implements the method for controlling a moving component of a magnetic drive system according to the first aspect.

According to the control method and the related equipment for the moving component of the magnetic drive system, the initial speed and the initial acceleration of the moving component are obtained according to the initial speed information of the target object entering the moving component from the initial position; then calculating to obtain estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration; comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value, and generating the number of segments of the target segments and an acceleration change curve of each target segment according to the comparison result; and finally, controlling the acceleration of the moving assembly based on the acceleration change curve in the target segment in sequence so that the moving assembly transports the target object from the initial position to the target position. The speed conditions of the initial speed and the initial acceleration are determined by using the estimated speed data and the preset acceleration value, so that the acceleration of the moving assembly is controlled in a segmented mode according to the speed conditions, the moving assembly of the magnetic drive system can more accurately transport the target object from the initial position to the target position, and meanwhile, the smoothness of the moving assembly in the transportation process is improved.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

FIG. 1 is a schematic diagram of a magnetic drive system according to an embodiment of the present disclosure.

FIG. 2 is a flow chart of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 3 is a flowchart of step S202 in fig. 2.

Fig. 4 is a flowchart of step S203 in fig. 2.

Fig. 5 is a schematic diagram of a first acceleration curve of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 6 is a further flowchart of step S203 in fig. 2.

Fig. 7 is a schematic diagram of a second acceleration curve of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 8 is a further flowchart of step S203 in fig. 2.

Fig. 9 is a schematic diagram of a third acceleration curve of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 10 is a schematic diagram of a fourth acceleration curve of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

FIG. 11 is a schematic diagram illustrating a fifth acceleration profile of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present disclosure.

Fig. 12 is a further flowchart of step S203 in fig. 2.

Fig. 13 is a schematic diagram of a sixth acceleration curve of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 14 is a schematic diagram of a seventh acceleration curve of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 15 is a further flowchart of step S203 in fig. 2.

Fig. 16 is a schematic diagram of an eighth acceleration curve of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present disclosure.

Fig. 17 is a control flow diagram of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 18 is a schematic diagram of a control flow of a method for controlling a moving component of a magnetic drive system according to another embodiment of the present application.

Fig. 19 is a schematic structural diagram of a control device of a moving assembly of a magnetic drive system according to another embodiment of the present application.

Fig. 20 is a schematic hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart.

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 present application.

Based on this, the embodiment of the application provides a control method and related equipment for a moving component of a magnetic drive system, which improves the accuracy of transporting a target object to a target position by the moving component of the magnetic drive system. The control method of the magnetic drive system moving assembly mainly obtains the initial speed and the initial acceleration of the moving assembly according to the initial speed information of the target object entering the moving assembly from the initial position; then calculating to obtain estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration; comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value, and generating the number of segments of the target segments and an acceleration change curve of each target segment according to the comparison result; and finally, controlling the acceleration of the moving assembly based on the acceleration change curve in the target segment in sequence so that the moving assembly transports the target object from the initial position to the target position. The speed conditions of the initial speed and the initial acceleration are determined by using the estimated speed data and the preset acceleration value, so that the acceleration of the moving assembly is controlled in a segmented mode according to the speed conditions, the moving assembly of the magnetic drive system can more accurately transport the target object from the initial position to the target position, and meanwhile, the smoothness of the moving assembly in the transportation process is improved.

The following embodiments are specifically described by way of illustration, first, a magnetic drive system to which the method for controlling a moving component of a magnetic drive system in the embodiments of the present application is applied.

Referring to fig. 1, a schematic structural diagram of a magnetic driving system according to an embodiment of the present application is provided.

The magnetic drive system 100 includes a moving assembly 110, a target article 120, a controller 130, a first ferry wire segment, and a second ferry wire segment. After the target item 120 with the initial velocity information therein enters the movement assembly 110 from the start position, the movement assembly 110 is configured to transport the target item 120 from the start position between the sets of ferry segments (the first ferry segment and the second ferry segment) to the target position between the sets of ferry segments. The controller 130 is communicatively coupled to the mobile assembly 110 for controlling movement data of the mobile assembly 110 during transport. Wherein the initial velocity information refers to the velocity and acceleration of the target item 120 as it enters the mobile assembly 110; meanwhile, the movement data includes, but is not limited to, acceleration data, speed data, and movement time data. It will be appreciated that, as the target item 120 enters the mobile assembly 110, the two are relatively stationary and the target item 120 is transported by the mobile assembly 110, control of the mobile assembly 110 and control of the target item 120 are consistent.

The moving component 110 in the magnetic drive system 100 is specifically a ferry section. The movement mode can be linear movement or circular movement, and depends on the design and application requirements of the system.

The target items 120 in the magnetic drive system 100 may be mobile carts, pallets, and the like. The particular load size, weight, and shape of the target item 120 may affect the design and configuration of the system. For cargo transportation, the magnetic drive system can be used for high-speed logistics, automatic storage, sorting and other applications. For the industrial production field, the magnetic drive system can be used for precise machining, so that the machining precision can be improved, and the production efficiency can be improved.

In addition, in order to better control the moving assembly 110 of the magnetic drive system 100, a position detection module is further disposed on the moving assembly 110. The position detection module includes an infrared sensor, a grating sensor, a magnetic grating sensor, etc. and is used for timely feeding back the motion state (such as the motion position, the motion speed, etc. of the moving component 110) to the controller 130, so that the controller 130 can adjust the motion state of the moving component 110 in real time.

The controller 130 may refer to a control device in the magnetic drive system for monitoring and controlling the operation of the system. The controller is generally composed of hardware and software, including a Central Processing Unit (CPU), a memory, an input/output interface, and other hardware parts, and a control algorithm, a communication protocol, a man-machine interface, and other software parts.

The method for controlling the moving components of the magnetic drive system in the embodiments of the present application will be further described below based on the magnetic drive system. Referring to fig. 2, an optional flowchart of a method for controlling a moving component of a magnetic drive system according to an embodiment of the present application is provided, where the method in fig. 2 may include, but is not limited to, steps S201 to S205. It should be understood that the order of steps S201 to S205 in fig. 2 is not particularly limited, and the order of steps may be adjusted, or some steps may be reduced or added according to actual requirements.

Step S201: and obtaining the initial speed and the initial acceleration of the mobile assembly according to the initial speed information of the target object entering the mobile assembly from the initial position.

In some embodiments, the controller obtains initial velocity information of the target item via the position detection module after the target item enters the movement assembly from the initial position. Wherein the initial velocity information includes an initial velocity of the object and an initial acceleration of the object as the object enters the mobile assembly. In addition, after the target object enters the moving assembly, the moving assembly and the moving assembly are relatively static, and the target object is conveyed by the moving assembly, so that the control of the moving assembly and the control of the target object are consistent. The initial velocity v of the moving assembly for starting to convey the target object at the initial position can be obtained through the initial velocity of the object and the initial acceleration of the object when the target object enters the moving assembly _s And initial acceleration a _s 。

Step S202: and calculating to obtain estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration.

In some embodiments, to allow the mobile assembly to better transport the target item from the starting location to the target location, i.e., to improve smoothness during transport and accuracy of just stopping the transport at the target location. At the time of confirming the initial velocity v of the moving component _s And initial acceleration a _s After that, it is necessary to start the velocity v _s And initial acceleration a _s The speed condition of the moving component is judged, so that the acceleration of the moving component can be controlled more accurately by the controller according to the judgment condition. In addition, due to the hardware parameters of the moving component of the magnetic drive system, the acceleration of the moving component cannot be increased all the time, i.e. the moving component has a maximum acceleration threshold and is used as a preset maximum acceleration a _max . In addition, a preset acceleration time T for reference comparison is set in combination with the distance length of the ferrying stage (namely from the initial position to the target position) of the moving component in the magnetic drive system _s 。

In some embodiments, the maximum acceleration a is preset _max It can also be set according to the distance length of the ferrying stage (namely from the initial position to the target position) of the moving component in the magnetic drive system and considering the hardware parameters of the moving component limited by the magnetic drive system Preset maximum acceleration a for reference contrast _max 。

Next, to better determine the initial velocity v _s And initial acceleration a _s Will utilize the initial velocity v _s Preset acceleration time T _s Preset maximum acceleration a _max And calculating to obtain estimated speed data. Wherein estimating the speed data comprises: maximum estimated speed, intermediate estimated speed, and differential estimated speed. The calculation flow of the estimated speed data will be described in further detail below.

Referring to fig. 3, estimated speed data is calculated according to a preset maximum acceleration, a preset acceleration time, and an initial acceleration, including the following steps S301 to S304.

Step S301: and calculating to obtain the maximum estimated speed based on the product of the preset maximum acceleration and the preset acceleration time, and obtaining the intermediate estimated speed based on the intermediate value of the maximum estimated speed.

In some embodiments, to better determine the initial velocity v _s And initial acceleration a _s Will first be based on a preset maximum acceleration a _max And a preset acceleration time T _s Is calculated to obtain the maximum estimated velocity v _max ＝a _max T _s . Maximum estimated speed v _max For describing the movement of the assembly at a preset acceleration time T _s In, maximum speed that can be lifted. Next according to the maximum estimated velocity v _max Intermediate value of (2) to obtain intermediate estimated velocity v _mid ＝(1/2)a _max T _s . And maximum estimated velocity v _max Acting similarly, the intermediate estimated velocity v _mid For describing the movement of the assembly at a preset acceleration time T _s In, half the maximum speed that can be lifted.

Step S302: and obtaining a difference value between the preset maximum acceleration and the initial acceleration, and dividing the difference value by a preset acceleration rate to obtain the acceleration estimation conversion time.

Step S303: and calculating to obtain the estimated acceleration according to the acceleration estimation transformation time and the preset acceleration rate.

Step S304: and adding the intermediate estimated speed to the difference between the preset maximum acceleration and the estimated acceleration to obtain a difference estimated speed.

In some embodiments, to better determine the initial velocity v _s And initial acceleration a _s In obtaining the intermediate estimated velocity v _mid After that, firstly, the preset maximum acceleration a is obtained _max And initial acceleration a _s Dividing the difference by a preset acceleration rate jerk to obtain an acceleration estimation transformation time t _est ＝(a _max +a _s ) It should be noted that since the initial acceleration and the initial velocity are opposite, the initial acceleration a at this time _s And is negative. Wherein the acceleration estimates the transition time t ₁ For describing the movement of the assembly from the initial acceleration a _s Drop/rise to a preset maximum acceleration a _max The time required. It will be appreciated that the preset acceleration rate jerk is a fixed value set according to the hardware parameters of the moving component itself of the magnetic drive system and the distance between the initial position and the target position, and is used to describe the rate of change of the acceleration of the moving component in unit time (i.e. the rapid change degree of the acceleration of the moving component).

Next, a transformation time t is estimated from the acceleration ₁ Calculating to obtain an estimated acceleration with a preset acceleration rate jerk, and adding the difference between the preset maximum acceleration and the estimated acceleration to the intermediate estimated speed to obtain a difference estimated speed v _est ＝(a _max -(1/2)jerkt _est )+v _mid . Difference estimation speed v _est For using initial acceleration a _s Changing to a preset maximum acceleration a _max Time-required acceleration estimation transformation time t _est Described in the maximum estimated velocity v _max And an intermediate estimated speed v _mid With an initial acceleration a _s Related reference values.

Step S203: comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value, and generating the number of segments of the target segments and an acceleration change curve of each target segment according to the comparison result.

In some embodiments, the maximum estimated velocity v is obtained _max Intermediate estimated speed v _mid Difference estimation speed v _est Thereafter, in order to better control the acceleration of the moving assembly during transport to improve the accuracy of the magnetic drive system moving assembly in transporting the target article from the initial position to the target position, it is necessary to determine the initial velocity v _s And initial acceleration a _s Is a speed case of (2). Therefore, the initial velocity v will be in this embodiment _s And maximum estimated velocity v _max Intermediate estimated speed v _mid Difference estimation speed v _est Respectively comparing and comparing the initial acceleration a _s And a preset acceleration value a _v And comparing to obtain a comparison result. The comparison result is used for characterizing the initial velocity v _s And initial acceleration a _s Is a speed case of (2). It will be appreciated that since the purpose of the embodiments of the present application is to stop the transport of the target object to the target location by the moving assembly, the movement speed and the movement acceleration to the target location should be 0, i.e. the preset acceleration value a _v May be set to 0; however, it is contemplated that the lower motion acceleration of the moving assembly may be stopped in a very short time (i.e., a negligible amount of time) by using the hardware parameters of the moving assembly, so that the moving assembly may still accurately fall within the target position, and the lower motion acceleration other than 0 may be used as the preset acceleration value a _v . And then according to the comparison result, the segment number of the target segments for controlling the acceleration of the moving assembly in a segmented manner and the acceleration change curve in each target segment can be accurately generated, so that the acceleration of the moving assembly in the process of conveying the target object from the initial position to the target position can be conveniently controlled according to the segment number of the target segments and the acceleration change curve of each target segment, and the accuracy of conveying the target object from the initial position to the target position by the moving assembly and the smoothness of the moving assembly in the conveying process can be improved. The generation process of the number of segments of the target segment and the acceleration conversion curve of each target segment will be further described below.

Referring to fig. 4, the number of segments of the target segment and the acceleration variation curve of each target segment are generated according to the comparison result, including the following steps S401 to S402.

Step S401: and if the initial speed is greater than the maximum estimated speed and the absolute value of the initial acceleration is less than or equal to the preset acceleration value, generating a first target segment, a second target segment and a third target segment.

Step S402: the initial acceleration is lifted to a preset maximum acceleration at a constant speed at a preset acceleration rate in the first target segment, the preset maximum acceleration is maintained in the second target segment, and the preset maximum acceleration is decelerated to a preset value at a preset acceleration rate in the third target segment.

In some embodiments, if the initial velocity v is characterized in the comparison result _s Greater than the maximum estimated velocity v _max And initial acceleration a _s The absolute value of (a) is less than or equal to the preset acceleration value a _v This indicates that the initial velocity is excessive and there is substantially no initial acceleration. In this case, therefore, in order to control the speed of the moving assembly as quickly as possible and to allow accurate stopping at the target position. Thus for this case the running acceleration of the mobile assembly is controlled in three stages to slow down the running speed of the mobile assembly. Referring to fig. 5, a schematic diagram of a first acceleration curve of a control method of a moving component of a magnetic drive system according to an embodiment of the present application is shown; in the first target segment, it is first necessary to take the acceleration of the moving component from the initial acceleration a _s At a constant speed at a preset acceleration rate jerk to a preset maximum acceleration a _max The method comprises the steps of carrying out a first treatment on the surface of the Then maintaining the acceleration of the moving component at the preset maximum acceleration a in the second target segment _max The method comprises the steps of carrying out a first treatment on the surface of the Finally, the acceleration of the moving component is controlled from the preset maximum acceleration a in the third target segment _max Decreasing to a preset value at a constant speed at a preset acceleration rate jerk.

It will be appreciated that embodiments of the present application aim to control the movement assembly to transport a target item to a target location to stop, thus targeting the presence of an initial velocity v _s Is mainly controlled to beIn a situation where the deceleration to the target position is just stopped (i.e. the movement speed and the movement acceleration are both 0); based on this, the preset value is 0; meanwhile, it can be understood that, considering that the running speed and the running acceleration are vectors, that is, there is a difference in the movement direction, but in the embodiment of the present application, the running is performed in the ferry line segment (that is, the straight running is performed in the first ferry line segment and the second ferry line segment in reference to fig. 1), there are only two directions, that is, the direction from the start position to the target position, and the direction from the target position to the start position; based on this, in the embodiment of the present application, the direction from the start position to the target position is taken as the running speed positive direction and the running acceleration positive direction of the moving assembly. It is understood that other ways of setting the running speed direction and the running acceleration direction do not affect the implementation of the embodiments of the present application.

In this case, due to the initial acceleration a _s The absolute value of (a) is less than or equal to the preset acceleration value a _v I.e. negligible, and therefore the maximum acceleration a can be preset _max And respectively calculating the preset acceleration rate jerk to obtain the time lengths in the first target segment and the third target segment as follows: t is t ₁ ＝t ₃ ＝a _max /jerk; in addition, it is possible to rely on the initial velocity v _s Initial acceleration a _s First target segment time length t ₁ Obtaining the time length t in the second target segment ₂ ＝(v _s -a _max t ₁ )/a _max . Thus, the position curve of the first target segment can be obtained as:the speed profile of the first target segment is: />Acceleration curve acc of a first target segment ₁ ＝-6jerkt ₁ . And under the condition that the speed is obtained by the same method, the position curve of the second target segment is as follows: /> The speed profile of the second target segment is: level (v) ₂ ＝(-2a _max )t ₂ +(v _s -(a _max t ₂ ) 2), and an acceleration profile acc of the second target segment ₂ ＝-2a _max . And obtaining a position curve of the third target segment under the condition of the speed, wherein the position curve is as follows: /> The speed profile of the third target segment is: />Acceleration curve acc of the third target segment ₃ ＝6jerk*t ₃ +(-2a _max ). Based on this, it is possible to obtain a position, a speed, and an acceleration curve of the moving assembly under the speed condition, so that it is possible to improve the accuracy of transporting the target object from the initial position to the target position by the moving assembly, and to improve the smoothness of the moving assembly during the transportation.

Therefore, referring to fig. 6, the number of segments of the target segment and the acceleration variation curve of each target segment are generated according to the comparison result, and the following steps S601 to S602 are further included.

Step S601: and if the initial speed is smaller than or equal to the maximum estimated speed and the absolute value of the initial acceleration is smaller than or equal to the preset acceleration value, generating a fourth target segment and a fifth target segment.

Step S602: and in the fourth target segment, the initial acceleration is lifted to the first intermediate acceleration at a constant speed at a preset acceleration rate, and in the fifth target segment, the first intermediate acceleration is decelerated to a preset value at a preset acceleration rate.

In some embodiments, if the initial velocity v is characterized in the comparison result _s Less than or equal to the maximum estimated velocity v _max And initial acceleration a _s The absolute value of (a) is less than or equal to the preset acceleration value a _v This indicates that the initial velocity is not very great and there is substantially no initial acceleration. In this case, therefore, in order to control the speed of the moving assembly as quickly as possible and to allow accurate stopping at the target position. In this case, therefore, the operation acceleration of the moving assembly is controlled in two stages to decelerate the operation speed of the moving assembly. Referring to fig. 7, a schematic diagram of a second acceleration curve of a control method of a moving component of a magnetic drive system according to an embodiment of the present application is shown; in the fourth target segment, it is first necessary to take the acceleration of the moving component from the initial acceleration a _s Lifting to a first intermediate acceleration at a constant speed at a preset acceleration rate jerk; the acceleration of the moving component is then reduced from the preset first intermediate acceleration to a preset value at a constant speed at a preset acceleration rate jerk in a fifth target segment. Wherein the first intermediate acceleration may be determined by the initial velocity v _s Initial acceleration a _s And calculating a preset acceleration rate jerk.

In this case, due to the initial acceleration a _s The absolute value of (a) is less than or equal to the preset acceleration value a _v I.e. can be ignored, and thus can pass the initial velocity v _s And respectively calculating the preset acceleration rate jerk to obtain the time lengths in the fourth target segment and the fifth target segment as follows:thus, the position curve of the fourth target segment for this speed case can be obtained as: />The speed profile of the fourth target segment is:acceleration curve acc of fourth target segment ₄ ＝-6jerkt ₄ . And under the condition that the speed is obtained by the same method, the position curve of the fifth target segment is as follows: />The speed profile of the fifth target segment is: />Acceleration curve acc of the fifth target segment ₅ ＝6jerk*t ₅ +(-2a _max ). Based on this, it is possible to obtain a position, a speed, and an acceleration curve of the moving assembly under the speed condition, so that it is possible to improve the accuracy of transporting the target object from the initial position to the target position by the moving assembly, and to improve the smoothness of the moving assembly during the transportation.

Therefore, referring to fig. 8, the number of segments of the target segment and the acceleration variation curve of each target segment are generated from the comparison result, and the following steps S801 to S802 are further included.

Step S801: and if the initial speed is greater than the intermediate estimated speed and the difference estimated speed and the absolute value of the initial acceleration is greater than the preset acceleration value, generating a sixth target segment, a seventh target segment and an eighth target segment.

Step S802: the initial acceleration is lifted to a preset maximum acceleration at a constant speed at a preset acceleration rate in a sixth target segment, the preset maximum acceleration is maintained in a seventh target segment, and the preset maximum acceleration is decelerated to a preset value at the preset acceleration rate in an eighth target segment.

In some embodiments, if the initial velocity v is characterized in the comparison result _s Are all greater than the intermediate estimated speed v _mid Sum-difference estimated velocity v _max And initial acceleration a _s The absolute value of (a) is greater than the preset acceleration value a _v At this time, the initial velocity v is represented _s Too large and there is an initial acceleration a _s . In this case, therefore, in order to control the speed of the moving assembly as quickly as possible and to allow accurate stopping at the target position. Thus for this case the running acceleration of the mobile assembly is controlled in three stages to slow down the running speed of the mobile assembly. Referring to FIG. 9, a control of a moving component of a magnetic drive system according to an embodiment of the present application A third acceleration curve diagram of the manufacturing method; at this time, initial acceleration a _s And an initial velocity v _s In the sixth target segment, it is first necessary to take the acceleration of the moving component from the initial acceleration a _s At a constant speed at a preset acceleration rate jerk to a preset maximum acceleration a _max The method comprises the steps of carrying out a first treatment on the surface of the Then the acceleration of the moving component is kept at a preset maximum acceleration a in a seventh target segment _max The method comprises the steps of carrying out a first treatment on the surface of the Finally, the acceleration of the moving component is controlled from the preset maximum acceleration a in the eighth target segment _max Decreasing to a preset value at a constant speed at a preset acceleration rate jerk.

In this case, due to the presence of the initial acceleration a _s Thus, the initial acceleration a can be used _s Preset maximum acceleration a _max And respectively calculating the preset acceleration rate jerk to obtain the time lengths in the sixth target segment and the eighth target segment as follows: t is t ₆ ＝(a _max +a _s )/jerk，t ₈ ＝a _max /jerk; in addition, it is possible to rely on the initial velocity v _s Difference estimation speed v _est Preset maximum acceleration a _max Obtaining the time length t in the seventh target segment ₇ ＝(v _s -v _est )/a _max . Thus, the position curve of the sixth target segment for this speed case can be obtained as:the speed profile of the sixth target segment is: />Acceleration curve acc of sixth target segment ₆ ＝-6jerk*t ₆ +2a _s . And under the condition that the speed is obtained by the same method, the position curve of the seventh target segment is as follows: /> The speed profile of the seventh target segment is:vel ₇ ＝(-2a _max )t ₇ +v _s +t ₆ (-1/2jerk*t ₆ ) And an acceleration curve acc of a seventh target segment ₇ ＝-2a _max . And obtaining a position curve of the eighth target segment under the condition of the speed, wherein the position curve is as follows: /> The speed profile of the eighth target segment is: /> Acceleration curve acc of eighth target segment ₈ ＝6jerk*t ₈ +(-2a _max ). Based on this, it is possible to obtain a position, a speed, and an acceleration curve of the moving assembly under the speed condition, so that it is possible to improve the accuracy of transporting the target object from the initial position to the target position by the moving assembly, and to improve the smoothness of the moving assembly during the transportation.

Referring to fig. 10, a third acceleration curve diagram of a method for controlling a moving component of a magnetic drive system according to an embodiment of the present application is shown, where the initial acceleration a is _s And an initial velocity v _s Opposite in direction and initial acceleration a _s Exceeding a preset maximum acceleration a _max In order to ensure the operation safety of the mobile assembly, the moving acceleration of the mobile assembly needs to be reduced to the preset maximum acceleration a as soon as possible _max Thus, unlike FIG. 9, it is necessary to take the acceleration of the moving component from the initial acceleration a in the sixth target segment _s Decreasing at a constant speed to a preset maximum acceleration a at a preset acceleration rate jerk _max The acceleration control of the seventh target segment and the eighth target segment is otherwise the same as that described above.

Referring to fig. 11, a method for controlling a moving component of a magnetic drive system according to an embodiment of the present application is providedA fourth acceleration curve of the initial acceleration a _s And an initial velocity v _s In the same direction, i.e. the moving assembly is in an acceleration stage, in order to slow down the moving assembly as soon as possible, the moving acceleration of the moving assembly needs to be reduced to 0 as soon as possible, and then lifted to a preset maximum acceleration a in the opposite direction _max Thus, unlike fig. 9, it is necessary to first move the acceleration of the moving component from the initial acceleration a in the sixth target segment _s Decreasing the acceleration rate to 0 at a constant speed, and increasing the acceleration rate from 0 to a maximum acceleration a at a constant speed _max The acceleration control of the seventh target segment and the eighth target segment is otherwise the same as that described above.

Referring to fig. 12, the segment number of the target segment and the acceleration change curve of each target segment are generated according to the comparison result, and the following steps S1201 to S1202 are further included.

Step S1201: and if the initial speed is greater than the middle estimated speed, the initial speed is less than the difference estimated speed, and the absolute value of the initial acceleration is greater than the preset acceleration value, generating a ninth target segment and a tenth target segment.

Step S1202: and in the ninth target segment, the initial acceleration is uniformly increased to a second intermediate acceleration at a preset acceleration rate, and in the tenth target segment, the second intermediate acceleration is uniformly decelerated to a preset value at the preset acceleration rate.

In some embodiments, if the initial velocity v is characterized in the comparison result _s Greater than the intermediate estimated speed v _mid But initial velocity v _s Less than the difference estimated speed v _max And initial acceleration a _s The absolute value of (a) is greater than the preset acceleration value a _v At this time, the initial velocity v is represented _s Is not very large and there is an initial acceleration a _s . In this case, therefore, in order to control the speed of the moving assembly relatively smoothly as soon as possible, and to stop accurately at the target position. In this case, therefore, the operation acceleration of the moving assembly is controlled in two stages to decelerate the operation speed of the moving assembly. Referring to FIG. 13, a magnetic drive system moving group according to an embodiment of the present applicationA fifth acceleration profile of the control method of the part; in the ninth target segment, it is first necessary to take the acceleration of the moving component from the initial acceleration a _s Lifting to a second intermediate acceleration at a constant speed at a preset acceleration rate jerk; and then reducing the acceleration of the moving component from the preset second intermediate acceleration to a preset value at a preset acceleration rate jerk at a constant speed in the tenth target segment. Wherein the second intermediate acceleration may be determined by the initial velocity v _s Initial acceleration a _s And calculating a preset acceleration rate jerk.

In this case, due to the presence of the initial acceleration a _s Thus, the initial acceleration a can be used _s Initial velocity v _s And respectively calculating the preset acceleration rate jerk to obtain the time lengths in the ninth target segment and the tenth target segment as follows: thus, the position curve of the ninth target segment for this speed case can be obtained as: />The speed profile of the ninth target segment is: /> Acceleration curve acc of ninth target segment ₄ ＝-6jerkt ₉ +2a _s . And under the condition that the speed is obtained by the same method, the position curve of the tenth target segment is as follows: /> The speed profile of the tenth target segment is:acceleration curve acc of tenth target segment ₁₀ ＝6jerk*t ₁₀ +(-2a _max ). Based on this, it is possible to obtain a position, a speed, and an acceleration curve of the moving assembly under the speed condition, so that it is possible to improve the accuracy of transporting the target object from the initial position to the target position by the moving assembly, and to improve the smoothness of the moving assembly during the transportation.

Referring to fig. 14, a sixth acceleration curve diagram of a method for controlling a moving component of a magnetic drive system according to an embodiment of the present application is shown, where the initial acceleration a is _s And an initial velocity v _s In the same direction, i.e. the moving assembly is in an acceleration stage, in order to slow down the moving assembly as soon as possible, the moving acceleration of the moving assembly needs to be reduced to 0 as soon as possible, and then lifted to a preset maximum acceleration a in the opposite direction _max Thus, unlike fig. 13, it is necessary to first change the acceleration of the moving component from the initial acceleration a in the ninth target segment _s The acceleration control of the tenth target segment is the same as described above except that the preset acceleration rate jerk is decreased to 0 at a constant speed and then increased from 0 to the second intermediate acceleration at a constant speed.

Therefore, referring to fig. 15, the number of segments of the target segment and the acceleration change curve of each target segment are generated from the comparison result, and the following steps S1501 to S1502 are further included.

Step S1501: if the initial speed is smaller than the intermediate estimated speed and the absolute value of the initial acceleration is larger than the preset acceleration value, generating an eleventh target segment.

Step S1502: the initial acceleration is decelerated to a preset value at a preset acceleration rate in an eleventh target segment.

In some embodiments, if the initial velocity v is characterized in the comparison result _s Less than the intermediate estimated velocity v _mid And initial acceleration a _s The absolute value of (a) is greater than the preset acceleration value a _v At this time, the initial velocity v is represented _s Is relatively small and is presentInitial acceleration a _s . Therefore, in this case, in order to control the speed of the moving assembly more smoothly and to stop at the target position accurately. In this case, therefore, the operation acceleration of the moving assembly is controlled in one stage to decelerate the operation speed of the moving assembly. Referring to fig. 16, a seventh acceleration curve schematic diagram of a method for controlling a moving component of a magnetic drive system according to an embodiment of the present application is shown; in the eleventh target segment, it is first necessary to take the acceleration of the moving component from the initial acceleration a _s Decreasing to a preset value at a constant speed at a preset acceleration rate jerk.

In this case, due to the presence of the initial acceleration a _s Thus, the initial acceleration a can be used _s Initial velocity v _s And respectively calculating the preset acceleration rate jerk to obtain the time length in the eleventh target segment as follows: t is t ₁₁ ＝a _s /jerk. Thus, the position curve of the eleventh target segment for this speed case can be obtained as:the speed profile of the eleventh target segment is: />Acceleration curve acc of eleventh target segment ₁₁ ＝-6jerkt ₁₁ +2a _s . Based on this, it is possible to obtain a position, a speed, and an acceleration curve of the moving assembly under the speed condition, so that it is possible to improve the accuracy of transporting the target object from the initial position to the target position by the moving assembly, and to improve the smoothness of the moving assembly during the transportation.

Step S204: in turn, in the target segment, controlling acceleration of the mobile assembly based on the acceleration profile such that the mobile assembly transports the target item from the initial position to the target position.

In some embodiments, the initial velocity v is obtained _s And initial acceleration a _s Then, obtaining corresponding control target segments according to the speed state represented by the comparison result, and accelerating each segmentThe degree change curve controls the transportation process of the moving assembly, so that the moving assembly accurately transports the target object from the initial position to the target position to stop, and smoothness of the moving assembly in the transportation process is improved.

In some embodiments, after determining the corresponding control target segment and the acceleration profile of each segment, fine interpolation is performed in servo cycles, and the motion of the moving component is controlled according to the fine interpolation. It is understood that a servo period refers to a sampling period, also referred to as a control period or sampling period, of a servo feedback signal. It refers to the time interval during which the controller periodically samples, processes and responds to an input signal in the control system. The choice of servo period has a significant impact on the performance and stability of the servo system. Smaller servo periods may enable faster control responses, but may also increase the burden on system computation and communication, potentially leading to higher system noise and oscillations. A larger servo period may reduce the computational load and communication burden, but may result in a slower response speed of the control system, thereby affecting the stability and accuracy of the system. The fine interpolation is a technology for performing more accurate motion control and track generation on tracks such as straight lines, circular arcs and the like by utilizing the interpolation function of a system in the machining process of a numerical control machine tool. The fine interpolation technology aims to improve the machining precision and the surface quality of a machine tool and reduce the machining error and the shape deviation of a workpiece. It allows the machine tool to follow more precisely the predetermined path and speed requirements during machining by finer granularity control of the interpolation period.

Referring to fig. 17, a control flow diagram of a method for controlling a moving component of a magnetic drive system according to an embodiment of the present application is shown.

The process comprises the following steps:

s170: at the time of acquiring the initial velocity v _s And initial acceleration a _s Then, first, the initial velocity v is determined _s Whether or not it is equal to 0.

S171: if the initial velocity v _s Equal to 0, then controlling the mobile component to be transported from the starting position to the target position in the form of a first motion state; the first movement state can be based on the initial positionThe distance from the target position runs at a low-speed controllable speed, or the running is uniformly accelerated according to the distance from the initial position to the target position, and then the running is in a uniform deceleration movement state;

s172: if the initial velocity v _s If the initial acceleration a is not equal to 0, planning the mobile assembly and judging the initial acceleration a _s Whether or not to equal 0;

s1721: if the initial acceleration a _s Equal to 0, further judging whether acceleration and deceleration are needed;

s17211: if the speed reduction is required to be accelerated, controlling the running acceleration of the moving assembly according to the first target section, the second target section and the third target section, determining a motion curve (comprising a position curve, a speed curve and an acceleration curve), performing fine interpolation according to a servo period, and controlling the moving assembly to move according to the fine interpolation;

S17212: if the speed reduction is not required to be accelerated, controlling the running acceleration of the moving assembly according to the fourth target segment and the fifth target segment, determining a motion curve (comprising a position curve, a speed curve and an acceleration curve), performing fine interpolation according to a servo period, and controlling the moving assembly to move according to the fine interpolation;

s1722: if the initial acceleration a _s If the acceleration is not equal to 0, the initial acceleration a is further judged _s Absolute value of |a of (a) _s Whether or not is greater than the preset maximum acceleration a _max ；

S17221: if the initial acceleration a _s Absolute value of |a of (a) _s I is greater than a preset maximum acceleration a _max Then the initial acceleration a is required to be made _s As soon as possible drop to a _max Calculating a complete motion curve section of the moving assembly, then performing fine interpolation according to a servo period, and controlling the moving assembly to move according to the fine interpolation;

s17222: if the initial acceleration a _s Absolute value of |a of (a) _s I is smaller than a preset maximum acceleration a _max Then with initial acceleration a _s Determining motion curves (including position curves, speed curves and acceleration curves) of mobile components, and then servo-controllingAnd (3) carrying out fine interpolation in a clothes cycle, and controlling the moving assembly to move according to the fine interpolation.

Referring to fig. 18, a schematic diagram of a control flow of a method for controlling a moving component of a magnetic drive system according to an embodiment of the present application is shown. The process comprises the following steps:

S180: at the time of acquiring the initial velocity v _s And initial acceleration a _s Then, first, the initial velocity v is determined _s Whether or not to equal 0;

s181: if the initial velocity v _s Equal to 0, then controlling the mobile component to be transported from the starting position to the target position in the form of a first motion state; the first motion state can be a motion state in which the motion is controlled at a low speed according to the distance from the initial position to the target position, or a motion state in which the motion is uniformly accelerated and then uniformly decelerated according to the distance from the initial position to the target position;

s182: if the initial velocity v _s Is not equal to 0, and the initial speed v is judged _s Whether or not less than 0;

s1821: if the initial velocity v _s Less than 0, the movement direction is negative at this time, if the initial acceleration a at this time _s <0, the acceleration is increased to 0 as soon as possible;

s1822: if the initial velocity v _s When the initial acceleration a is greater than 0, the movement direction is positive, and if the initial acceleration a is _s >0, let acceleration to be 0 as soon as possible;

s183: if the initial velocity v _s Is not equal to 0, and the initial acceleration a is judged _s Whether or not to equal 0;

s1831: if the initial acceleration a _s Equal to 0, further judging whether acceleration and deceleration are needed;

s18311: if the speed reduction is required to be accelerated, controlling the running acceleration of the moving assembly according to the first target section, the second target section and the third target section, determining a motion curve (comprising a position curve, a speed curve and an acceleration curve), performing fine interpolation according to a servo period, and controlling the moving assembly to move according to the fine interpolation;

S18312: if the speed reduction is not required to be accelerated, controlling the running acceleration of the moving assembly according to the fourth target segment and the fifth target segment, determining a motion curve (comprising a position curve, a speed curve and an acceleration curve), performing fine interpolation according to a servo period, and controlling the moving assembly to move according to the fine interpolation;

s1832: if the initial acceleration a _s If the initial acceleration a is not equal to 0, the initial acceleration a is further judged _s Absolute value of |a of (a) _s Whether or not is greater than the preset maximum acceleration a _max ；

S18321: if the initial acceleration a _s Absolute value of |a of (a) _s I is greater than a preset maximum acceleration a _max Then the initial acceleration a is required to be made _s As soon as possible drop to a _max And calculates an intermediate estimated speed v corresponding to the maximum acceleration _mid ；

S18322: if the initial acceleration a _s Absolute value of |a of (a) _s I is not greater than a preset maximum acceleration a _max Then with initial acceleration a _s Determining a running curve of the mobile component, and calculating an intermediate estimated speed v corresponding to the maximum acceleration _mid ；

S1833: further judging is the initial speed v _s Whether or not it is greater than the intermediate estimated speed v _mid ；

S18331: if the initial velocity v _s Not greater than the intermediate estimated speed v _mid Controlling the running acceleration of the moving assembly according to the eleventh target segment, determining a motion curve (comprising a position curve, a speed curve and an acceleration curve), performing fine interpolation according to a servo period, and controlling the moving assembly to move according to the fine interpolation;

S18332: if the initial velocity v _s Greater than the intermediate estimated speed v _mid Then the difference estimated speed v is calculated _est And further judges that it is the initial speed v _s Whether or not it is greater than or equal to the difference estimated speed v _est ；

S183321: if the initial velocity v _s Greater than or equal to the difference estimated speed v _est Acceleration of the movement of the moving component according to the sixth, seventh and eighth target segmentsThe degree is controlled, a motion curve (comprising a position curve, a speed curve and an acceleration curve) is determined, then fine interpolation is carried out according to a servo period, and the moving assembly is controlled to move according to the fine interpolation;

s183322: if the initial velocity v _s Less than or equal to the difference estimated speed v _wst And controlling the running acceleration of the moving assembly according to the ninth target segment and the tenth target segment, determining a motion curve (comprising a position curve, a speed curve and an acceleration curve), performing fine interpolation according to a servo period, and controlling the moving assembly to move according to the fine interpolation.

The embodiment of the application provides a control method and related equipment for a moving assembly of a magnetic drive system, and the accuracy of transporting a target object to a target position by the moving assembly of the magnetic drive system is improved. The initial speed and the initial acceleration of the mobile assembly are mainly obtained according to the initial speed information of the target object entering the mobile assembly from the initial position; then calculating to obtain estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration; comparing the initial speed with the estimated speed data, comparing the initial acceleration with a preset acceleration value, and generating the number of segments of the target segments and an acceleration change curve of each target segment according to the comparison result; and finally, controlling the acceleration of the moving assembly based on the acceleration change curve in the target segment in sequence so that the moving assembly transports the target object from the initial position to the target position. The speed conditions of the initial speed and the initial acceleration are determined by using the estimated speed data and the preset acceleration value, so that the acceleration of the moving assembly is controlled in a segmented mode according to the speed conditions, the moving assembly of the magnetic drive system can more accurately transport the target object from the initial position to the target position, and meanwhile, the smoothness of the moving assembly in the transportation process is improved.

The embodiment of the present application further provides a control device for a moving assembly of a magnetic driving system, which can implement the control method for the moving assembly of the magnetic driving system, and referring to fig. 19, the device 1900 includes:

an obtaining module 1910, configured to obtain an initial velocity and an initial acceleration of the moving component according to initial velocity information of the target object entering the moving component from the initial position;

a calculating module 1920, configured to calculate estimated speed data according to a preset maximum acceleration, a preset acceleration time, and an initial acceleration;

the judging and generating module 1930 is configured to compare the initial speed with the estimated speed data, compare the initial acceleration with a preset acceleration value, and generate a segment number of the target segments and an acceleration change curve of each target segment according to the comparison result;

a control module 1940 for controlling acceleration of the moving assembly based on the acceleration profile in sequence in the target segment to cause the moving assembly to transport the target object from the initial position to the target position.

The specific implementation manner of the control device of the magnetic drive system moving assembly in this embodiment is basically the same as the specific implementation manner of the control method of the magnetic drive system moving assembly, and will not be described herein.

The embodiment of the application also provides electronic equipment, which comprises:

at least one memory;

at least one processor;

at least one program;

the program is stored in the memory, and the processor executes the at least one program to implement the method for controlling the moving component of the magnetic drive system. The electronic equipment can be any intelligent terminal including a mobile phone, a tablet personal computer, a personal digital assistant (Personal Digital Assistant, PDA for short), a vehicle-mounted computer and the like.

Referring to fig. 20, fig. 20 illustrates a hardware structure of an electronic device according to another embodiment, the electronic device includes:

the processor 2001 may be implemented by a general-purpose CPU (central processing unit), a microprocessor, an application-specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), or one or more integrated circuits, etc. for executing related programs to implement the technical solutions provided in the embodiments of the present application;

the memory 2002 may be implemented in the form of a ROM (read only memory), a static storage device, a dynamic storage device, or a RAM (random access memory). The memory 2002 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present application are implemented by software or firmware, relevant program codes are stored in the memory 2002, and the processor 2001 invokes a control method for executing the magnetic drive system moving components of the embodiments of the present application;

An input/output interface 2003 for implementing information input and output;

the communication interface 2004 is configured to implement communication interaction between the present device and other devices, and may implement communication in a wired manner (e.g., USB, network cable, etc.), or may implement communication in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.);

a bus 2005 for transferring information between various components of the device (e.g., the processor 2001, memory 2002, input/output interface 2003, and communication interface 2004);

wherein the processor 2001, the memory 2002, the input/output interface 2003 and the communication interface 2004 realize a communication connection between each other inside the device through the bus 2005.

The embodiment of the application also provides a storage medium, wherein the storage medium is a computer readable storage medium, and a computer program is stored in the storage medium, and when the computer program is executed by a processor, the control method of the magnetic drive system moving assembly is realized.

The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The embodiments described in the embodiments of the present application are for more clearly describing the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and as those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

It will be appreciated by those skilled in the art that the technical solutions shown in the figures do not constitute limitations of the embodiments of the present application, and may include more or fewer steps than shown, or may combine certain steps, or different steps.

The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.

The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the various 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 (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.

Preferred embodiments of the present application are described above with reference to the accompanying drawings, and thus do not limit the scope of the claims of the embodiments of the present application. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present application shall fall within the scope of the claims of the embodiments of the present application.

Claims

1. A method of controlling a moving assembly of a magnetic drive system, the method comprising:

2. The method of claim 1, wherein the estimated speed data comprises: maximum estimated speed, intermediate estimated speed, and differential estimated speed; the calculating to obtain estimated speed data according to the preset maximum acceleration, the preset acceleration time and the initial acceleration includes:

and adding the difference value between the preset maximum acceleration and the estimated acceleration to the intermediate estimated speed to obtain the difference value estimated speed.

3. The method according to claim 2, wherein the generating the number of segments of the target segment and the acceleration profile of each of the target segments according to the comparison result comprises:

4. The method according to claim 2, wherein the generating the number of segments of the target segment and the acceleration variation curve of each of the target segments according to the comparison result, further comprises:

5. The method according to claim 2, wherein the generating the number of segments of the target segment and the acceleration variation curve of each of the target segments according to the comparison result, further comprises:

6. The method according to claim 2, wherein the generating the number of segments of the target segment and the acceleration variation curve of each of the target segments according to the comparison result, further comprises:

7. The method according to claim 2, wherein the generating the number of segments of the target segment and the acceleration variation curve of each of the target segments according to the comparison result, further comprises:

8. A control device for a moving assembly of a magnetic drive system, comprising:

9. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the method of controlling a moving assembly of a magnetic drive system according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a method of controlling a moving component of a magnetic drive system according to any one of claims 1 to 7.