CN118009864B

CN118009864B - Rotor control method, device, electronic equipment and storage medium

Info

Publication number: CN118009864B
Application number: CN202410419065.3A
Authority: CN
Inventors: 卢红星; 周兴鹏; 沈佳能
Original assignee: Suzhou Zongwei Technology Co ltd
Current assignee: Suzhou Zongwei Technology Co ltd
Priority date: 2024-04-09
Filing date: 2024-04-09
Publication date: 2024-06-18
Anticipated expiration: 2044-04-09
Also published as: CN118009864A

Abstract

The embodiment of the application provides a rotor control method, a rotor control device, electronic equipment and a storage medium, wherein the method comprises the steps of firstly, obtaining a control distance corresponding to target operation and obtaining reading distances of a plurality of encoder reading heads; then, controlling the rotor to move on the conveying track, and sequentially selecting at least one encoder reading head as a target reading head in the moving process; next, acquiring the real-time distance of the mover acquired by the target reading head, determining that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switching the target reading head; and finally, determining the sum of the real-time distance of the target reading head and the reading distance of the previous target reading head as a control distance, and executing the target operation, so that the target operation can be executed on the target rotor more accurately at the control distance.

Description

Rotor control method, device, electronic equipment and storage medium

Technical Field

The present application relates to the field of control technologies, and in particular, to a method and apparatus for controlling a rotor, an electronic device, and a storage medium.

Background

The magnetic grid detection technology is widely applied to the field of industrial automation, such as assembly and packaging of articles and SMT of precise electronic components on a conveying logistics line. In these applications, it is often necessary to perform a corresponding operation according to a real-time position during the operation of the mover, and thus, it is necessary to precisely measure the real-time position of the mover in order to precisely perform the corresponding operation.

In the related art, the moving position of the mover is generally detected in real time using the set position of the reading head and the reading head, and when it is determined that the moving position reaches the target position, a corresponding control operation is performed on the mover. However, in the case where the size specification of the mover is fixed, a detection situation in which the distance of the target position exceeds the reading head is liable to occur by this detection method, so that the corresponding control operation cannot be performed accurately on the mover at the target position.

Disclosure of Invention

The embodiment of the application provides a rotor control method, a rotor control device, electronic equipment and a storage medium, which can improve the accuracy of detecting the movement of a rotor to a target position.

To achieve the above object, a first aspect of an embodiment of the present application provides a method for controlling a mover, including:

acquiring control distances corresponding to target operation, and acquiring reading distances of a plurality of encoder reading heads;

the rotor is controlled to move on the conveying track, and at least one encoder reading head is sequentially selected as a target reading head in the moving process;

Acquiring the real-time distance of the mover acquired by the target reading head, determining that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switching the target reading head;

Determining the sum of the real-time distance of the target reading head and the reading distance of the previous target reading head as the control distance, and executing the target operation.

In some embodiments, the mover is provided with a magnetic grating ruler, and before the reading distances of the plurality of encoder readheads are obtained, the method further comprises:

Acquiring the length of a magnetic grating ruler of the magnetic grating ruler, and acquiring the acting distance of the encoder reading head based on the length of the magnetic grating ruler; the action distance comprises a starting point position and an end point position;

setting the detection positions of the encoder readheads in sequence so that the end position of each encoder readhead is at least within the range of the encoder readhead;

the reading distance of each of the encoder readheads is determined from the detected positions.

In some embodiments, said determining said reading distance for each said encoder readhead from said detected position comprises:

Selecting overlapping areas of the acting distances of adjacent encoder read heads according to the position sequence of the encoder read heads to obtain candidate ranges, and selecting a candidate position from each candidate range;

And generating the reading distance based on each two adjacent generation positions according to the starting point position, the candidate position and the final point position of the first encoder reading head in turn, and correlating the reading distance with the encoder reading head, wherein the generation positions comprise the starting point position, the candidate position and the final point position.

In some embodiments, the sequentially selecting at least one encoder readhead as the target readhead during the movement process includes:

adding the reading distances of the encoder reading heads one by one to obtain an effective distance until the effective distance is at least greater than or equal to the control distance;

and sequentially taking the encoder read heads corresponding to the obtained effective distances as the target read heads.

In some embodiments, the obtaining the control distance corresponding to the target operation includes:

Acquiring the relative position of the rotor and the magnetic grid ruler;

acquiring the length of the rotor, and obtaining a control error based on the difference value of the length of the rotor, the relative position and the length of the magnetic grid ruler;

and updating the control distance by using the control error.

In some embodiments, the acquiring the real-time distance of the mover acquired by the target readhead comprises:

acquiring a first phase increment and a second phase increment acquired by the target reading head in real time;

Generating a first waveform curve based on the first phase increment and a second waveform curve based on the second phase increment;

Determining the running direction of the rotor based on the waveform comparison result of the first waveform curve and the second waveform curve;

and acquiring a preset unit momentum, and determining the real-time distance based on the running direction, the curve parameter of the first waveform curve, the curve parameter of the second waveform curve and the preset unit momentum.

In some embodiments, the determining the running direction of the mover based on the waveform comparison result of the first waveform curve and the second waveform curve includes;

When the first waveform curve is determined to exceed the first preset angle of the second waveform curve, determining that the running direction is forward;

Or alternatively

And when the second waveform curve is determined to exceed the first waveform curve by a second preset angle, determining that the running direction is reverse.

To achieve the above object, a second aspect of an embodiment of the present application provides a mover control device, including:

The acquisition module is used for acquiring control distances corresponding to target operation and acquiring reading distances of a plurality of encoder reading heads;

The target reading head determining module is used for controlling the rotor to move on the conveying track and sequentially selecting at least one encoder reading head as a target reading head in the moving process;

the switching module is used for acquiring the real-time distance of the mover acquired by the target reading head, determining that the real-time distance of the target reading head is consistent with the corresponding reading distance and switching the target reading head;

And the execution module is used for determining that the sum of the real-time distance of the target reading head and the reading distance of the target reading head is the control distance and executing the target operation.

To achieve the above object, a third aspect of the embodiments of the present application proposes an electronic device including a memory storing a computer program and a processor implementing the mover control method according to the first aspect when executing the computer program.

To achieve the above object, a fourth aspect of the embodiments of the present application proposes a storage medium that is a computer-readable storage medium, the storage medium storing a computer program that, when executed by a processor, implements the mover control method described in the first aspect.

The embodiment of the application provides a rotor control method, a rotor control device, electronic equipment and a storage medium, wherein the method comprises the steps of firstly, obtaining a control distance corresponding to target operation and obtaining reading distances of a plurality of encoder reading heads; then, controlling the rotor to move on the conveying track, and sequentially selecting at least one encoder reading head as a target reading head in the moving process; next, acquiring the real-time distance of the mover acquired by the target reading head, determining that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switching the target reading head; finally, determining the sum of the real-time distance of the target reading head and the reading distance of the previous target reading head as the control distance, and executing the target operation. According to the embodiment of the application, the real-time distance of the running of the rotor is detected in real time by utilizing the plurality of adjacent encoder read heads, the condition that the effective identification range of a single read head cannot meet the distance requirement of a longer control distance is avoided, the target read heads are selected one by one to detect the running of the rotor, whether the real-time distance reaches the read distance is utilized as a switching judgment index of the target read heads, the repeated detection of the running distance of the rotor among the plurality of adjacent read heads is avoided, and therefore the real-time distance detection in the moving process of the rotor is effectively improved. Meanwhile, whether the control distance is reached or not is judged in real time by utilizing the sum of the real-time distance accurately detected by the current target reading head and the reading distance of the previous target reading head, and the target operation can be executed on the target rotor at the control distance more accurately.

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 structural diagram of a magnetic drive detection system according to an embodiment of the present application.

Fig. 2 is a flowchart of a method for controlling a mover according to still another embodiment of the present application.

FIG. 3 is a schematic view of effective detection distance of an encoder readhead according to a further embodiment of this application.

Fig. 4 is a flow chart of step 201 in fig. 2.

Fig. 5 is a schematic diagram of a rotor control error according to another embodiment of the present application.

Fig. 6 is a further schematic diagram of a rotor control error according to a further embodiment of the present application.

Fig. 7 is a flowchart of determining a reading distance of a method for controlling a mover according to still another embodiment of the present application.

Fig. 8 is a flowchart of step 703 in fig. 7.

Fig. 9 is a schematic diagram of a reading distance determination provided by another embodiment of the present application.

Fig. 10 is a flow chart of step 202 in fig. 2.

FIG. 11 is a schematic illustration of a target readhead according to a further embodiment of this application.

Fig. 12 is a flowchart of step 203 in fig. 2.

Fig. 13 is a flowchart of step 1203 in fig. 12.

FIG. 14 is a schematic illustration of an operational increment provided by yet another embodiment of the application.

FIG. 15 is a representation of a rotor operating curve for multi-encoder readhead switching provided by a further embodiment of this application.

FIG. 16 is a further display of a rotor operating curve for multi-encoder readhead switching provided by a further embodiment of this application.

Fig. 17 is a further flowchart of a method for controlling a mover according to a further embodiment of the present application.

Fig. 18 is a schematic structural diagram of a rotor control device according to an embodiment of the present application.

Fig. 19 is a schematic hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

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

First, several nouns involved in the present application are parsed:

The magnetic grid detection technology is a non-contact detection method for measuring, detecting and analyzing the magnetic field of the surface of an object. It recognizes and measures the magnetic field characteristics of a target object by using a magnetic grid structure and a sensor based on the interaction principle of magnetic fields. There are two main common application ways of the magnetic grid detection technology: a magnetic grid sensor and a magnetic grid scan. A magnetic grid sensor is a device that integrates a magnetic grid structure and a sensor. When a target object approaches the sensor, the magnetic field changes the characteristics of the voltage output of the sensor, and magnetic field information of the target object can be obtained by measuring the change. The magnetic grid sensor can be used in the application fields of measuring magnetic field distribution, detecting the position and the gesture of a target object and the like.

The AB phase delta curve refers to a curve of the relative phase difference between two phases (a phase and B phase or U phase and V phase) in a dc or ac circuit over time. Such delta curves are commonly used to analyze and control the operation of electrical power systems. In a dc circuit, an AB phase delta curve represents the relative phase difference between two voltage or current signals over time. The phase difference may be obtained by measurement or calculation and graphically represented. Such curves are commonly used in control circuits to determine the stability and phase relationship of the circuit. In alternating current circuits, an AB phase delta curve is typically used to represent the relative phase difference of a voltage or current over time. It is obtained by continuous measurement and recording of the phase difference, and can be used for analyzing and adjusting the operation of the power system. In an electrical power system, a change in the AB phase delta curve may indicate the stability of the circuit, analyze the interaction of current and voltage, and detect possible faults.

A programmable logic controller (Programmable Logic Controller, PLC) is a specialized digital computer used to automatically control industrial processes and machinery. The system interacts with sensors, actuators and other devices through the input and output modules, and monitors and controls various signals and parameters in the system in real time.

In order to improve the accuracy of detecting the movement of the mover to the target position, the embodiment of the application utilizes a plurality of adjacent encoder read heads to detect the running real-time distance of the mover in real time, avoids that the effective identification range of a single read head cannot meet the distance requirement of a longer control distance, selects the target read heads one by one to detect the running of the mover, and utilizes whether the real-time distance reaches the read distance as a switching judgment index of the target read head or not to avoid repeated detection of the running distance of the mover among the plurality of adjacent read heads, thereby effectively improving the real-time distance detection in the moving process of the mover. Meanwhile, whether the control distance is reached or not is judged in real time by utilizing the sum of the real-time distance accurately detected by the current target reading head and the reading distance of the previous target reading head, and the target operation can be executed on the target rotor at the control distance more accurately.

The method, the device, the electronic equipment and the storage medium for controlling the rotor provided by the embodiment of the application are further described below. The rotor control method provided by the embodiment of the application can be applied to an intelligent terminal, a server, a computer and the like which are connected with the magnetic levitation conveying system.

In order to better illustrate the rotor control method provided by the embodiment of the application, the embodiment firstly describes a magnetic drive detection system applying the rotor control method. Referring to fig. 1, a schematic structure diagram of a magnetic drive detection system according to an embodiment of the present application is shown. The magnetic drive detection system comprises a detection processing module integrated with various functional modules, a plurality of encoder read heads, a client and the functional modules, wherein the detection processing module is connected with at least one encoder read head, the client and the functional modules. The encoder reading head is arranged on the conveying track or beside the conveying track and is used for detecting the running data of the rotor on the conveying track in real time and inputting the running data into the detection processing module so as to facilitate the detection processing module to analyze and process the running data. If the running distance of the rotor is judged to reach the control distance, the detection processing module transmits a control instruction request to the client and the functional module so as to conveniently execute corresponding operation on the rotor. The encoder read head may be any one of a magnetic grating read head, a grating read head, and an inductive read head. In addition, each rotor is provided with a magnetic grating ruler, and the encoder reading head carries out identification induction on the rotor through identification induction on the encoder reading head and the magnetic grating ruler.

Based on the magnetic drive detection system described above, a mover control method in the embodiment of the present application will be specifically described below. Referring to fig. 2, an alternative flowchart of a method for controlling a mover according to an embodiment of the present application is provided, and the method in fig. 2 may include, but is not limited to, steps 201 to 204. It should be understood that the order of steps 201 to 204 in fig. 2 is not limited in this embodiment, and the order of steps may be adjusted, or some steps may be reduced or added according to actual requirements.

Step 201: and obtaining control distances corresponding to the target operation, and obtaining the reading distances of the plurality of encoder reading heads.

Step 201 is described in detail below.

In some embodiments, after responding to the operation request of the target operation, the control distance corresponding to the target operation is obtained first, so that the magnetic drive detection system can detect the running distance of the rotor in real time based on the control distance, and when the running distance of the rotor reaches the control distance, the corresponding target operation is executed on the rotor.

In some embodiments, the target operation may be performed by a client as shown in fig. 1, or may be preset by a functional module as shown in fig. 1, where the functional module may be a flyover camera function, a driver module, a PLC module, and so on.

An aerial camera is an unmanned aerial vehicle camera or an aerial camera capable of shooting in the air, and combines the functions of an aircraft and photographic equipment. The aerial camera is usually carried on an unmanned aerial vehicle, flies through a remote control or a preset route, and shoots photos or videos at high altitudes or under a special view angle.

A driver is a device for controlling and driving an electric motor or an actuator. It converts the electrical energy provided by the power supply into signals and power suitable for the operation of the motor or actuator and controls their movement or performs specific actions according to specific control algorithms.

In some embodiments, the encoder readhead is typically configured to acquire operational data of the mover by detecting a magnetic grating scale on the mover. FIG. 3 is a schematic diagram of effective detection distance of an encoder readhead according to an embodiment of the present application. Taking an encoder reading head and a rotor as an example, a magnetic grating ruler is arranged on the rotor, the encoder reading head measures and reads position information on the magnetic grating ruler through a detection magnetic field, the corresponding rotor is determined through encoding of the magnetic grating ruler, and the encoder reading head is in an action range when the magnetic grating ruler starts to enter the detection magnetic field and completely leaves the detection magnetic field. Thus, the range of the encoder readhead can be determined by determining the dimensional length of the magnetic grating ruler, which is provided on the mover as shown in fig. 1 to be identical to the mover in size, in which case the range of the encoder readhead can also be determined by determining the size of the mover.

In some embodiments, the starting point of the control distance is typically for the first encoder readhead (encoder readhead 1 as shown in fig. 1) provided in the magnetic drive detection system to start detecting the position of the mover and based thereon to start detecting whether the travel distance of the mover has reached the control distance. Since there is a case where the length dimensions of the magnetic scale and the mover are not uniform, an error in control distance easily occurs, resulting in a deviation in the position where the target operation is performed. Therefore, the control distance needs to be adjusted according to the sizes of the magnetic grating ruler and the mover.

Referring to fig. 4, the control distance corresponding to the target operation is acquired, including the following steps 401 to 403.

Step 401: and acquiring the relative position of the rotor and the magnetic grid ruler.

Step 402: and acquiring the length of the rotor, and obtaining a control error based on the difference value among the length of the rotor, the relative position and the length of the magnetic grating ruler.

Step 403: and updating the control distance by using the control error.

Steps 401 to 403 are described in detail below.

In some embodiments, because the magnetic grating ruler is not placed at the center of the mover, the center positions of the mover and the magnetic grating ruler may not be consistent, so that the relative positions of the mover and the magnetic grating ruler need to be acquired first, then the length of the mover and the length of the magnetic grating ruler are acquired, and finally the control error is obtained based on the difference value of the length of the mover, the relative position and the length of the magnetic grating ruler, so that the control distance is updated by using the control error, and the target operation on the mover is performed more accurately.

Referring to fig. 5, a schematic diagram of a control error of a rotor according to an embodiment of the present application is shown. As shown in fig. 5, the magnetic grating ruler provided on the mover 1 is long and located at the front end of the mover 1. Taking the range of the encoder readhead 1 from the range of the encoder readhead 3 as an example of the control distance, the corresponding target operation can be performed on the mover when the mover should be operated to the encoder readhead 3. However, because the magnetic grating ruler is longer, when the magnetic grating ruler starts to enter the action range of the encoder reading head 1, the active cell 1 does not enter the action range of the encoder reading head 1 at the moment, but the encoder reading head 1 starts to perform operation detection on the active cell 1; if the original control distance is still maintained to control the mover, the mover 1 cannot reach the range of the encoder readhead 3 (i.e., when the magnetic scale of the mover 1 reaches the range of the encoder readhead 3), and is determined to reach the control distance to perform the corresponding target operation, in which case a distance error will occur. It is therefore necessary to correct the error, as shown in fig. 5, to take the longer length of the magnetic scale at the front end of the mover 1 as a control error (i.e., to obtain a control error using the difference of the length of the mover, the relative position and the length of the magnetic scale), and then add the control error on the basis of the original control distance, i.e., control distance=control distance+control error. So that it can be satisfied that the control distance is considered to be reached to accurately perform the corresponding target operation when the mover 1 actually runs to the range of the encoder readhead 3.

Referring to fig. 6, a further schematic diagram of a rotor control error according to an embodiment of the present application is shown. As shown in fig. 6, the magnetic grating ruler provided on the mover 1 is short and located at the rear end of the mover 1. Taking the range of the encoder readhead 1 from the range of the encoder readhead 3 as an example of the control distance, the corresponding target operation can be performed on the mover when the mover should be operated to the encoder readhead 3. However, due to the shorter magnetic grating ruler, when the magnetic grating ruler starts to enter the action range of the encoder reading head 1, the encoder reading head 1 only starts to run and detect the mover 1 when the mover 1 actually enters the action range of the encoder reading head 1; if the mover is controlled while maintaining the original control distance, the mover 1 will exceed the range of the encoder readhead 3 (i.e., when the magnetic scale of the mover 1 reaches the range of the encoder readhead 3), it is determined that the control distance is reached to perform the corresponding target operation, in which case a distance error will occur. It is necessary to correct the error, as shown in fig. 5, to take the longer length of the magnetic scale at the front end of the mover 1 as a control error (i.e., a control error is obtained by using the difference of the length of the mover, the relative position and the length of the magnetic scale), and then to subtract the control error on the basis of the original control distance, i.e., control distance=control distance-control error. So that it can be satisfied that when the mover 1 is actually operated to the range of the encoder readhead 3, it can be recognized that the control distance is reached to accurately perform the corresponding target operation.

Through the steps 401 to 402, based on the induction relation between the encoder reading head and the magnetic grating ruler, the control distance is corrected by using the relative position between the rotor and the magnetic grating ruler and the length relation between the rotor and the magnetic grating ruler, so as to obtain the control distance actually aiming at the rotor, thereby improving the accuracy of target operation.

In some embodiments, it is also necessary to obtain the read distance of each encoder readhead before real-time detection of the mover. Since a plurality of encoder readheads are arranged in the magnetic drive detection system, and in order to ensure that every two adjacent encoder readheads can continuously detect the operation of the same rotor, a proper detection position is required to be arranged for each encoder readhead. And in order to further ensure that adjacent encoder readheads do not make repeated measurements of the real-time operation of the same mover, it is necessary to preset an appropriate reading distance for each encoder readhead within its range of action. How to set the appropriate detection position and reading distance for each mover will be further described below.

Referring to fig. 7, the mover control method further includes the following steps 701 to 703 before reading distances of the plurality of encoder readheads are acquired.

Step 701: and acquiring the length of the magnetic grating ruler and the acting distance of the encoder reading head based on the length of the magnetic grating ruler.

Step 702: the detection positions of the encoder readheads are set in sequence such that the end position of each encoder readhead is at least within the range of the encoder readhead.

Step 703: the reading distance of each encoder readhead is determined from the detected position.

Steps 701 to 703 are described in detail below.

In some embodiments, the range of the encoder readhead may be further determined by the magnetic scale length of the magnetic scale, after the magnetic scale length of the magnetic scale is obtained, wherein the range includes a start position and an end position, as described with respect to FIG. 3. The detected positions of the plurality of encoder readheads are then set based on the range so as to ensure that the set distance between each two adjacent encoder readheads does not exceed the range of a single encoder readhead, such that the end position of the range of each encoder readhead is between the ranges of the next encoder readheads. Thus ensuring that every two adjacent encoder readheads can continuously detect the operation of the same rotor. Next, in order to ensure that the adjacent encoder readheads do not repeatedly measure the real-time operation of the same mover, the reading distance of each encoder readhead is determined according to the detection positions of the plurality of encoder readheads, so as to ensure that the reading distances of the adjacent encoder readheads are continuous, i.e. the end position of the reading distance of the former encoder readhead is the starting position of the latter encoder readhead. How the read distance of each encoder readhead is determined will be described further below.

In some embodiments, the read distance of each encoder readhead is determined from the detected position, including steps 801 through 802 below.

Step 801: according to the position sequence of the encoder readheads, selecting overlapping areas of the working distances of adjacent encoder readheads to obtain candidate ranges, and selecting a candidate position from each candidate range.

Step 802: and generating a reading distance based on each two adjacent generation positions according to the starting point position, the candidate position and the final point position of the first encoder reading head in sequence, and correlating the reading distance with the encoder reading head.

Steps 801 to 802 are described in detail below.

In some embodiments, after determining the detection position of each encoder readhead, overlapping regions in the range of adjacent encoder readheads will be sequentially selected as candidate ranges according to the order of the encoder readheads, and one candidate position will be arbitrarily selected from each candidate range, i.e., the candidate position may be any point of the candidate range (including both end points of the candidate range). And after determining all candidate positions, sequentially obtaining a generating position according to the starting point position of the first encoder reading head, the candidate position and the final point position of the last encoder reading head, generating a reading distance corresponding to each encoder reading head based on every two adjacent generating positions, and carrying out one-to-one correlation on each reading distance and the encoder reading head where the reading distance is located. And because the setting distance of each encoder reading head is different, the overlapping area of every two adjacent encoder reading heads is inconsistent, and the optional selection of candidate positions is carried out, the reading distances corresponding to different encoder reading heads are also different.

Referring to fig. 9, a schematic diagram of determining a reading distance according to an embodiment of the present application is provided. As an example of five encoder readheads shown in fig. 9, after determining the detection positions and the working distances of the five encoder readheads, any one candidate position is selected from the overlapping regions of the working distances of every two adjacent encoder readheads (including the overlapping region of the encoder readhead 1 and the encoder readhead 2, the overlapping region of the encoder readhead 2 and the encoder readhead 3, the overlapping region of the encoder readhead 3 and the encoder readhead 4, and the overlapping region of the encoder readhead 1 and the encoder readhead 2), then the distance between the start position of the encoder readhead 1 and the first candidate position is taken as the reading distance of the encoder readhead 1, the distance between the first candidate position and the second candidate position is taken as the reading distance of the encoder readhead 2, the distance between the second candidate position and the third candidate position is taken as the reading distance of the encoder readhead 3, the distance between the third candidate position and the fourth candidate position is taken as the reading distance of the encoder readhead 4, and the distance between the fourth candidate position and the end position of the encoder readhead 5 is taken as the reading distance of the encoder readhead 5.

Through the steps 801 to 802, the candidate positions are selected in the overlapping area between every two encoder readheads, so as to ensure that the reading distances of the adjacent encoder readheads are continuous, so that the running distances of the movers are effectively and continuously and accurately detected by using a plurality of continuous encoder readheads and the reading distances thereof, so as to overcome the situation that the accurate detection cannot be performed after the control distances exceed the detection area of the single encoder readhead, and further improve the reliability of the control of the movers.

Through the steps 701 to 703, the appropriate detection position of each encoder read head is determined by using the acting distance of the encoder read heads, so that the acting areas of every two adjacent encoder read heads have an overlapping area, and the operation of the same rotor can be continuously detected by every two adjacent encoder read heads; and based on the detection position of the encoder read head, the proper reading distance of each encoder read head is further determined, so that the adjacent encoder read heads can not repeatedly measure the real-time operation of the same rotor, and the accuracy and the reliability of detecting the operation of the rotor are improved.

Step 202: the control rotor moves on the conveying track, and sequentially selects at least one encoder reading head as a target reading head in the moving process.

Step 202 is described in detail below.

In some embodiments, after the control distance of the target operation and the reading distances of the plurality of encoder heads are obtained in response to the operation request of the target operation, the on-rotor conveying track is controlled to move, and at least one encoder head is sequentially selected as the target head for reading the running data of the rotor in real time according to the running direction of the rotor during the movement of the rotor. How the target readhead is selected will be described further below.

Referring to fig. 10, at least one encoder readhead is sequentially selected as a target readhead during movement, including the following steps 1001 through 1002.

Step 1001: and adding the reading distances of the encoder reading heads one by one to obtain the effective distance until the effective distance is at least greater than or equal to the control distance.

Step 1002: and taking the encoder read heads corresponding to the acquired effective distances as target read heads in sequence.

Steps 1001 to 1002 are described in detail below.

In some embodiments, after the control distance is obtained, the reading distances of the encoder readheads are added one by one from the first encoder readhead according to the running direction of the mover to obtain an effective distance for detecting the mover, until the effective distance is at least greater than or equal to the control distance, i.e., at least one encoder readhead corresponding to the effective distance is sequentially used as the target readhead.

Referring to FIG. 11, a schematic diagram of a target readhead according to an embodiment of this application is provided. Taking five encoder readheads as an example in fig. 11, where the reading distance of the encoder readhead 1 is a first distance, the reading distance of the encoder readhead 2 is a second distance, the reading distance of the encoder readhead 3 is a third distance, the reading distance of the encoder readhead 4 is a fourth distance, and the reading distance of the encoder readhead 5 is a fifth distance, and the running direction of the mover is the direction from the encoder readhead 1 to the encoder readhead 5, and when the control distance is greater than the sum of any two reading distances, the first distance of the encoder readhead 1 is accumulated, and the control distance is not exceeded until the third distance of the encoder readhead 3 is accumulated, so that the encoder readhead 1, the encoder readhead 2, and the encoder readhead 3 are sequentially used as target readheads, so that the running distance detection of the mover is performed by using the target readheads sequentially.

Step 203: and acquiring the real-time distance of the mover acquired by the target reading head, determining that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switching the target reading head.

Step 203 is described in detail below.

In some embodiments, within the reading distance of each target reading head, the real-time distance of the mover acquired by the target reading head is acquired, and when the real-time distance of the mover read by the target reading head is determined to reach the reading distance corresponding to the target reading head, the next target reading head is switched. How the real-time distance of the mover acquired by the target readhead is obtained will be further described below.

Referring to fig. 12, the real-time distance of the mover acquired by the target readhead is acquired, including the following steps 1201 to 1204.

Step 1201: a first phase increment and a second phase increment acquired in real time by a target read head are acquired.

Step 1202: a first waveform profile is generated based on the first phase increment and a second waveform profile is generated based on the second phase increment.

Step 1203: and determining the running direction of the mover based on the waveform comparison result of the first waveform curve and the second waveform curve.

Steps 1201 to 1203 are described in detail below.

In some embodiments, the first phase increment and the second phase increment acquired by the target reading head in real time according to the running state of the rotor are acquired in real time, a first waveform curve is generated based on the continuously acquired first phase increment, a second waveform curve is generated based on the continuously acquired second phase increment, and then the running direction of the rotor can be further determined based on the waveform comparison result of the first waveform curve and the second waveform curve.

In some embodiments, the first phase delta and the second phase delta may be an a-phase signal and a B-phase signal, such that the first waveform profile is a corresponding a-phase delta profile and the second waveform profile is a B-phase delta profile. When the target reading head detects the active mover, the output A phase signal and B phase signal pulse start to change, and the phase relation between the A phase signal and the B phase signal is different according to the detected different running directions of the active mover. How the running direction of the mover is determined based on the waveform comparison result will be described further below.

Referring to fig. 13, the traveling direction of the mover is determined based on the waveform comparison result of the first waveform profile and the second waveform profile, including the following steps 1301 to 1302.

Step 1301: and when the first waveform curve is determined to exceed the first preset angle of the second waveform curve, determining that the running direction is positive.

Step 1302: or when the second waveform curve is determined to exceed the first waveform curve by a second preset angle, determining that the running direction is reverse.

Steps 1301 to 1302 are described in detail below.

In some embodiments, after the first waveform curve and the second waveform curve are obtained according to the continuous first phase increment and second phase increment, determining the phase relation between the first waveform curve and the second waveform curve, and determining that the running direction of the mover is forward when determining that the phase of the first waveform curve exceeds the phase of the second waveform curve by a first preset angle; and when the phase of the second waveform curve exceeds the phase of the first waveform curve by a second preset angle, determining that the running direction of the rotor is reverse. In this embodiment, the setting of the first preset angle and the second preset angle is not limited, that is, the first preset angle may be input according to a user requirement or may be obtained according to historical data; similarly, the second preset angle may be input according to a user requirement, or may be obtained according to historical data, and the second preset angle may be equal to the first preset angle.

In some embodiments, when the first phase increment is the a-phase signal and the second phase increment is the B-phase signal, when the phase of the first waveform curve is judged to exceed the phase of the second waveform curve by 90 degrees, the running direction of the mover is considered to be the forward direction; when the phase of the second waveform curve exceeds the phase of the first waveform curve by 90 degrees, the running direction of the mover is determined to be reverse.

Through the steps 1301 to 1302, the running direction of the mover is accurately determined by using different phase relationships of the first waveform curve and the second waveform curve, so that the real-time distance of the running process of the mover can be measured more accurately.

Step 1204: and acquiring a preset unit momentum, and determining the real-time distance based on the running direction, the curve parameters of the first waveform curve, the curve parameters of the second waveform curve and the preset unit momentum.

Step 1204 is described in detail below.

In some embodiments, after determining the first waveform profile, the second waveform profile, and the travel direction of the mover, an operation increment of the mover may be determined based on the curve parameters of the first waveform profile and the curve parameters of the second waveform profile and the travel direction of the mover. Referring to FIG. 14, a schematic diagram of an operational increment provided by an embodiment of the application is shown. As shown in fig. 14, it may be determined that the phase of the first waveform profile exceeds the phase of the second waveform profile by 90 degrees, and thus the running direction of the mover may be determined to be forward, and thus the counter output is a positive increment, and then the forward increment is generated from the curve parameters (including the level and the transition edge) of the first waveform profile and the curve parameters (including the level and the transition edge) of the second waveform, and the increment count table diagram obtained based on the forward increment is shown in fig. 14. Then, the real-time distance that the mover operates within the reading distance of the target reading head can be obtained by acquiring the preset unit momentum and multiplying the preset unit momentum by the positive increment. In this embodiment, the setting of the preset unit momentum is not limited, and may be set according to the user's requirement, or may be set according to the parameters of the encoder readhead.

In some embodiments, the specific generation rules for the delta are: 1. the forward increment generation time is as follows: the first waveform profile rising edge and the second waveform profile logic low, the second waveform profile rising edge and the first waveform profile logic high, the second waveform profile falling edge and the first waveform profile logic low, and the first waveform profile falling edge and the second waveform profile logic high. 2. The reverse increment generation timing is: the first waveform curve falling edge and the second waveform curve logic low, the second waveform curve falling edge and the first waveform curve logic high, the second waveform curve rising edge and the first waveform curve logic low, and the first waveform curve rising edge and the second waveform curve logic high.

Through the steps 1201 to 1204, the running direction of the mover is determined by using the comparison result of the first waveform curve and the second waveform curve, so that the running increment of the mover can be accurately generated by using the running direction, the waveform parameters of the first waveform curve and the waveform parameters of the second waveform curve, and the real-time distance of the mover running within the reading distance of the target reading head can be accurately measured by combining with the preset unit momentum.

Step 204: and determining the sum of the real-time distance of the target reading head and the reading distance of the previous target reading head as a control distance, and executing the target operation.

Step 204 is described in detail below.

In some embodiments, when the real-time distance of the mover measured by any one target reading head within the corresponding reading distance reaches the reading distance and the accumulated reading distances of all the target reading heads running before the mover do not reach the control distance, the next target reading head is switched to perform running detection of the mover.

In some embodiments, when the running distance of the mover is detected, the running track curve of the mover may be output to the client for display. FIG. 15 is a schematic representation of a rotor operating curve for multiple encoder readhead switching according to an embodiment of the present application. As an example of the reading distance of the mover running over the encoder readhead 1 and the reading distance of the encoder readhead 2 in fig. 15, the running distance curve of the mover that the encoder readhead 1 can acquire is a first oblique line, wherein the former part is the reading distance of the encoder readhead 1, and when the mover runs to the reading distance of the encoder readhead 1 (i.e., the dot time of the two oblique lines in fig. 15), the real-time distance detection of the mover is switched to the encoder readhead 2. The real-time distance in the running process of the rotor acquired by the plurality of encoder read heads is displayed to the client, so that a manager can conveniently control in real time according to the running data of the rotor, and the like.

In some embodiments, as shown in the display diagram of FIG. 15, the viewing is not intuitive enough because the travel distance data acquired by multiple encoder readheads all starts from 0 and there are portions where the two encoder readheads are acquired repeatedly. Thus, another display diagram is also provided in the present embodiment. Referring to FIG. 16, a further representation of a multiple encoder readhead switching rotor operating curve is provided in accordance with an embodiment of the present application. In fig. 16, the real-time distance of the mover collected by the encoder readhead 2 within the reading distance is spliced to the reading distance of the encoder readhead 1, so as to generate a smooth real-time distance curve of the mover operation, so that the real-time distance curve is more clearly shown to a manager for viewing, and the manager can more conveniently perform real-time control according to the operation data of the mover, and the like.

In some embodiments, when a certain target reading head measures that the sum of the real-time distance of the operation of the mover and the reading distance of the previous target reading head reaches the control distance, the corresponding target operation can be precisely performed on the mover.

Referring to fig. 17, another flowchart of a method for controlling a mover according to an embodiment of the present application is shown. When the execution of the sub control flow is started, firstly judging whether the detection processing module is in the power-on state, and if the detection processing module is not in the power-on state, the magnetic drive detection system does not work; if the detection processing module is in a power-on state, controlling the mover attached with the magnetic grating ruler to start moving, starting to perform position feedback of the mover in real time through the encoder reading head 1, switching to the encoder reading head 2 to start performing position feedback of the mover in real time when the real-time distance of the position feedback mover reaches the reading distance of the encoder reading head 2, and judging whether the moving distance of the mover reaches the control distance from an output end to a client end in the form of AB phase pulse by the client end when the real-time distance of the position feedback mover reaches the reading distance of the encoder reading head 2, if so, executing corresponding target operation, and repeating the above operations on other moving movers.

The method comprises the steps of firstly, obtaining a control distance corresponding to target operation, then obtaining the relative position of a rotor and a magnetic grating ruler, obtaining the length of the rotor, obtaining a control error based on the length of the rotor, the relative position and the difference value of the length of the magnetic grating ruler, and updating the control distance by using the control error; in addition, the acting distance of the encoder read head is firstly obtained based on the length of the magnetic grating ruler, then the detection positions of the encoder read heads are sequentially arranged, so that the end position of each encoder read head is at least within the acting distance of the encoder read head, the overlapping area of the acting distances of adjacent encoder read heads is selected according to the position sequence of the encoder read heads to obtain candidate ranges, one candidate position is selected from each candidate range, and the reading distance of each encoder read head is sequentially generated according to the starting point position of the first encoder read head, the candidate position and the end position of the last encoder read head; then, based on the reading distances of the plurality of encoder reading heads, controlling the rotor to move on the conveying track, adding the reading distances of the encoder reading heads one by one to obtain effective distances until the effective distances are at least greater than or equal to the control distances, and sequentially taking the encoder reading heads corresponding to the obtained effective distances as target reading heads; in the running process, acquiring a first phase increment and a second phase increment which are acquired by a target reading head in real time, generating a first waveform curve based on the first phase increment, generating a second waveform curve based on the second phase increment, determining the running direction of a rotor based on a waveform comparison result of the first waveform curve and the second waveform curve, acquiring a preset unit momentum, determining a real-time distance based on the running direction, curve parameters of the first waveform curve, curve parameters of the second waveform curve and the preset unit momentum, and switching the target reading head when determining that the real-time distance of the target reading head is consistent with the corresponding reading distance; finally, determining the sum of the real-time distance of the target reading head and the reading distance of the previous target reading head as the control distance, and executing the target operation.

According to the embodiment of the application, firstly, based on the induction relation between the encoder reading head and the magnetic grating ruler, the control distance is corrected by utilizing the relative position between the rotor and the magnetic grating ruler and the length relation between the rotor and the magnetic grating ruler, so that the control distance which is actually aimed at the rotor is obtained, and the accuracy of target operation is improved. Real-time detection is carried out on the running real-time distance of the rotor by utilizing a plurality of adjacent encoder read heads, the problem that the effective identification range of a single read head cannot meet the distance requirement of a longer control distance is avoided, and meanwhile, the proper detection position of each encoder read head is determined by utilizing the acting distance of the encoder read heads, so that an overlapping area exists in the acting areas of every two adjacent encoder read heads, and the fact that the running of the same rotor can be continuously detected by every two adjacent encoder read heads is ensured; and based on the detection position of the encoder read head, the proper reading distance of each encoder read head is further determined, so that the adjacent encoder read heads can not repeatedly measure the real-time operation of the same rotor, and the accuracy and the reliability of detecting the operation of the rotor are improved. And in actual detection, the target reading heads are selected one by one to detect the running of the mover, and whether the real-time distance reaches the reading distance is used as a switching judgment index of the target reading heads, so that repeated detection of the running distance of the mover between a plurality of adjacent reading heads is avoided, and the real-time distance detection in the moving process of the mover is effectively improved. Meanwhile, whether the control distance is reached or not is judged in real time by utilizing the sum of the real-time distance accurately detected by the current target reading head and the reading distance of the previous target reading head, and the target operation can be executed on the target rotor at the control distance more accurately.

The embodiment of the present application further provides a rotor control device, which can implement the above rotor control method, and referring to fig. 13, the device 1800 includes:

an acquisition module 1810 for acquiring control distances corresponding to a target operation and acquiring reading distances of a plurality of encoder readheads;

the target reading head determining module 1820 is configured to control the mover to move on the conveying track, and sequentially select at least one encoder reading head as a target reading head during the movement process;

the switching module 1830 is used for acquiring the real-time distance of the mover acquired by the target reading head, determining that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switching the target reading head;

And an execution module 1840 for determining the sum of the real-time distance of the target reading head and the reading distance of the previous target reading head as the control distance and executing the target operation.

In some embodiments, the acquisition module 1810 is further to:

Acquiring the relative position of the rotor and the magnetic grid ruler;

Acquiring the length of a rotor of the rotor, and obtaining a control error based on the difference value of the length of the rotor, the relative position and the length of the magnetic grating ruler;

and updating the control distance by using the control error.

In some embodiments, the mover control device further includes a reading distance determination module 1850, the reading distance determination module 1850 being for:

Acquiring the length of a magnetic grating ruler and acquiring the acting distance of an encoder reading head based on the length of the magnetic grating ruler; the action distance comprises a starting point position and an end point position;

The detection positions of the encoder read heads are sequentially arranged, so that the end position of each encoder read head is at least within the action distance of the encoder read head;

The reading distance of each encoder readhead is determined from the detected position.

In some embodiments, the reading distance determination module 1850 is also to:

And generating a reading distance based on each two adjacent generation positions according to the starting point position, the candidate position and the final point position of the first encoder reading head in sequence, and correlating the reading distance with the encoder reading head, wherein the generation positions comprise the starting point position, the candidate position and the final point position.

In some embodiments, the target readhead determination module 1820 is further to:

And taking the encoder read heads corresponding to the acquired effective distances as target read heads in sequence.

In some embodiments, the switching module 1830 is also to:

acquiring a first phase increment and a second phase increment acquired by a target reading head in real time;

Generating a first waveform curve based on the first phase increment and generating a second waveform curve based on the second phase increment;

determining the running direction of the mover based on the waveform comparison result of the first waveform curve and the second waveform curve;

And acquiring a preset unit momentum, and determining the real-time distance based on the running direction, the curve parameters of the first waveform curve, the curve parameters of the second waveform curve and the preset unit momentum.

In some embodiments, the switching module 1830 is also to:

when the first waveform curve is determined to exceed a first preset angle of the second waveform curve, determining that the running direction is forward;

Or alternatively

In the foregoing embodiments, the descriptions of the embodiments are focused on, and in a portion of an embodiment that is not described in detail, the specific implementation manner of the rotor control device is substantially identical to the specific implementation manner of the rotor control method, which is not described herein.

In the embodiment of the application, the control distance is corrected by utilizing the relative position between the rotor and the magnetic grating ruler and the length relation between the rotor and the magnetic grating ruler based on the induction relation between the encoder reading head and the magnetic grating ruler, so as to obtain the control distance actually aiming at the rotor, thereby improving the accuracy of target operation. Real-time detection is carried out on the running real-time distance of the rotor by utilizing a plurality of adjacent encoder read heads, the problem that the effective identification range of a single read head cannot meet the distance requirement of a longer control distance is avoided, and meanwhile, the proper detection position of each encoder read head is determined by utilizing the acting distance of the encoder read heads, so that an overlapping area exists in the acting areas of every two adjacent encoder read heads, and the fact that the running of the same rotor can be continuously detected by every two adjacent encoder read heads is ensured; and based on the detection position of the encoder read head, the proper reading distance of each encoder read head is further determined, so that the adjacent encoder read heads can not repeatedly measure the real-time operation of the same rotor, and the accuracy and the reliability of detecting the operation of the rotor are improved. And in actual detection, the target reading heads are selected one by one to detect the running of the mover, and whether the real-time distance reaches the reading distance is used as a switching judgment index of the target reading heads, so that repeated detection of the running distance of the mover between a plurality of adjacent reading heads is avoided, and the real-time distance detection in the moving process of the mover is effectively improved. Meanwhile, whether the control distance is reached or not is judged in real time by utilizing the sum of the real-time distance accurately detected by the current target reading head and the reading distance of the previous target reading head, and the target operation can be executed on the target rotor at the control distance more accurately.

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 present application to implement the above-described mover control method. The electronic device can be any intelligent terminal including a mobile phone, a tablet Personal computer, a Personal digital assistant (PDA for short), a vehicle-mounted computer and the like.

Referring to fig. 19, fig. 19 illustrates a hardware structure of an electronic device according to another embodiment, the electronic device includes:

The processor 1901 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 by the embodiments of the present application;

The memory 1902 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 1902 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present disclosure are implemented by software or firmware, relevant program codes are stored in the memory 1902, and the processor 1901 invokes a method for controlling a mover to execute the embodiments of the present disclosure;

an input/output interface 1903 for implementing information input and output;

The communication interface 1904 is configured to implement communication interaction between the 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 1905 for transferring information between various components of the device (e.g., processor 1901, memory 1902, input/output interface 1903, and communication interface 1904);

Wherein the processor 1901, memory 1902, input/output interface 1903, and communication interface 1904 are communicatively coupled to each other within the device via a bus 1905.

The embodiment of the application also provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program realizes the above-mentioned active cell control method when being executed by a processor.

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 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 persons skilled in the art that the embodiments of the application are not limited by the illustrations, and that more or fewer steps than those shown may be included, or certain steps may be combined, or different steps may be included.

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 application and in the above 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 the embodiments of the 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 the present application, "at least one (item)" 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 by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. 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. The coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, 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 the embodiments 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 in essence or a part contributing to the prior art or all or part of the technical solution 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 method 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.

The preferred embodiments of the present application have been described above with reference to the accompanying drawings, and are not thereby limiting 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 mover, the method comprising:

determining the sum of the real-time distance of the target reading head and the reading distance of the previous target reading head as the control distance, and executing the target operation;

Before the obtaining the read distances of the plurality of encoder readheads, the method further comprises:

Acquiring the length of a magnetic grating ruler and acquiring the acting distance of the encoder reading head based on the length of the magnetic grating ruler; the action distance comprises a starting point position and an end point position;

The reading distance of each encoder readhead is determined from the detected positions, with the reading distances of adjacent encoder readheads being continuous.

2. The method of claim 1, wherein said determining the reading distance of each of the encoder readheads from the detected positions includes:

3. The method according to claim 1, wherein sequentially selecting at least one of the encoder readheads as a target readhead during movement comprises:

4. The method according to claim 1, wherein the obtaining the control distance corresponding to the target operation includes:

Acquiring the relative position of the rotor and the magnetic grid ruler;

and updating the control distance by using the control error.

5. The method according to claim 1, wherein the acquiring the real-time distance of the mover acquired by the target readhead includes:

6. The mover control method according to claim 5, wherein the determining the running direction of the mover based on the waveform comparison result of the first waveform profile and the second waveform profile includes;

Or alternatively

7. A mover control apparatus for implementing the mover control method according to claim 1, comprising:

8. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the method of controlling a mover according to any one of claims 1 to 6 when executing the computer program.

9. 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 the mover control method according to any one of claims 1 to 6.